WorldWideScience

Sample records for robotic precursor missions

  1. Lunar Robotic Precursor Missions Using Electric Propulsion

    OpenAIRE

    Winski, Richard G.

    2006-01-01

    A trade study is carried out for the design of electric propulsion based lunar robotic precursor missions. The focus is to understand the relationships between payload mass delivered, electric propulsion power, and trip time. The results are compared against a baseline system using chemical propulsion with LOX/H2. The major differences between the chemical propulsion based and electric propulsion based systems are presented in terms of the payload mass and trip time. It is shown that solar e...

  2. Asteroid Redirect Robotic Mission: Robotic Boulder Capture Option Overview

    Science.gov (United States)

    Mazanek, Daniel D.; Merrill, Raymond G.; Belbin, Scott P.; Reeves, David M.; Earle, Kevin D.; Naasz, Bo J.; Abell, Paul A.

    2014-01-01

    The National Aeronautics and Space Administration (NASA) is currently studying an option for the Asteroid Redirect Robotic Mission (ARRM) that would capture a multi-ton boulder (typically 2-4 meters in size) from the surface of a large (is approximately 100+ meter) Near-Earth Asteroid (NEA) and return it to cislunar space for subsequent human and robotic exploration. This alternative mission approach, designated the Robotic Boulder Capture Option (Option B), has been investigated to determine the mission feasibility and identify potential differences from the initial ARRM concept of capturing an entire small NEA (4-10 meters in size), which has been designated the Small Asteroid Capture Option (Option A). Compared to the initial ARRM concept, Option B allows for centimeter-level characterization over an entire large NEA, the certainty of target NEA composition type, the ability to select the boulder that is captured, numerous opportunities for mission enhancements to support science objectives, additional experience operating at a low-gravity planetary body including extended surface contact, and the ability to demonstrate future planetary defense strategies on a hazardous-size NEA. Option B can leverage precursor missions and existing Agency capabilities to help ensure mission success by targeting wellcharacterized asteroids and can accommodate uncertain programmatic schedules by tailoring the return mass.

  3. A Dual Launch Robotic and Human Lunar Mission Architecture

    Science.gov (United States)

    Jones, David L.; Mulqueen, Jack; Percy, Tom; Griffin, Brand; Smitherman, David

    2010-01-01

    This paper describes a comprehensive lunar exploration architecture developed by Marshall Space Flight Center's Advanced Concepts Office that features a science-based surface exploration strategy and a transportation architecture that uses two launches of a heavy lift launch vehicle to deliver human and robotic mission systems to the moon. The principal advantage of the dual launch lunar mission strategy is the reduced cost and risk resulting from the development of just one launch vehicle system. The dual launch lunar mission architecture may also enhance opportunities for commercial and international partnerships by using expendable launch vehicle services for robotic missions or development of surface exploration elements. Furthermore, this architecture is particularly suited to the integration of robotic and human exploration to maximize science return. For surface operations, an innovative dual-mode rover is presented that is capable of performing robotic science exploration as well as transporting human crew conducting surface exploration. The dual-mode rover can be deployed to the lunar surface to perform precursor science activities, collect samples, scout potential crew landing sites, and meet the crew at a designated landing site. With this approach, the crew is able to evaluate the robotically collected samples to select the best samples for return to Earth to maximize the scientific value. The rovers can continue robotic exploration after the crew leaves the lunar surface. The transportation system for the dual launch mission architecture uses a lunar-orbit-rendezvous strategy. Two heavy lift launch vehicles depart from Earth within a six hour period to transport the lunar lander and crew elements separately to lunar orbit. In lunar orbit, the crew transfer vehicle docks with the lander and the crew boards the lander for descent to the surface. After the surface mission, the crew returns to the orbiting transfer vehicle for the return to the Earth. This

  4. Mission Reliability Estimation for Repairable Robot Teams

    Science.gov (United States)

    Trebi-Ollennu, Ashitey; Dolan, John; Stancliff, Stephen

    2010-01-01

    A mission reliability estimation method has been designed to translate mission requirements into choices of robot modules in order to configure a multi-robot team to have high reliability at minimal cost. In order to build cost-effective robot teams for long-term missions, one must be able to compare alternative design paradigms in a principled way by comparing the reliability of different robot models and robot team configurations. Core modules have been created including: a probabilistic module with reliability-cost characteristics, a method for combining the characteristics of multiple modules to determine an overall reliability-cost characteristic, and a method for the generation of legitimate module combinations based on mission specifications and the selection of the best of the resulting combinations from a cost-reliability standpoint. The developed methodology can be used to predict the probability of a mission being completed, given information about the components used to build the robots, as well as information about the mission tasks. In the research for this innovation, sample robot missions were examined and compared to the performance of robot teams with different numbers of robots and different numbers of spare components. Data that a mission designer would need was factored in, such as whether it would be better to have a spare robot versus an equivalent number of spare parts, or if mission cost can be reduced while maintaining reliability using spares. This analytical model was applied to an example robot mission, examining the cost-reliability tradeoffs among different team configurations. Particularly scrutinized were teams using either redundancy (spare robots) or repairability (spare components). Using conservative estimates of the cost-reliability relationship, results show that it is possible to significantly reduce the cost of a robotic mission by using cheaper, lower-reliability components and providing spares. This suggests that the

  5. Trajectory Guidance for Mars Robotic Precursors: Aerocapture, Entry, Descent, and Landing

    Science.gov (United States)

    Sostaric, Ronald R.; Zumwalt, Carlie; Garcia-Llama, Eduardo; Powell, Richard; Shidner, Jeremy

    2011-01-01

    Future crewed missions to Mars require improvements in landed mass capability beyond that which is possible using state-of-the-art Mars Entry, Descent, and Landing (EDL) systems. Current systems are capable of an estimated maximum landed mass of 1-1.5 metric tons (MT), while human Mars studies require 20-40 MT. A set of technologies were investigated by the EDL Systems Analysis (SA) project to assess the performance of candidate EDL architectures. A single architecture was selected for the design of a robotic precursor mission, entitled Exploration Feed Forward (EFF), whose objective is to demonstrate these technologies. In particular, inflatable aerodynamic decelerators (IADs) and supersonic retro-propulsion (SRP) have been shown to have the greatest mass benefit and extensibility to future exploration missions. In order to evaluate these technologies and develop the mission, candidate guidance algorithms have been coded into the simulation for the purposes of studying system performance. These guidance algorithms include aerocapture, entry, and powered descent. The performance of the algorithms for each of these phases in the presence of dispersions has been assessed using a Monte Carlo technique.

  6. Robotic Reconnaissance Missions to Small Bodies and Their Potential Contributions to Human Exploration

    Science.gov (United States)

    Abell, P. A.; Rivkin, A. S.

    2015-01-01

    Introduction: Robotic reconnaissance missions to small bodies will directly address aspects of NASA's Asteroid Initiative and will contribute to future human exploration. The NASA Asteroid Initiative is comprised of two major components: the Grand Challenge and the Asteroid Mission. The first component, the Grand Challenge, focuses on protecting Earth's population from asteroid impacts by detecting potentially hazardous objects with enough warning time to either prevent them from impacting the planet, or to implement civil defense procedures. The Asteroid Mission involves sending astronauts to study and sample a near- Earth asteroid (NEA) prior to conducting exploration missions of the Martian system, which includes Phobos and Deimos. The science and technical data obtained from robotic precursor missions that investigate the surface and interior physical characteristics of an object will help identify the pertinent physical properties that will maximize operational efficiency and reduce mission risk for both robotic assets and crew operating in close proximity to, or at the surface of, a small body. These data will help fill crucial strategic knowledge gaps (SKGs) concerning asteroid physical characteristics that are relevant for human exploration considerations at similar small body destinations. Small Body Strategic Knowledge Gaps: For the past several years NASA has been interested in identifying the key SKGs related to future human destinations. These SKGs highlight the various unknowns and/or data gaps of targets that the science and engineering communities would like to have filled in prior to committing crews to explore the Solar System. An action team from the Small Bodies Assessment Group (SBAG) was formed specifically to identify the small body SKGs under the direction of the Human Exploration and Operations Missions Directorate (HEOMD), given NASA's recent interest in NEAs and the Martian moons as potential human destinations [1]. The action team

  7. Integrated Human-Robotic Missions to the Moon and Mars: Mission Operations Design Implications

    Science.gov (United States)

    Mishkin, Andrew; Lee, Young; Korth, David; LeBlanc, Troy

    2007-01-01

    For most of the history of space exploration, human and robotic programs have been independent, and have responded to distinct requirements. The NASA Vision for Space Exploration calls for the return of humans to the Moon, and the eventual human exploration of Mars; the complexity of this range of missions will require an unprecedented use of automation and robotics in support of human crews. The challenges of human Mars missions, including roundtrip communications time delays of 6 to 40 minutes, interplanetary transit times of many months, and the need to manage lifecycle costs, will require the evolution of a new mission operations paradigm far less dependent on real-time monitoring and response by an Earthbound operations team. Robotic systems and automation will augment human capability, increase human safety by providing means to perform many tasks without requiring immediate human presence, and enable the transfer of traditional mission control tasks from the ground to crews. Developing and validating the new paradigm and its associated infrastructure may place requirements on operations design for nearer-term lunar missions. The authors, representing both the human and robotic mission operations communities, assess human lunar and Mars mission challenges, and consider how human-robot operations may be integrated to enable efficient joint operations, with the eventual emergence of a unified exploration operations culture.

  8. (abstract) Telecommunications for Mars Rovers and Robotic Missions

    Science.gov (United States)

    Cesarone, Robert J.; Hastrup, Rolf C.; Horne, William; McOmber, Robert

    1997-01-01

    Telecommunications plays a key role in all rover and robotic missions to Mars both as a conduit for command information to the mission and for scientific data from the mission. Telecommunications to the Earth may be accomplished using direct-to-Earth links via the Deep Space Network (DSN) or by relay links supported by other missions at Mars. This paper reviews current plans for missions to Mars through the 2005 launch opportunity and their capabilities in support of rover and robotic telecommunications.

  9. Developing a Fault Management Guidebook for Nasa's Deep Space Robotic Missions

    Science.gov (United States)

    Fesq, Lorraine M.; Jacome, Raquel Weitl

    2015-01-01

    NASA designs and builds systems that achieve incredibly ambitious goals, as evidenced by the Curiosity rover traversing on Mars, the highly complex International Space Station orbiting our Earth, and the compelling plans for capturing, retrieving and redirecting an asteroid into a lunar orbit to create a nearby a target to be investigated by astronauts. In order to accomplish these feats, the missions must be imbued with sufficient knowledge and capability not only to realize the goals, but also to identify and respond to off-nominal conditions. Fault Management (FM) is the discipline of establishing how a system will respond to preserve its ability to function even in the presence of faults. In 2012, NASA released a draft FM Handbook in an attempt to coalesce the field by establishing a unified terminology and a common process for designing FM mechanisms. However, FM approaches are very diverse across NASA, especially between the different mission types such as Earth orbiters, launch vehicles, deep space robotic vehicles and human spaceflight missions, and the authors were challenged to capture and represent all of these views. The authors recognized that a necessary precursor step is for each sub-community to codify its FM policies, practices and approaches in individual, focused guidebooks. Then, the sub-communities can look across NASA to better understand the different ways off-nominal conditions are addressed, and to seek commonality or at least an understanding of the multitude of FM approaches. This paper describes the development of the "Deep Space Robotic Fault Management Guidebook," which is intended to be the first of NASA's FM guidebooks. Its purpose is to be a field-guide for FM practitioners working on deep space robotic missions, as well as a planning tool for project managers. Publication of this Deep Space Robotic FM Guidebook is expected in early 2015. The guidebook will be posted on NASA's Engineering Network on the FM Community of Practice

  10. Cryogenic and LOX Based Propulsion Systems for Robotic Planetary Missions

    National Research Council Canada - National Science Library

    Valentian, Dominique

    2005-01-01

    Robotic planetary missions use almost exclusively storable propellants. However, it is clear that the use LOX/LH2 and LOX/HC combinations will offer a tremendous payload gain for most robotic missions...

  11. Human-robot collaboration for a shared mission

    OpenAIRE

    Karami , Abir-Beatrice; Jeanpierre , Laurent; Mouaddib , Abdel-Illah

    2010-01-01

    International audience; We are interested in collaboration domains between a robot and a human partner, the partners share a common mission without an explicit communication about their plans. The decision process of the robot agent should consider the presence of its human partner. Also, the robot planning should be flexible to human comfortability and all possible changes in the shared environment. To solve the problem of human-robot collaborationwith no communication, we present a model th...

  12. Robots and Humans in Planetary Exploration: Working Together?

    Science.gov (United States)

    Landis, Geoffrey A.; Lyons, Valerie (Technical Monitor)

    2002-01-01

    Today's approach to human-robotic cooperation in planetary exploration focuses on using robotic probes as precursors to human exploration. A large portion of current NASA planetary surface exploration is focussed on Mars, and robotic probes are seen as precursors to human exploration in: Learning about operation and mobility on Mars; Learning about the environment of Mars; Mapping the planet and selecting landing sites for human mission; Demonstration of critical technology; Manufacture fuel before human presence, and emplace elements of human-support infrastructure

  13. Mars MetNet Precursor Mission Status

    Science.gov (United States)

    Harri, A.-M.; Aleksashkin, S.; Guerrero, H.; Schmidt, W.; Genzer, M.; Vazquez, L.; Haukka, H.

    2013-09-01

    We are developing a new kind of planetary exploration mission for Mars in collaboration between the Finnish Meteorological Institute (FMI), Lavochkin Association (LA), Space Research Institute (IKI) and Institutio Nacional de Tecnica Aerospacial (INTA). The Mars MetNet mission is based on a new semi-hard landing vehicle called MetNet Lander (MNL). The scientific payload of the Mars MetNet Precursor [1] mission is divided into three categories: Atmospheric instruments, Optical devices and Composition and structure devices. Each of the payload instruments will provide significant insights in to the Martian atmospheric behavior. The key technologies of the MetNet Lander have been qualified and the electrical qualification model (EQM) of the payload bay has been built and successfully tested.

  14. Human Assisted Robotic Vehicle Studies - A conceptual end-to-end mission architecture

    Science.gov (United States)

    Lehner, B. A. E.; Mazzotta, D. G.; Teeney, L.; Spina, F.; Filosa, A.; Pou, A. Canals; Schlechten, J.; Campbell, S.; Soriano, P. López

    2017-11-01

    With current space exploration roadmaps indicating the Moon as a proving ground on the way to human exploration of Mars, it is clear that human-robotic partnerships will play a key role for successful future human space missions. This paper details a conceptual end-to-end architecture for an exploration mission in cis-lunar space with a focus on human-robot interactions, called Human Assisted Robotic Vehicle Studies (HARVeSt). HARVeSt will build on knowledge of plant growth in space gained from experiments on-board the ISS and test the first growth of plants on the Moon. A planned deep space habitat will be utilised as the base of operations for human-robotic elements of the mission. The mission will serve as a technology demonstrator not only for autonomous tele-operations in cis-lunar space but also for key enabling technologies for future human surface missions. The successful approach of the ISS will be built on in this mission with international cooperation. Mission assets such as a modular rover will allow for an extendable mission and to scout and prepare the area for the start of an international Moon Village.

  15. Soft-Robotic Rover with Electrodynamic Power Scavenging

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose a rover architecture for Europa and other planetary environments where soft robotics enables scientific investigation or human-precursor missions that...

  16. IMPERA: Integrated Mission Planning for Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Daniel Saur

    2015-10-01

    Full Text Available This paper presents the results of the project IMPERA (Integrated Mission Planning for Distributed Robot Systems. The goal of IMPERA was to realize an extraterrestrial exploration scenario using a heterogeneous multi-robot system. The main challenge was the development of a multi-robot planning and plan execution architecture. The robot team consists of three heterogeneous robots, which have to explore an unknown environment and collect lunar drill samples. The team activities are described using the language ALICA (A Language for Interactive Agents. Furthermore, we use the mission planning system pRoPhEt MAS (Reactive Planning Engine for Multi-Agent Systems to provide an intuitive interface to generate team activities. Therefore, we define the basic skills of our team with ALICA and define the desired goal states by using a logic description. Based on the skills, pRoPhEt MAS creates a valid ALICA plan, which will be executed by the team. The paper describes the basic components for communication, coordinated exploration, perception and object transportation. Finally, we evaluate the planning engine pRoPhEt MAS in the IMPERA scenario. In addition, we present further evaluation of pRoPhEt MAS in more dynamic environments.

  17. Soviet Robots in the Solar System Mission Technologies and Discoveries

    CERN Document Server

    Huntress, JR , Wesley T

    2011-01-01

    The Soviet robotic space exploration program began in a spirit of bold adventure and technical genius. It ended after the fall of the Soviet Union and the failure of its last mission to Mars in 1996. Soviet Robots in the Solar System chronicles the scientific and engineering accomplishments of this enterprise from its infancy to its demise. Each flight campaign is set into context of national politics and international competition with the United States. Together with its many detailed illustrations and images, Soviet Robots in the Solar System presents the most detailed technical description of Soviet robotic space flights provides a unique insight into programmatic, engineering, and scientific issues covers mission objectives, spacecraft engineering, flight details, scientific payload and results describes in technical depth Soviet lunar and planetary probes

  18. Overview of Mission Design for NASA Asteroid Redirect Robotic Mission Concept

    Science.gov (United States)

    Strange, Nathan; Landau, Damon; McElrath, Timothy; Lantoine, Gregory; Lam, Try; McGuire, Melissa; Burke, Laura; Martini, Michael; Dankanich, John

    2013-01-01

    Part of NASA's new asteroid initiative would be a robotic mission to capture a roughly four to ten meter asteroid and redirect its orbit to place it in translunar space. Once in a stable storage orbit at the Moon, astronauts would then visit the asteroid for science investigations, to test in space resource extraction, and to develop experience with human deep space missions. This paper discusses the mission design techniques that would enable the redirection of a 100-1000 metric ton asteroid into lunar orbit with a 40-50 kW Solar Electric Propulsion (SEP) system.

  19. Fission-Based Electric Propulsion for Interstellar Precursor Missions

    International Nuclear Information System (INIS)

    HOUTS, MICHAEL G.; LENARD, ROGER X.; LIPINSKI, RONALD J.; PATTON, BRUCE; POSTON, DAVID; WRIGHT, STEVEN A.

    1999-01-01

    This paper reviews the technology options for a fission-based electric propulsion system for interstellar precursor missions. To achieve a total ΔV of more than 100 km/s in less than a decade of thrusting with an electric propulsion system of 10,000s Isp requires a specific mass for the power system of less than 35 kg/kWe. Three possible configurations are described: (1) a UZrH-fueled,NaK-cooled reactor with a steam Rankine conversion system,(2) a UN-fueled gas-cooled reactor with a recuperated Brayton conversion system, and (3) a UN-fueled heat pipe-cooled reactor with a recuperated Brayton conversion system. All three of these systems have the potential to meet the specific mass requirements for interstellar precursor missions in the near term. Advanced versions of a fission-based electric propulsion system might travel as much as several light years in 200 years

  20. Automation, robotics, and inflight training for manned Mars missions

    Science.gov (United States)

    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.

  1. Ontological Reasoning for Human-Robot Teaming in Search and Rescue Missions

    NARCIS (Netherlands)

    Bagosi, T.; Hindriks, k.V.; Neerincx, M.A.

    2016-01-01

    In search and rescue missions robots are used to help rescue workers in exploring the disaster site. Our research focuses on how multiple robots and rescuers act as a team, and build up situation awareness. We propose a multi-agent system where each agent supports one member, either human or robot.

  2. Exception detection and handling in mission control for mobile robots

    DEFF Research Database (Denmark)

    Andersen, Thomas Timm; Andersen, Nils Axel; Ravn, Ole

    2013-01-01

    This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event in the mis......This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event...

  3. Effective Human-Robot Collaborative Work for Critical Missions

    Data.gov (United States)

    National Aeronautics and Space Administration — The objective of this project is to improve human-robot interaction (HRI) in order to enhance the capability of NASA critical missions. This research will focus two...

  4. Mars Relays Satellite Orbit Design Considerations for Global Support of Robotic Surface Missions

    Science.gov (United States)

    Hastrup, Rolf; Cesarone, Robert; Cook, Richard; Knocke, Phillip; McOmber, Robert

    1993-01-01

    This paper discusses orbit design considerations for Mars relay satellite (MRS)support of globally distributed robotic surface missions. The orbit results reported in this paper are derived from studies of MRS support for two types of Mars robotic surface missions: 1) the mars Environmental Survey (MESUR) mission, which in its current definition would deploy a global network of up to 16 small landers, and 2)a Small Mars Sample Return (SMSR) mission, which included four globally distributed landers, each with a return stage and one or two rovers, and up to four additional sets of lander/rover elements in an extended mission phase.

  5. A Software Framework for Coordinating Human-Robot Teams, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots are expected to fulfill an important role in manned exploration operations. They will perform precursor missions to pre-position resources for manned...

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

    Science.gov (United States)

    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

  7. Robotic Missions to Small Bodies and Their Potential Contributions to Human Exploration and Planetary Defense

    Science.gov (United States)

    Abell, Paul A.; Rivkin, Andrew S.

    2015-01-01

    Introduction: Robotic missions to small bodies will directly address aspects of NASA's Asteroid Initiative and will contribute to future human exploration and planetary defense. The NASA Asteroid Initiative is comprised of two major components: the Grand Challenge and the Asteroid Mission. The first component, the Grand Challenge, focuses on protecting Earth's population from asteroid impacts by detecting potentially hazardous objects with enough warning time to either prevent them from impacting the planet, or to implement civil defense procedures. The Asteroid Mission involves sending astronauts to study and sample a near-Earth asteroid (NEA) prior to conducting exploration missions of the Martian system, which includes Phobos and Deimos. The science and technical data obtained from robotic precursor missions that investigate the surface and interior physical characteristics of an object will help identify the pertinent physical properties that will maximize operational efficiency and reduce mission risk for both robotic assets and crew operating in close proximity to, or at the surface of, a small body. These data will help fill crucial strategic knowledge gaps (SKGs) concerning asteroid physical characteristics that are relevant for human exploration considerations at similar small body destinations. These data can also be applied for gaining an understanding of pertinent small body physical characteristics that would also be beneficial for formulating future impact mitigation procedures. Small Body Strategic Knowledge Gaps: For the past several years NASA has been interested in identifying the key SKGs related to future human destinations. These SKGs highlight the various unknowns and/or data gaps of targets that the science and engineering communities would like to have filled in prior to committing crews to explore the Solar System. An action team from the Small Bodies Assessment Group (SBAG) was formed specifically to identify the small body SKGs under the

  8. Mars - The relationship of robotic and human elements in the IAA International Exploration of Mars study

    Science.gov (United States)

    Marov, Mikhail YA.; Duke, Michael B.

    1993-01-01

    The roles of human and robotic missions in Mars exploration are defined in the context of the short- and long-term Mars programs. In particular, it is noted that the currently implemented and planned missions to Mars can be regarded as robotic precursor missions to human exploration. Attention is given to factors that must be considered in formulating the rationale for human flights to Mars and future human Mars settlements and justifying costly projects.

  9. MMPM - Mars MetNet Precursor Mission

    Science.gov (United States)

    Harri, A.-M.; Schmidt, W.; Pichkhadze, K.; Linkin, V.; Vazquez, L.; Uspensky, M.; Polkko, J.; Genzer, M.; Lipatov, A.; Guerrero, H.; Alexashkin, S.; Haukka, H.; Savijarvi, H.; Kauhanen, J.

    2008-09-01

    We are developing a new kind of planetary exploration mission for Mars - MetNet in situ observation network based on a new semi-hard landing vehicle called the Met-Net Lander (MNL). The eventual scope of the MetNet Mission is to deploy some 20 MNLs on the Martian surface using inflatable descent system structures, which will be supported by observations from the orbit around Mars. Currently we are working on the MetNet Mars Precursor Mission (MMPM) to deploy one MetNet Lander to Mars in the 2009/2011 launch window as a technology and science demonstration mission. The MNL will have a versatile science payload focused on the atmospheric science of Mars. Detailed characterization of the Martian atmospheric circulation patterns, boundary layer phenomena, and climatology cycles, require simultaneous in-situ measurements by a network of observation posts on the Martian surface. The scientific payload of the MetNet Mission encompasses separate instrument packages for the atmospheric entry and descent phase and for the surface operation phase. The MetNet mission concept and key probe technologies have been developed and the critical subsystems have been qualified to meet the Martian environmental and functional conditions. Prototyping of the payload instrumentation with final dimensions was carried out in 2003-2006.This huge development effort has been fulfilled in collaboration between the Finnish Meteorological Institute (FMI), the Russian Lavoschkin Association (LA) and the Russian Space Research Institute (IKI) since August 2001. Currently the INTA (Instituto Nacional de Técnica Aeroespacial) from Spain is also participating in the MetNet payload development. To understand the behavior and dynamics of the Martian atmosphere, a wealth of simultaneous in situ observations are needed on varying types of Martian orography, terrain and altitude spanning all latitudes and longitudes. This will be performed by the Mars MetNet Mission. In addition to the science aspects the

  10. Next Generation Simulation Framework for Robotic and Human Space Missions

    Science.gov (United States)

    Cameron, Jonathan M.; Balaram, J.; Jain, Abhinandan; Kuo, Calvin; Lim, Christopher; Myint, Steven

    2012-01-01

    The Dartslab team at NASA's Jet Propulsion Laboratory (JPL) has a long history of developing physics-based simulations based on the Darts/Dshell simulation framework that have been used to simulate many planetary robotic missions, such as the Cassini spacecraft and the rovers that are currently driving on Mars. Recent collaboration efforts between the Dartslab team at JPL and the Mission Operations Directorate (MOD) at NASA Johnson Space Center (JSC) have led to significant enhancements to the Dartslab DSENDS (Dynamics Simulator for Entry, Descent and Surface landing) software framework. The new version of DSENDS is now being used for new planetary mission simulations at JPL. JSC is using DSENDS as the foundation for a suite of software known as COMPASS (Core Operations, Mission Planning, and Analysis Spacecraft Simulation) that is the basis for their new human space mission simulations and analysis. In this paper, we will describe the collaborative process with the JPL Dartslab and the JSC MOD team that resulted in the redesign and enhancement of the DSENDS software. We will outline the improvements in DSENDS that simplify creation of new high-fidelity robotic/spacecraft simulations. We will illustrate how DSENDS simulations are assembled and show results from several mission simulations.

  11. Multiagent Modeling and Simulation in Human-Robot Mission Operations Work System Design

    Science.gov (United States)

    Sierhuis, Maarten; Clancey, William J.; Sims, Michael H.; Shafto, Michael (Technical Monitor)

    2001-01-01

    This paper describes a collaborative multiagent modeling and simulation approach for designing work systems. The Brahms environment is used to model mission operations for a semi-autonomous robot mission to the Moon at the work practice level. It shows the impact of human-decision making on the activities and energy consumption of a robot. A collaborative work systems design methodology is described that allows informal models, created with users and stakeholders, to be used as input to the development of formal computational models.

  12. Multi-robot Task Allocation for Search and Rescue Missions

    International Nuclear Information System (INIS)

    Hussein, Ahmed; Adel, Mohamed; Bakr, Mohamed; Shehata, Omar M; Khamis, Alaa

    2014-01-01

    Many researchers from academia and industry are attracted to investigate how to design and develop robust versatile multi-robot systems by solving a number of challenging and complex problems such as task allocation, group formation, self-organization and much more. In this study, the problem of multi-robot task allocation (MRTA) is tackled. MRTA is the problem of optimally allocating a set of tasks to a group of robots to optimize the overall system performance while being subjected to a set of constraints. A generic market-based approach is proposed in this paper to solve this problem. The efficacy of the proposed approach is quantitatively evaluated through simulation and real experimentation using heterogeneous Khepera-III mobile robots. The results from both simulation and experimentation indicate the high performance of the proposed algorithms and their applicability in search and rescue missions

  13. Small Body Exploration Technologies as Precursors for Interstellar Robotics

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-02-15

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

  14. Kilowatt-Class Fission Power Systems for Science and Human Precursor Missions

    Science.gov (United States)

    Mason, Lee S.; Gibson, Marc Andrew; Poston, Dave

    2013-01-01

    Nuclear power provides an enabling capability for NASA missions that might otherwise be constrained by power availability, mission duration, or operational robustness. NASA and the Department of Energy (DOE) are developing fission power technology to serve a wide range of future space uses. Advantages include lower mass, longer life, and greater mission flexibility than competing power system options. Kilowatt-class fission systems, designated "Kilopower," were conceived to address the need for systems to fill the gap above the current 100-W-class radioisotope power systems being developed for science missions and below the typical 100-k We-class reactor power systems being developed for human exploration missions. This paper reviews the current fission technology project and examines some Kilopower concepts that could be used to support future science missions or human precursors.

  15. The Ion Propulsion System for the Asteroid Redirect Robotic Mission

    Science.gov (United States)

    Herman, Daniel A.; Santiago, Walter; Kamhawi, Hani; Polk, James E.; Snyder, John Steven; Hofer, Richard; Sekerak, Michael

    2016-01-01

    The Asteroid Redirect Robotic Mission is a Solar Electric Propulsion Technology Demonstration Mission (ARRM) whose main objectives are to develop and demonstrate a high-power solar electric propulsion capability for the Agency and return an asteroidal mass for rendezvous and characterization in a companion human-crewed mission. This high-power solar electric propulsion capability, or an extensible derivative of it, has been identified as a critical part of NASA's future beyond-low-Earth-orbit, human-crewed exploration plans. This presentation presents the conceptual design of the ARRM ion propulsion system, the status of the NASA in-house thruster and power processing development activities, the status of the planned technology maturation for the mission through flight hardware delivery, and the status of the mission formulation and spacecraft acquisition.

  16. Nuclear Electric Propulsion Application: RASC Mission Robotic Exploration of Venus

    Science.gov (United States)

    McGuire, Melissa L.; Borowski, Stanley K.; Packard, Thomas W.

    2004-01-01

    The following paper documents the mission and systems analysis portion of a study in which Nuclear Electric Propulsion (NEP) is used as the in-space transportation system to send a series of robotic rovers and atmospheric science airplanes to Venus in the 2020 to 2030 timeframe. As part of the NASA RASC (Revolutionary Aerospace Systems Concepts) program, this mission analysis is meant to identify future technologies and their application to far reaching NASA missions. The NEP systems and mission analysis is based largely on current technology state of the art assumptions. This study looks specifically at the performance of the NEP transfer stage when sending a series of different payload package point design options to Venus orbit.

  17. A robotic exploration mission to Mars and Phobos

    Science.gov (United States)

    Kerr, Justin H.; Defosse, Erin; Ho, Quang; Barriga, Ernisto; Davis, Grant; Mccourt, Steve; Smith, Matt

    1993-01-01

    This report discusses the design of a robotic exploration to Mars and Phobos. It begins with the mission's background and objectives, followed by a detailed explanation of various elements of Project Aeneas, including science, spacecraft, probes, and orbital trajectories. In addition, a description of Argos Space Endeavours, management procedures, and overall project costs are presented. Finally, a list of recommendations for future design activity is included.

  18. Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

    Science.gov (United States)

    Fong, Terry

    2017-01-01

    For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.

  19. Issues of geologically-focused situational awareness in robotic planetary missions: Lessons from an analogue mission at Mistastin Lake impact structure, Labrador, Canada

    Science.gov (United States)

    Antonenko, I.; Osinski, G. R.; Battler, M.; Beauchamp, M.; Cupelli, L.; Chanou, A.; Francis, R.; Mader, M. M.; Marion, C.; McCullough, E.; Pickersgill, A. E.; Preston, L. J.; Shankar, B.; Unrau, T.; Veillette, D.

    2013-07-01

    Remote robotic data provides different information than that obtained from immersion in the field. This significantly affects the geological situational awareness experienced by members of a mission control science team. In order to optimize science return from planetary robotic missions, these limitations must be understood and their effects mitigated to fully leverage the field experience of scientists at mission control.Results from a 13-day analogue deployment at the Mistastin Lake impact structure in Labrador, Canada suggest that scale, relief, geological detail, and time are intertwined issues that impact the mission control science team's effectiveness in interpreting the geology of an area. These issues are evaluated and several mitigation options are suggested. Scale was found to be difficult to interpret without the reference of known objects, even when numerical scale data were available. For this reason, embedding intuitive scale-indicating features into image data is recommended. Since relief is not conveyed in 2D images, both 3D data and observations from multiple angles are required. Furthermore, the 3D data must be observed in animation or as anaglyphs, since without such assistance much of the relief information in 3D data is not communicated. Geological detail may also be missed due to the time required to collect, analyze, and request data.We also suggest that these issues can be addressed, in part, by an improved understanding of the operational time costs and benefits of scientific data collection. Robotic activities operate on inherently slow time-scales. This fact needs to be embraced and accommodated. Instead of focusing too quickly on the details of a target of interest, thereby potentially minimizing science return, time should be allocated at first to more broad data collection at that target, including preliminary surveys, multiple observations from various vantage points, and progressively smaller scale of focus. This operational model

  20. Artificial Intelligence techniques for mission planning for mobile robots

    International Nuclear Information System (INIS)

    Martinez, J.M.; Nomine, J.P.

    1990-01-01

    This work focuses on Spatial Modelization Techniques and on Control Software Architectures, in order to deal efficiently with the Navigation and Perception problems encountered in Mobile Autonomous Robotics. After a brief survey of the current various approaches for these techniques, we expose ongoing simulation works for a specific mission in robotics. Studies in progress used for Spatial Reasoning are based on new approaches combining Artificial Intelligence and Geometrical techniques. These methods deal with the problem of environment modelization using three types of models: geometrical topological and semantic models at different levels. The decision making processes of control are presented as the result of cooperation between a group of decentralized agents that communicate by sending messages. (author)

  1. Robotic Platform for Automated Search and Rescue Missions of Humans

    Directory of Open Access Journals (Sweden)

    Eli Kolberg

    2013-02-01

    Full Text Available We present a novel type of model incorporating a special remote life signals sensing optical system on top of a controllable robotic platform. The remote sensing system consists of a laser and a camera. By properly adapting our optics and by applying a proper image processing algorithm we can sense within the field of view, illuminated by the laser and imaged by the camera, the heartbeats and the blood pulse pressure of subjects (even several simultaneously. The task is to use the developed robotic system for search and rescue mission such as saving survivals from a fire.

  2. Application of Solar-Electric Propulsion to Robotic Missions in Near-Earth Space

    Science.gov (United States)

    Woodcock, Gordon R.; Dankanich, John

    2007-01-01

    Interest in applications of solar electric propulsion (SEP) is increasing. Application of SEP technology is favored when: (1) the mission is compatible with low-thrust propulsion, (2) the mission needs high total delta V such that chemical propulsion is disadvantaged; and (3) performance enhancement is needed. If all such opportunities for future missions are considered, many uses of SEP are likely. Representative missions are surveyed and several SEP applications selected for analysis, including orbit raising, lunar science and robotic exploration, and planetary science. These missions span SEP power range from 10 kWe to about 100 kWe. A SEP design compatible with small inexpensive launch vehicles, and capable of lunar science missions, is presented. Modes of use and benefits are described, and potential SEP evolution is discussed.

  3. Human Factors Principles in Design of Computer-Mediated Visualization for Robot Missions

    Energy Technology Data Exchange (ETDEWEB)

    David I Gertman; David J Bruemmer

    2008-12-01

    With increased use of robots as a resource in missions supporting countermine, improvised explosive devices (IEDs), and chemical, biological, radiological nuclear and conventional explosives (CBRNE), fully understanding the best means by which to complement the human operator’s underlying perceptual and cognitive processes could not be more important. Consistent with control and display integration practices in many other high technology computer-supported applications, current robotic design practices rely highly upon static guidelines and design heuristics that reflect the expertise and experience of the individual designer. In order to use what we know about human factors (HF) to drive human robot interaction (HRI) design, this paper reviews underlying human perception and cognition principles and shows how they were applied to a threat detection domain.

  4. A mission to Mercury and a mission to the moons of Mars

    Science.gov (United States)

    1993-07-01

    Two Advanced Design Projects were completed this academic year at Penn State - a mission to the planet Mercury and a mission to the moons of Mars (Phobos and Deimos). At the beginning of the fall semester the students were organized into six groups and given their choice of missions. Once a mission was chosen, the students developed conceptual designs. These designs were then evaluated at the end of the fall semester and combined into two separate mission scenarios. To facilitate the work required for each mission, the class was reorganized in the spring semester by combining groups to form two mission teams. An integration team consisting of two members from each group was formed for each mission team so that communication and exchange of information would be easier among the groups. The types of projects designed by the students evolved from numerous discussions with Penn State faculty and mission planners at the Lewis Research Center Advanced Projects Office. Robotic planetary missions throughout the solar system can be considered valuable precursors to human visits and test beds for innovative technology. For example, by studying the composition of the Martian moons, scientists may be able to determine if their resources may be used or synthesized for consumption during a first human visit.

  5. Robotic Mission to Mars: Hands-on, minds-on, web-based learning

    Science.gov (United States)

    Mathers, Naomi; Goktogen, Ali; Rankin, John; Anderson, Marion

    2012-11-01

    Problem-based learning has been demonstrated as an effective methodology for developing analytical skills and critical thinking. The use of scenario-based learning incorporates problem-based learning whilst encouraging students to collaborate with their colleagues and dynamically adapt to their environment. This increased interaction stimulates a deeper understanding and the generation of new knowledge. The Victorian Space Science Education Centre (VSSEC) uses scenario-based learning in its Mission to Mars, Mission to the Orbiting Space Laboratory and Primary Expedition to the M.A.R.S. Base programs. These programs utilize methodologies such as hands-on applications, immersive-learning, integrated technologies, critical thinking and mentoring to engage students in Science, Technology, Engineering and Mathematics (STEM) and highlight potential career paths in science and engineering. The immersive nature of the programs demands specialist environments such as a simulated Mars environment, Mission Control and Space Laboratory, thus restricting these programs to a physical location and limiting student access to the programs. To move beyond these limitations, VSSEC worked with its university partners to develop a web-based mission that delivered the benefits of scenario-based learning within a school environment. The Robotic Mission to Mars allows students to remotely control a real rover, developed by the Australian Centre for Field Robotics (ACFR), on the VSSEC Mars surface. After completing a pre-mission training program and site selection activity, students take on the roles of scientists and engineers in Mission Control to complete a mission and collect data for further analysis. Mission Control is established using software developed by the ACRI Games Technology Lab at La Trobe University using the principles of serious gaming. The software allows students to control the rover, monitor its systems and collect scientific data for analysis. This program encourages

  6. Human and Robotic Exploration Missions to Phobos Prior to Crewed Mars Surface Missions

    Science.gov (United States)

    Gernhardt, Michael L.; Chappell, Steven P.; Bekdash, Omar S.; Abercromby, Andrew F.

    2016-01-01

    from portable foot restraints or body restrain tethers in the vicinity of the habitat. Prototype structures were tested as part of NEEMO 20. PEVs would contain closed loop guidance and provide life support and consumables for two crew for 2 weeks plus reserves. The PEV has a cabin that uses the exploration atmosphere of 8.2 psi with 34% oxygen, enabling use of suit ports for rapid EVA with minimal oxygen prebreathe as well as dust control by keeping the suits outside the pressurized volume. When equipped with outriggers and control moment gyros, the PEV enables EVA tasks of up to 8 pounds of force application without the need to anchor. Tasks with higher force requirements can be performed with PEV propulsion providing the necessary thrust to react forces. Exploration of Phobos builds heavily from the developments of the cis-lunar proving ground, and significantly reduces Mars surface risk by facilitating the development and testing of habitats, MAVs, and pressurized rover cabins that are all Mars surface forward. A robotic precursor mission to Phobos and Deimos is also under consideration and would need to launch in 2022 to support a 2031 human Phobos mission.

  7. First results on GlioLab/GlioSat Precursors Missions

    Science.gov (United States)

    Cappelletti, Chantal; Notarangelo, Angelo; Demoss, Darrin; Carella, Massimo

    2012-07-01

    Since 2009 GAUSS group is involved in a joint collaboration with Morehead State University (MSU) Space Science Center and IRCCS Casa Sollievo della Sofferenza (CSS) research labs with the aim to design a biomedical project in order to investigate if the combined effects of microgravity conditions and ionizing radiation increase or decrease the survival rate of cancer cells. The biological sample consists of Glioblastoma cancer cell line ANGM-CSS. Glioblastoma is a kind of cancer that can be treated after surgery only by radiotherapy using ionizing radiation. This treatment, anyway, results in a very low survival rate. This project uses different university space platforms: a CubeLab, named GlioLab, on board the International Space Station and the university microsatellite UniSat-5 designed by GAUSS. In addition a GlioLab/GlioSat precursor experiment has already flown two times with the Space Shuttle during the missions STS-134 and STS-135. The phase 0 or the precursor of GlioLab uses a COTS system, named Liquid Mixing Apparatus (LMA), to board the biological samples inside the Space Shuttle for thirty day . The LMA allows to board liquids inside a vial but is not equipped with environment control system. After landing the samples were investigated by researchers at CSS in Italy and at MSU in Kentucky. This paper deals with the experimental set up and the results obtained during the STS-134 and STS-135 missions and with the new evidences on the behavior of this kind of cancer. In particular the results obtained on the DNA analysis give a confirmation of the original idea of GLioLab/Gliosat project justifying the development of the two systems.

  8. Space Missions for Automation and Robotics Technologies (SMART) Program

    Science.gov (United States)

    Cliffone, D. L.; Lum, H., Jr.

    1985-01-01

    NASA is currently considering the establishment of a Space Mission for Automation and Robotics Technologies (SMART) Program to define, develop, integrate, test, and operate a spaceborne national research facility for the validation of advanced automation and robotics technologies. Initially, the concept is envisioned to be implemented through a series of shuttle based flight experiments which will utilize telepresence technologies and real time operation concepts. However, eventually the facility will be capable of a more autonomous role and will be supported by either the shuttle or the space station. To ensure incorporation of leading edge technology in the facility, performance capability will periodically and systematically be upgraded by the solicitation of recommendations from a user advisory group. The facility will be managed by NASA, but will be available to all potential investigators. Experiments for each flight will be selected by a peer review group. Detailed definition and design is proposed to take place during FY 86, with the first SMART flight projected for FY 89.

  9. In-situ resource utilization for the human exploration of Mars : a Bayesian approach to valuation of precursor missions

    Science.gov (United States)

    Smith, Jeffrey H.

    2006-01-01

    The need for sufficient quantities of oxygen, water, and fuel resources to support a crew on the surface of Mars presents a critical logistical issue of whether to transport such resources from Earth or manufacture them on Mars. An approach based on the classical Wildcat Drilling Problem of Bayesian decision theory was applied to the problem of finding water in order to compute the expected value of precursor mission sample information. An implicit (required) probability of finding water on Mars was derived from the value of sample information using the expected mass savings of alternative precursor missions.

  10. Human missions to Mars: issues and challenges

    Science.gov (United States)

    Race, M.; Kminek, G.

    Recent announcements of the planned future human exploration of Mars by both European and US space agencies have raised a host of questions and challenges that must be addressed in advance of long-duration human missions. While detailed mission planning is a long way off, numerous issues can already be identified in the broad context of planetary protection. In this session, a panel of experts will provide brief overviews of the types of challenges ahead, such as the protection of the martian environment; the integration of human and robotic mission elements and operations; precursor scientific information necessary to plan human missions; development and use of nuclear and other technologies for the protection and support of astronauts during the mission; protection of Earth upon return; and societal and ethical questions about human exploration. The session has been designed to encourage and incorporate audience participation in the discussion about the issues and challenges ahead.

  11. Mini AERCam Inspection Robot for Human Space Missions

    Science.gov (United States)

    Fredrickson, Steven E.; Duran, Steve; Mitchell, Jennifer D.

    2004-01-01

    The Engineering Directorate of NASA Johnson Space Center has developed a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam free flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35 pound, 14 inch AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, imaging, power, and propulsion subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations including automatic stationkeeping and point-to-point maneuvering. Mini AERCam is designed to fulfill the unique requirements and constraints associated with using a free flyer to perform external inspections and remote viewing of human spacecraft operations. This paper describes the application of Mini AERCam for stand-alone spacecraft inspection, as well as for roles on teams of humans and robots conducting future space exploration missions.

  12. Sustaining PICA for Future NASA Robotic Science Missions Including NF-4 and Discovery

    Science.gov (United States)

    Stackpoole, Mairead; Venkatapathy, Ethiraj; Violette, Steve

    2018-01-01

    Phenolic Impregnated Carbon Ablator (PICA), invented in the mid 1990's, is a low-density ablative thermal protection material proven capable of meeting sample return mission needs from the moon, asteroids, comets and other unrestricted class V destinations as well as for Mars. Its low density and efficient performance characteristics have proven effective for use from Discovery to Flag-ship class missions. It is important that NASA maintain this thermal protection material capability and ensure its availability for future NASA use. The rayon based carbon precursor raw material used in PICA preform manufacturing has experienced multiple supply chain issues and required replacement and requalification at least twice in the past 25 years and a third substitution is now needed. The carbon precursor replacement challenge is twofold - the first involves finding a long-term replacement for the current rayon and the second is to assess its future availability periodically to ensure it is sustainable and be alerted if additional replacement efforts need to be initiated. This paper reviews current PICA sustainability activities to identify a rayon replacement and to establish that the capability of the new PICA derived from an alternative precursor is in family with previous versions.

  13. Creating Communications, Computing, and Networking Technology Development Road Maps for Future NASA Human and Robotic Missions

    Science.gov (United States)

    Bhasin, Kul; Hayden, Jeffrey L.

    2005-01-01

    For human and robotic exploration missions in the Vision for Exploration, roadmaps are needed for capability development and investments based on advanced technology developments. A roadmap development process was undertaken for the needed communications, and networking capabilities and technologies for the future human and robotics missions. The underlying processes are derived from work carried out during development of the future space communications architecture, an d NASA's Space Architect Office (SAO) defined formats and structures for accumulating data. Interrelationships were established among emerging requirements, the capability analysis and technology status, and performance data. After developing an architectural communications and networking framework structured around the assumed needs for human and robotic exploration, in the vicinity of Earth, Moon, along the path to Mars, and in the vicinity of Mars, information was gathered from expert participants. This information was used to identify the capabilities expected from the new infrastructure and the technological gaps in the way of obtaining them. We define realistic, long-term space communication architectures based on emerging needs and translate the needs into interfaces, functions, and computer processing that will be required. In developing our roadmapping process, we defined requirements for achieving end-to-end activities that will be carried out by future NASA human and robotic missions. This paper describes: 10 the architectural framework developed for analysis; 2) our approach to gathering and analyzing data from NASA, industry, and academia; 3) an outline of the technology research to be done, including milestones for technology research and demonstrations with timelines; and 4) the technology roadmaps themselves.

  14. The complete integration of MissionLab and CARMEN

    Directory of Open Access Journals (Sweden)

    FJ Serrano Rodriguez

    2017-05-01

    Full Text Available Nowadays, a major challenge in the development of advanced robotic systems is the creation of complex missions for groups of robots, with two main restrictions: complex programming activities not needed and the mission configuration time should be short (e.g. Urban Search And Rescue. With these ideas in mind, we analysed several robotic development environments, such as Robot Operating System (ROS, Open Robot Control Software (OROCOS, MissionLab, Carnegie Mellon Robot Navigation Toolkit (CARMEN and Player/Stage, which are helpful when creating autonomous robots. MissionLab provides high-level features (automatic mission creation, code generation and a graphical mission editor that are unavailable in other significant robotic development environments. It has however some weaknesses regarding its map-based capabilities. Creating, managing and taking advantage of maps for localization and navigation tasks are among CARMEN’s most significant features. This fact makes the integration of MissionLab with CARMEN both possible and interesting. This article describes the resulting robotic development environment, which makes it possible to work with several robots, and makes use of their map-based navigation capabilities. It will be shown that the proposed platform solves the proposed goal, that is, it simplifies the programmer’s job when developing control software for robot teams, and it further facilitates multi-robot deployment task in mission-critical situations.

  15. Interplanetary Trajectory Design for the Asteroid Robotic Redirect Mission Alternate Approach Trade Study

    Science.gov (United States)

    Merrill, Raymond Gabriel; Qu, Min; Vavrina, Matthew A.; Englander, Jacob A.; Jones, Christopher A.

    2014-01-01

    This paper presents mission performance analysis methods and results for the Asteroid Robotic Redirect Mission (ARRM) option to capture a free standing boulder on the surface of a 100 m or larger NEA. It details the optimization and design of heliocentric low-thrust trajectories to asteroid targets for the ARRM solar electric propulsion spacecraft. Extensive searches were conducted to determine asteroid targets with large pick-up mass potential and potential observation opportunities. Interplanetary trajectory approximations were developed in method based tools for Itokawa, Bennu, 1999 JU3, and 2008 EV5 and were validated by end-to-end integrated trajectories.

  16. Radioisotope electric propulsion for robotic science missions to near-interstellar space

    International Nuclear Information System (INIS)

    Noble, R.J.

    1994-10-01

    The use of radioisotope electric propulsion for sending small robotic probes on fast science missions several hundred astronomical units (AU) from the Sun is investigated. Such missions would address a large variety of solar, interstellar, galactic and cosmological science themes from unique vantage points at 100 to 600 AU, including parallax distance measurements for the entire Milky Way Galaxy, sampling of the interstellar medium and imaging of cosmological objects at the gravitational lens foci of the Sun (≥ 550 AU). Radioisotope electric propulsion (REP) systems are low-thrust, ion propulsion units based on multi-hundred watt, radioisotope electric generators and ion thrusters. In a previous work, the flight times for rendezvous missions to the outer planets (< 30 AU) using REP were found to be less than fifteen years. However fast prestellar missions to several hundred AU are not possible unless the probe's energy can be substantially increased in the inner Solar System so as to boost the final hyperbolic excess velocity. In this paper an economical hybrid propulsion scheme combining chemical propulsion and gravity assist in the inner Solar System and radioisotope electric propulsion in the outer Solar System is studied which enables fast prestellar missions. Total hyperbolic excess velocities of 15 AU/year and flight times to 550 AU of about 40 years are possible using REP technology that may be available in the next decade

  17. Human and Robotic Mission to Small Bodies: Mapping, Planning and Exploration

    Science.gov (United States)

    Neffian, Ara V.; Bellerose, Julie; Beyer, Ross A.; Archinal, Brent; Edwards, Laurence; Lee, Pascal; Colaprete, Anthony; Fong, Terry

    2013-01-01

    This study investigates the requirements, performs a gap analysis and makes a set of recommendations for mapping products and exploration tools required to support operations and scientific discovery for near- term and future NASA missions to small bodies. The mapping products and their requirements are based on the analysis of current mission scenarios (rendezvous, docking, and sample return) and recommendations made by the NEA Users Team (NUT) in the framework of human exploration. The mapping products that sat- isfy operational, scienti c, and public outreach goals include topography, images, albedo, gravity, mass, density, subsurface radar, mineralogical and thermal maps. The gap analysis points to a need for incremental generation of mapping products from low (flyby) to high-resolution data needed for anchoring and docking, real-time spatial data processing for hazard avoidance and astronaut or robot localization in low gravity, high dynamic environments, and motivates a standard for coordinate reference systems capable of describing irregular body shapes. Another aspect investigated in this study is the set of requirements and the gap analysis for exploration tools that support visualization and simulation of operational conditions including soil interactions, environment dynamics, and communications coverage. Building robust, usable data sets and visualisation/simulation tools is the best way for mission designers and simulators to make correct decisions for future missions. In the near term, it is the most useful way to begin building capabilities for small body exploration without needing to commit to specific mission architectures.

  18. MITEE-B: A compact ultra lightweight bi-modal nuclear propulsion engine for robotic planetary science missions

    International Nuclear Information System (INIS)

    Powell, James; Maise, George; Paniagua, John; Borowski, Stanley

    2003-01-01

    Nuclear thermal propulsion (NTP) enables unique new robotic planetary science missions that are impossible with chemical or nuclear electric propulsion systems. A compact and ultra lightweight bi-modal nuclear engine, termed MITEE-B (MInature ReacTor EnginE - Bi-Modal) can deliver 1000's of kilograms of propulsive thrust when it operates in the NTP mode, and many kilowatts of continuous electric power when it operates in the electric generation mode. The high propulsive thrust NTP mode enables spacecraft to land and takeoff from the surface of a planet or moon, to hop to multiple widely separated sites on the surface, and virtually unlimited flight in planetary atmospheres. The continuous electric generation mode enables a spacecraft to replenish its propellant by processing in-situ resources, provide power for controls, instruments, and communications while in space and on the surface, and operate electric propulsion units. Six examples of unique and important missions enabled by the MITEE-B engine are described, including: (1) Pluto lander and sample return; (2) Europa lander and ocean explorer; (3) Mars Hopper; (4) Jupiter atmospheric flyer; (5) SunBurn hypervelocity spacecraft; and (6) He3 mining from Uranus. Many additional important missions are enabled by MITEE-B. A strong technology base for MITEE-B already exists. With a vigorous development program, it could be ready for initial robotic science and exploration missions by 2010 AD. Potential mission benefits include much shorter in-space times, reduced IMLEO requirements, and replenishment of supplies from in-situ resources

  19. Novel roaming and stationary tethered aerial robots for continuous mobile missions in nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Gu, Beom W.; Choi, Su Y.; Rim, Chun T. [Dept. of Nuclear and Quantum Engineering, KAIST, Daejeon (Korea, Republic of); Choi, Young Soo [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of); Cai, Guowei; Seneviratne, Lakmal [Dept. of Aerospace Engineering, Khalifa University, Abu Dhabi (United Arab Emirates)

    2016-08-15

    In this paper, new tethered aerial robots including roaming tethered aerial robots (RTARs) for radioactive material sampling and stationary tethered aerial robots (STARs) for environment monitoring are proposed to meet extremely-long-endurance missions of nuclear power plants. The flight of the proposed tethered aerial robots may last for a few days or even a few months as long as the tethered cable provides continuous power. A high voltage AC or DC power system was newly adopted to reduce the mass of the tethered cable. The RTAR uses a tethered cable spooled from the aerial robot and an aerial tension control system. The aerial tension control system provides the appropriate tension to the tethered cable, which is accordingly laid down on the ground as the RTAR roams. The STAR includes a tethered cable spooled from the ground and a ground tension control system, which enables the STAR to reach high altitudes. Prototypes of the RTAR and STAR were designed and successfully demonstrated in outdoor environments, where the load power, power type, operating frequency, and flight attitude of the RTAR and STAR were: 180 W, AC 100 kHz, and 20 m; and 300 W, AC or DC 100 kHz, and 80 m, respectively.

  20. Novel Roaming and Stationary Tethered Aerial Robots for Continuous Mobile Missions in Nuclear Power Plants

    Directory of Open Access Journals (Sweden)

    Beom W. Gu

    2016-08-01

    Full Text Available In this paper, new tethered aerial robots including roaming tethered aerial robots (RTARs for radioactive material sampling and stationary tethered aerial robots (STARs for environment monitoring are proposed to meet extremely-long-endurance missions of nuclear power plants. The flight of the proposed tethered aerial robots may last for a few days or even a few months as long as the tethered cable provides continuous power. A high voltage AC or DC power system was newly adopted to reduce the mass of the tethered cable. The RTAR uses a tethered cable spooled from the aerial robot and an aerial tension control system. The aerial tension control system provides the appropriate tension to the tethered cable, which is accordingly laid down on the ground as the RTAR roams. The STAR includes a tethered cable spooled from the ground and a ground tension control system, which enables the STAR to reach high altitudes. Prototypes of the RTAR and STAR were designed and successfully demonstrated in outdoor environments, where the load power, power type, operating frequency, and flight attitude of the RTAR and STAR were: 180 W, AC 100 kHz, and 20 m; and 300 W, AC or DC 100 kHz, and 80 m, respectively.

  1. Aerothermal Instrumentation Loads To Implement Aeroassist Technology in Future Robotic and Human Missions to MARS and Other Locations Within the Solar System

    Science.gov (United States)

    Parmar, Devendra S.; Shams, Qamar A.

    2002-01-01

    The strategy of NASA to explore space objects in the vicinity of Earth and other planets of the solar system includes robotic and human missions. This strategy requires a road map for technology development that will support the robotic exploration and provide safety for the humans traveling to other celestial bodies. Aeroassist is one of the key elements of technology planning for the success of future robot and human exploration missions to other celestial bodies. Measurement of aerothermodynamic parameters such as temperature, pressure, and acceleration is of prime importance for aeroassist technology implementation and for the safety and affordability of the mission. Instrumentation and methods to measure such parameters have been reviewed in this report in view of past practices, current commercial availability of instrumentation technology, and the prospects of improvement and upgrade according to the requirements. Analysis of the usability of each identified instruments in terms of cost for efficient weight-volume ratio, power requirement, accuracy, sample rates, and other appropriate metrics such as harsh environment survivability has been reported.

  2. Space missions to the exoplanets: Will they ever be possible

    Science.gov (United States)

    Genta, Giancarlo

    There is no doubt that the discovery of exoplanets has made interstellar space mission much more interesting than they were in the past. The possible discovery of a terrestrial type plane at a reasonable distance will give a strong impulse in this direction. However, there are doubts that such long range space mission will ever become feasible at all and, in case they will be, it is impossible to forecast a timeframe for them. At present, precursor interstellar missions are planned, but they fall way short from yielding interesting information about exoplanets, except perhaps in the case of missions to the focal line of the Sun’s gravitational lens, whose usefulness in this context is still to be demonstrated. They are anyway an essential step in the roadmap toward interstellar missions. Often the difficulties linked with interstellar missions are considered as related with the huge quantity of energy required for reaching the target star system within a reasonable timeframe. While this may well be a showstopper, it is not the only problem to be solved to make them possible. Two other issues are those linked with the probe’s autonomy and the telecommunications required to transmit large quantities of information at those distances. Missions to the exoplanets may be subdivided in the following categories: 1) robotic missions to the destination system, including flybys; 2) robotic missions including landing on an exoplanet; 3) robotic sample return missions; 4) human missions. The main problem to be solved for missions of type 1 is linked with propulsion and with energy availability, while autonomy (artificial intelligence) and telecommunication problems are more or less manageable with predictable technologies. Missions of type 2 are more demanding for what propulsion is concerned, but above all require a much larger artificial intelligence and also will generate a large amount of data, whose transmission back to Earth may become a problem. The suggestion of

  3. Mapping planetary caves with an autonomous, heterogeneous robot team

    Science.gov (United States)

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

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

  4. Boulder Capture System Design Options for the Asteroid Robotic Redirect Mission Alternate Approach Trade Study

    Science.gov (United States)

    Belbin, Scott P.; Merrill, Raymond G.

    2014-01-01

    This paper presents a boulder acquisition and asteroid surface interaction electromechanical concept developed for the Asteroid Robotic Redirect Mission (ARRM) option to capture a free standing boulder on the surface of a 100 m or larger Near Earth Asteroid (NEA). It details the down select process and ranking of potential boulder capture methods, the evolution of a simple yet elegant articulating spaceframe, and ongoing risk reduction and concept refinement efforts. The capture system configuration leverages the spaceframe, heritage manipulators, and a new microspine technology to enable the ARRM boulder capture. While at the NEA it enables attenuation of terminal descent velocity, ascent to escape velocity, boulder collection and restraint. After departure from the NEA it enables, robotic inspection, sample caching, and crew Extra Vehicular Activities (EVA).

  5. Adaptive heterogeneous multi-robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail the experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  6. ALLIANCE: An architecture for fault tolerant multi-robot cooperation

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-02-01

    ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot`s own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup.

  7. Critical Robotic Lunar Missions

    Science.gov (United States)

    Plescia, J. B.

    2018-04-01

    Perhaps the most critical missions to understanding lunar history are in situ dating and network missions. These would constrain the volcanic and thermal history and interior structure. These data would better constrain lunar evolution models.

  8. ALLIANCE: An architecture for fault tolerant multi-robot cooperation

    International Nuclear Information System (INIS)

    Parker, L.E.

    1995-02-01

    ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot's own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup

  9. Advances in Robotic Servicing Technology Development

    Science.gov (United States)

    Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin

    2015-01-01

    NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and asteroid redirection; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.

  10. Controlling the autonomy of a reconnaissance robot

    Science.gov (United States)

    Dalgalarrondo, Andre; Dufourd, Delphine; Filliat, David

    2004-09-01

    In this paper, we present our research on the control of a mobile robot for indoor reconnaissance missions. Based on previous work concerning our robot control architecture HARPIC, we have developed a man machine interface and software components that allow a human operator to control a robot at different levels of autonomy. This work aims at studying how a robot could be helpful in indoor reconnaissance and surveillance missions in hostile environment. In such missions, since a soldier faces many threats and must protect himself while looking around and holding his weapon, he cannot devote his attention to the teleoperation of the robot. Moreover, robots are not yet able to conduct complex missions in a fully autonomous mode. Thus, in a pragmatic way, we have built a software that allows dynamic swapping between control modes (manual, safeguarded and behavior-based) while automatically performing map building and localization of the robot. It also includes surveillance functions like movement detection and is designed for multirobot extensions. We first describe the design of our agent-based robot control architecture and discuss the various ways to control and interact with a robot. The main modules and functionalities implementing those ideas in our architecture are detailed. More precisely, we show how we combine manual controls, obstacle avoidance, wall and corridor following, way point and planned travelling. Some experiments on a Pioneer robot equipped with various sensors are presented. Finally, we suggest some promising directions for the development of robots and user interfaces for hostile environment and discuss our planned future improvements.

  11. Nasa's Ant-Inspired Swarmie Robots

    Science.gov (United States)

    Leucht, Kurt W.

    2016-01-01

    As humans push further beyond the grasp of earth, robotic missions in advance of human missions will play an increasingly important role. These robotic systems will find and retrieve valuable resources as part of an in-situ resource utilization (ISRU) strategy. They will need to be highly autonomous while maintaining high task performance levels. NASA Kennedy Space Center has teamed up with the Biological Computation Lab at the University of New Mexico to create a swarm of small, low-cost, autonomous robots to be used as a ground-based research platform for ISRU missions. The behavior of the robot swarm mimics the central-place foraging strategy of ants to find and collect resources in a previously unmapped environment and return those resources to a central site. This talk will guide the audience through the Swarmie robot project from its conception by students in a New Mexico research lab to its robot trials in an outdoor parking lot at NASA. The software technologies and techniques used on the project will be discussed, as well as various challenges and solutions that were encountered by the development team along the way.

  12. Controlling Robots with a Spring in Their Step

    Data.gov (United States)

    National Aeronautics and Space Administration — In future manned planetary exploration missions there is a strong logic that robots will remain central to the mission success. These robots may be called upon to...

  13. Multi-agent robotic systems and applications for satellite missions

    Science.gov (United States)

    Nunes, Miguel A.

    A revolution in the space sector is happening. It is expected that in the next decade there will be more satellites launched than in the previous sixty years of space exploration. Major challenges are associated with this growth of space assets such as the autonomy and management of large groups of satellites, in particular with small satellites. There are two main objectives for this work. First, a flexible and distributed software architecture is presented to expand the possibilities of spacecraft autonomy and in particular autonomous motion in attitude and position. The approach taken is based on the concept of distributed software agents, also referred to as multi-agent robotic system. Agents are defined as software programs that are social, reactive and proactive to autonomously maximize the chances of achieving the set goals. Part of the work is to demonstrate that a multi-agent robotic system is a feasible approach for different problems of autonomy such as satellite attitude determination and control and autonomous rendezvous and docking. The second main objective is to develop a method to optimize multi-satellite configurations in space, also known as satellite constellations. This automated method generates new optimal mega-constellations designs for Earth observations and fast revisit times on large ground areas. The optimal satellite constellation can be used by researchers as the baseline for new missions. The first contribution of this work is the development of a new multi-agent robotic system for distributing the attitude determination and control subsystem for HiakaSat. The multi-agent robotic system is implemented and tested on the satellite hardware-in-the-loop testbed that simulates a representative space environment. The results show that the newly proposed system for this particular case achieves an equivalent control performance when compared to the monolithic implementation. In terms on computational efficiency it is found that the multi

  14. MOURA magnetometer for Mars MetNet Precursor Mission. Its potential for an in situ magnetic environment and surface characterization

    Energy Technology Data Exchange (ETDEWEB)

    Diaz Michelena, M.; Sanz, R.; Fernandez, A.B.; Manuel, V. de; Cerdan, M.F.; Apestigue, V.; Arruego, I.; Azcue, J.; Dominguez, J.A.; Gonzalez, M.; Guerrero, H.; Sabau, M.; Kilian, R.; Baeza, O.; Ros, F.; Vazquez, M.; Tordesillas, J.M.; Covisa, P.; Aguado, J.

    2016-07-01

    MOURA magnetometer and gradiometer is part of the scientific instrumentation for Mars MetNet Precursor mission. This work describes the objective of the investigation, summarizes the work done in the design and development of the sensor as well as its calibration, and shows the demonstration campaigns to show the potential of such instrument for planetary landers and rovers. (Author)

  15. Small Stirling dynamic isotope power system for robotic space missions

    International Nuclear Information System (INIS)

    Bents, D.J.

    1992-08-01

    The design of a multihundred-watt Dynamic Isotope Power System (DIPS), based on the US Department of Energy (DOE) General Purpose Heat Source (GPHS) and small (multihundred-watt) free-piston Stirling engine (FPSE), 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. The incentive for any dynamic system is that it can save fuel and reduce costs and radiological hazard. Unlike DIPS based on turbomachinery conversion (e.g. Brayton), this small Stirling DIPS can be advantageously scaled to multihundred-watt unit size while preserving size and mass competitiveness with RTG's. Stirling conversion extends the competitive range for dynamic systems down to a few hundred watts--a power level not previously considered for dynamic systems. The challenge for Stirling conversion will be to demonstrate reliability and life similar to RTG experience. Since the competitive potential of FPSE as an isotope converter was first identified, work has focused on feasibility of directly integrating GPHS with the Stirling heater head. Thermal modeling of various radiatively coupled heat source/heater head geometries has been performed using data furnished by the developers of FPSE and GPHS. The analysis indicates that, for the 1050 K heater head configurations considered, GPHS fuel clad temperatures remain within acceptable operating limits. Based on these results, preliminary characterizations of multihundred-watt units have been established

  16. Mobility Systems For Robotic Vehicles

    Science.gov (United States)

    Chun, Wendell

    1987-02-01

    The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.

  17. Lower-Cost, Relocatable Lunar Polar Lander and Lunar Surface Sample Return Probes

    Science.gov (United States)

    Amato, G. Michael; Garvin, James B.; Burt, I. Joseph; Karpati, Gabe

    2011-01-01

    Key science and exploration objectives of lunar robotic precursor missions can be achieved with the Lunar Explorer (LEx) low-cost, robotic surface mission concept described herein. Selected elements of the LEx concept can also be used to create a lunar surface sample return mission that we have called Boomerang

  18. Missions to Near-Earth Asteroids: Implications for Exploration, Science, Resource Utilization, and Planetary Defense

    Science.gov (United States)

    Abell, P. A.; Sanders, G. B.; Mazanek, D. D.; Barbee, B. W.; Mink, R. G.; Landis, R. R.; Adamo, D. R.; Johnson, L. N.; Yeomans, D. K.; Reeves, D. M.; Drake, B. G.; Friedensen, V. P.

    2012-12-01

    Introduction: In 2009 the Augustine Commission identified near-Earth asteroids (NEAs) as high profile destinations for human exploration missions beyond the Earth-Moon system as part of the Flexible Path. More recently the U.S. presidential administration directed NASA to include NEAs as destinations for future human exploration with the goal of sending astronauts to a NEA in the mid to late 2020s. This directive became part of the official National Space Policy of the United States of America as of June 28, 2010. NEA Space-Based Survey and Robotic Precursor Missions: The most suitable targets for human missions are NEAs in Earth-like orbits with long synodic periods. However, these mission candidates are often not observable from Earth until the timeframe of their most favorable human mission opportunities, which does not provide an appropriate amount of time for mission development. A space-based survey telescope could more efficiently find these targets in a timely, affordable manner. Such a system is not only able to discover new objects, but also track and characterize objects of interest for human space flight consideration. Those objects with characteristic signatures representative of volatile-rich or metallic materials will be considered as top candidates for further investigation due to their potential for resource utilization and scientific discovery. Once suitable candidates have been identified, precursor spacecraft are required to perform basic reconnaissance of a few NEAs under consideration for the human-led mission. Robotic spacecraft will assess targets for potential hazards that may pose a risk to the deep space transportation vehicle, its deployable assets, and the crew. Additionally, the information obtained about the NEA's basic physical characteristics will be crucial for planning operational activities, designing in-depth scientific/engineering investigations, and identifying sites on the NEA for sample collection. Human Exploration

  19. Feasibility of a Dragon-Derived Mars Lander for Scientific and Human-Precursor Missions

    Science.gov (United States)

    Karcz, John S.; Davis, Sanford S.; Allen, Gary A.; Glass, Brian J.; Gonzales, Andrew; Heldmann, Jennifer Lynne; Lemke, Lawrence G.; McKay, Chris; Stoker, Carol R.; Wooster, Paul Douglass; hide

    2013-01-01

    A minimally-modified SpaceX Dragon capsule launched on a Falcon Heavy rocket presents the possibility of a new low-cost, high-capacity Mars lander for robotic missions. We have been evaluating such a "Red Dragon" platform as an option for the Icebreaker Discovery Program mission concept. Dragon is currently in service ferrying cargo to and from the International Space Station, and a crew transport version is in development. The upcoming version, unlike other Earth-return vehicles, exhibits most of the capabilities necessary to land on Mars. In particular, it has a set of high-thrust, throttleable, storable bi-propellant "SuperDraco" engines integrated directly into the capsule that are intended for launch abort and powered landings on Earth. These thrusters provide the possibility of a parachute-free, fully-propulsive deceleration at Mars from supersonic speeds to the surface, a descent approach which would also scale well to larger future human landers. We will discuss the motivations for exploring a Red Dragon lander, the current results of our analysis of its feasibility and capabilities, and the implications of the platform for the Icebreaker mission concept. In particular, we will examine entry, descent, and landing (EDL) in detail. We will also describe the modifications to Dragon necessary for interplanetary cruise, EDL, and operations on the Martian surface. Our analysis to date indicates that a Red Dragon lander is feasible and that it would be capable of delivering more than 1000 kg of payload to sites at elevations three kilometers below the Mars Orbiter Laser Altimeter (MOLA) reference, which includes sites throughout most of the northern plains and Hellas.

  20. Remote radiation mapping and preliminary intervention using collaborating (European and Russian) mobile robots

    International Nuclear Information System (INIS)

    Piotrowski, L.; Trouville, B.; Halbach, M.; Sidorkin, N.

    1996-12-01

    The primary objective of the IMPACT project is to develop a light-weight and inexpensive mobile robot that can be used for rapid inspection missions within nuclear power plants. These interventions are to cover normal, incident and accident situations and aim at primary reconnaissance (or 'data collecting') missions. The IMPACT robot was demonstrated (April 1996) in a realistic mission at the Russian nuclear plant SMOLENSK. The demonstration, composed of 2 independent but consecutive missions, was held in a radioactive zone near turbine ≠ 4 of Unit 2: remote radiation mapping with localisation of radioactive sources by the IMPACT robot equipped with a (Russian) gamma-radiation sensor; deployment of a Russian intervention robot for the construction of a protective lead shield around one of the identified sources and verification that the ambient radiation level has been reduce. This mission was executed remotely by 2 mobile robots working in collaboration: a NIKIMT robot equipped with a manipulator arm and carrying leads bricks and the IMPACT robot of mission I (radiation measurements and 'side-observer'). This manuscript describes (a) the technical characteristics of the IMPACT reconnaissance robot (3-segmented, caterpillar-tracked body; 6 video cameras placed around the mobile platform with simultaneous presentation of up to 4 video images at the control post; ability to detach remotely one of the robot's segments (i.e. the robot can divide itself into 2 separate mobile robots)) and (b) the SMOLENSK demonstration. (author)

  1. A Vision for the Exploration of Mars: Robotic Precursors Followed by Humans to Mars Orbit in 2033

    Science.gov (United States)

    Sellers, Piers J.; Garvin, James B.; Kinney, Anne L.; Amato, Michael J.; White, Nicholas E.

    2012-01-01

    The reformulation of the Mars program gives NASA a rare opportunity to deliver a credible vision in which humans, robots, and advancements in information technology combine to open the deep space frontier to Mars. There is a broad challenge in the reformulation of the Mars exploration program that truly sets the stage for: 'a strategic collaboration between the Science Mission Directorate (SMD), the Human Exploration and Operations Mission Directorate (HEOMD) and the Office of the Chief Technologist, for the next several decades of exploring Mars'.Any strategy that links all three challenge areas listed into a true long term strategic program necessitates discussion. NASA's SMD and HEOMD should accept the President's challenge and vision by developing an integrated program that will enable a human expedition to Mars orbit in 2033 with the goal of returning samples suitable for addressing the question of whether life exists or ever existed on Mars

  2. Becoming Earth Independent: Human-Automation-Robotics Integration Challenges for Future Space Exploration

    Science.gov (United States)

    Marquez, Jessica J.

    2016-01-01

    Future exploration missions will require NASA to integrate more automation and robotics in order to accomplish mission objectives. This presentation will describe on the future challenges facing the human operator (astronaut, ground controllers) as we increase the amount of automation and robotics in spaceflight operations. It will describe how future exploration missions will have to adapt and evolve in order to deal with more complex missions and communication latencies. This presentation will outline future human-automation-robotic integration challenges.

  3. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

    Autonomy for Marine Robots provides a timely and insightful overview of intelligent autonomy in marine robots. A brief history of this emerging field is provided, along with a discussion of the challenges unique to the underwater environment and their impact on the level of intelligent autonomy required.  Topics covered at length examine advanced frameworks, path-planning, fault tolerance, machine learning, and cooperation as relevant to marine robots that need intelligent autonomy.  This book also: Discusses and offers solutions for the unique challenges presented by more complex missions and the dynamic underwater environment when operating autonomous marine robots Includes case studies that demonstrate intelligent autonomy in marine robots to perform underwater simultaneous localization and mapping  Autonomy for Marine Robots is an ideal book for researchers and engineers interested in the field of marine robots.      

  4. Air Force construction automation/robotics

    Science.gov (United States)

    Nease, AL; Dusseault, Christopher

    1994-01-01

    The Air Force has several unique requirements that are being met through the development of construction robotic technology. The missions associated with these requirements place construction/repair equipment operators in potentially harmful situations. Additionally, force reductions require that human resources be leveraged to the maximum extent possible and that more stringent construction repair requirements push for increased automation. To solve these problems, the U.S. Air Force is undertaking a research and development effort at Tyndall AFB, FL to develop robotic teleoperation, telerobotics, robotic vehicle communications, automated damage assessment, vehicle navigation, mission/vehicle task control architecture, and associated computing environment. The ultimate goal is the fielding of robotic repair capability operating at the level of supervised autonomy. The authors of this paper will discuss current and planned efforts in construction/repair, explosive ordnance disposal, hazardous waste cleanup, fire fighting, and space construction.

  5. Forming Human-Robot Teams Across Time and Space

    Science.gov (United States)

    Hambuchen, Kimberly; Burridge, Robert R.; Ambrose, Robert O.; Bluethmann, William J.; Diftler, Myron A.; Radford, Nicolaus A.

    2012-01-01

    NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot

  6. Lessons learned from the STS-120/ISS 10A robotics operations

    Science.gov (United States)

    Aziz, Sarmad

    2010-01-01

    The STS-120/ISS 10A assembly mission was an unprecedented period during the life of the International Space Stations (ISS). The successful completion of the mission laid the foundation for the launch of the European and Japanese laboratories and continued assembly of the station. Unlike previous missions that concluded when the Space Shuttle undocked from the ISS, the 10A mission required critical assembly operations to continue after the Shuttle's departure to relocate the Harmony module to its permanent location and activate its systems. The end-to-end mission lasted for almost a month and required the execution of seven space walks, over 20 major robotics operations, and countless hours of ground commanding. The Canadian built mobile servicing system (MSS) and its robotics space station remote manipulator system (SSRMS) played a key a role in the success of the assembly operations. The mission presented the ISS robotics flight control team (ROBO) with unique challenges during the pre-mission planning and real-time execution of complex assembly tasks. The mission included the relocation of the P6 truss segment from the Z1 Node to its permanent location on the P5 truss; a three day marathon of highly choreographed sequence of robotics operations and space walks, and the reconfiguration of ISS structure to attach Harmony (Node 2) to the US destiny laboratory module; a six day sequence of complex robotics operations the majority of which was executed after the departure of the shuttle and included an unprecedented amount of ground commanded robotics operations. Of all the robotics operations executed during the mission, none were more challenging than supporting the repair of a torn P6 solar array that was damaged during its deployment; a dramatic space walk that pushed the MSS and the robotics flight control team to new limits and required the real-time planning and execution of an intricate series of operations that spanned two days. This paper will present an

  7. Lunar and Planetary Robotic Exploration Missions in the 20th Century

    Science.gov (United States)

    Huntress, W. T., Jr.; Moroz, V. I.; Shevalev, I. L.

    2003-07-01

    The prospect of traveling to the planets was science fiction at the beginning of the 20th Century and science fact at its end. The space age was born of the Cold War in the 1950s and throughout most of the remainder of the century it provided not just an adventure in the exploration of space but a suspenseful drama as the US and USSR competed to be first and best. It is a tale of patience to overcome obstacles, courage to try the previously impossible and persistence to overcome failure, a tale of both fantastic accomplishment and debilitating loss. We briefly describe the history of robotic lunar and planetary exploration in the 20th Century, the missions attempted, their goals and their fate. We describe how this enterprise developed and evolved step by step from a politically driven competition to intense scientific investigations and international cooperation.

  8. Computational needs survey of NASA automation and robotics missions. Volume 2: Appendixes

    Science.gov (United States)

    Davis, Gloria J.

    1991-01-01

    NASA's operational use of advanced processor technology in space systems lags behind its commercial development by more than eight years. One of the factors contributing to this is the fact that mission computing requirements are frequency unknown, unstated, misrepresented, or simply not available in a timely manner. NASA must provide clear common requirements to make better use of available technology, to cut development lead time on deployable architectures, and to increase the utilization of new technology. Here, NASA, industry and academic communities are provided with a preliminary set of advanced mission computational processing requirements of automation and robotics (A and R) systems. The results were obtained in an assessment of the computational needs of current projects throughout NASA. The high percent of responses indicated a general need for enhanced computational capabilities beyond the currently available 80386 and 68020 processor technology. Because of the need for faster processors and more memory, 90 percent of the polled automation projects have reduced or will reduce the scope of their implemented capabilities. The requirements are presented with respect to their targeted environment, identifying the applications required, system performance levels necessary to support them, and the degree to which they are met with typical programmatic constraints. Here, appendixes are provided.

  9. Can We Talk to Robots? Ten-Month-Old Infants Expected Interactive Humanoid Robots to Be Talked to by Persons

    Science.gov (United States)

    Arita, A.; Hiraki, K.; Kanda, T.; Ishiguro, H.

    2005-01-01

    As technology advances, many human-like robots are being developed. Although these humanoid robots should be classified as objects, they share many properties with human beings. This raises the question of how infants classify them. Based on the looking-time paradigm used by [Legerstee, M., Barna, J., & DiAdamo, C., (2000). Precursors to the…

  10. NASA's Asteroid Redirect Mission: The Boulder Capture Option

    Science.gov (United States)

    Abell, Paul A.; Nuth, J.; Mazanek, D.; Merrill, R.; Reeves, D.; Naasz, B.

    2014-01-01

    NASA is examining two options for the Asteroid Redirect Mission (ARM), which will return asteroid material to a Lunar Distant Retrograde Orbit (LDRO) using a robotic solar-electric-propulsion spacecraft, called the Asteroid Redirect Vehicle (ARV). Once the ARV places the asteroid material into the LDRO, a piloted mission will rendezvous and dock with the ARV. After docking, astronauts will conduct two extravehicular activities (EVAs) to inspect and sample the asteroid material before returning to Earth. One option involves capturing an entire small (approximately 4-10 m diameter) near-Earth asteroid (NEA) inside a large inflatable bag. However, NASA is examining another option that entails retrieving a boulder (approximately 1-5 m) via robotic manipulators from the surface of a larger (approximately 100+ m) pre-characterized NEA. This option can leverage robotic mission data to help ensure success by targeting previously (or soon to be) well-characterized NEAs. For example, the data from the Hayabusa mission has been utilized to develop detailed mission designs that assess options and risks associated with proximity and surface operations. Hayabusa's target NEA, Itokawa, has been identified as a valid target and is known to possess hundreds of appropriately sized boulders on its surface. Further robotic characterization of additional NEAs (e.g., Bennu and 1999 JU3) by NASA's OSIRIS REx and JAXA's Hayabusa 2 missions is planned to begin in 2018. The boulder option is an extremely large sample-return mission with the prospect of bringing back many tons of well-characterized asteroid material to the Earth-Moon system. The candidate boulder from the target NEA can be selected based on inputs from the world-wide science community, ensuring that the most scientifically interesting boulder be returned for subsequent sampling. This boulder option for NASA's ARM can leverage knowledge of previously characterized NEAs from prior robotic missions, which provides more

  11. Multiple-Robot Systems for USAR: Key Design Attributes and Deployment Issues

    Directory of Open Access Journals (Sweden)

    Choon Yue Wong

    2011-03-01

    Full Text Available The interaction between humans and robots is undergoing an evolution. Progress in this evolution means that humans are close to robustly deploying multiple robots. Urban search and rescue (USAR can benefit greatly from such capability. The review shows that with state of the art artificial intelligence, robots can work autonomously but still require human supervision. It also shows that multiple robot deployment (MRD is more economical, shortens mission durations, adds reliability as well as addresses missions impossible with one robot and payload constraints. By combining robot autonomy and human supervision, the benefits of MRD can be applied to USAR while at the same time minimizing human exposure to danger. This is achieved with a single-human multiple-robot system (SHMRS. However, designers of the SHMRS must consider key attributes such as the size, composition and organizational structure of the robot collective. Variations in these attributes also induce fluctuations in issues within SHMRS deployment such as robot communication and computational load as well as human cognitive workload and situation awareness (SA. Research is essential to determine how the attributes can be manipulated to mitigate these issues while meeting the requirements of the USAR mission.

  12. Multiple-Robot Systems for USAR: Key Design Attributes and Deployment Issues

    Directory of Open Access Journals (Sweden)

    Choon Yue Wong

    2011-03-01

    Full Text Available The interaction between humans and robots is undergoing an evolution. Progress in this evolution means that humans are close to robustly deploying multiple robots. Urban search and rescue (USAR can benefit greatly from such capability. The review shows that with state of the art artificial intelligence, robots can work autonomously but still require human supervision. It also shows that multiple robot deployment (MRD is more economical, shortens mission durations, adds reliability as well as addresses missions impossible with one robot and payload constraints. By combining robot autonomy and human supervision, the benefits of MRD can be applied to USAR while at the same time minimizing human exposure to danger. This is achieved with a single-human multiple-robot system (SHMRS. However, designers of the SHMRS must consider key attributes such as the size, composition and organizational structure of the robot collective. Variations in these attributes also induce fluctuations in issues within SHMRS deployment such as robot communication and computational load as well as human cognitive workload and situation awareness (SA.Research is essential to determine how the attributes can be manipulated to mitigate these issues while meeting the requirements of the USAR mission.

  13. Robotic Technology Efforts at the NASA/Johnson Space Center

    Science.gov (United States)

    Diftler, Ron

    2017-01-01

    The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center’s Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of “dull, dirty or dangerous” tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center’s newest development areas can provide crew with low mass exercise capability and also augment an astronaut’s strength while wearing a space suit.This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center’s Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

  14. Robotics in near-earth space

    Science.gov (United States)

    Card, Michael E.

    1991-01-01

    The areas of space exploration in which robotic devices will play a part are identified, and progress to date in the space agency plans to acquire this capability is briefly reviewed. Roles and functions on orbit for robotic devices include well known activities, such as inspection and maintenance, assembly, docking, berthing, deployment, retrieval, materials handling, orbital replacement unit exchange, and repairs. Missions that could benefit from a robotic capability are discussed.

  15. The Perfect Mindstorm: 4-H Robotics in Afterschool Settings

    Directory of Open Access Journals (Sweden)

    Dave Francis

    2009-12-01

    Full Text Available As the 4-H Science, Engineering and Technology (SET Mission Mandate unfolds, robotics provides an opportunity to involve youth in SET activities. Utah 4-H utilized Lego Mindstorms Robotics kits to teach youth about robotics. Evaluations demonstrated that robots increase youth’s interest in science, engineering and technology.

  16. Wireless Power System Design for Mobile Robots used in Nuclear Power Plants

    International Nuclear Information System (INIS)

    Choi, S. Y.; Yoo, S. J.; Lee, Kun J.; Rim, C. T.

    2012-01-01

    The robots used in nuclear power plants (NPP) have received much attention in recent years due to the Fukushima nuclear accident, which is considered as one of the worst nuclear disasters. In general, the NPP robots can play important roles in fuel exchange, repair work, radiation monitoring, rescue, and scouting out NPP. Under these conditions, human access to NPP during normal and emergency operations is strictly restricted due to the risks of high level radiation and contamination. However, in practice, robots have not been widely used in NPP because of the following limitations. First, the NPP robots cannot be of multi-purpose use because of their mission complexity and uniqueness. Second, the demand of the NPP robots is low due to the limited number of NPP over the world. Third, the NPP robots developed so far have no enough confidence in spite of the improvement of robot technology. Lastly, the NPP robots cannot carry on their mission continuously due to the limited energy capacity of the battery: mobile robots should stop working every two hours to recharge their batteries and spend least twenty minutes. As the solutions for this 'energy hungry' problem, high capacity batteries, quick battery chargers, power cables, and internal combustion engines were proposed; however, they still have the problems such as limited mission time and range, frequent recharging, or exhausting emission and noise. In this paper, the wireless power transfer systems (WPTS) for NPP robots are proposed. This technology can let NPP robots free from mission time and range limits, and exhausting emission. The requirements for the NPP robots are newly proposed, and two types of WPTS, roaming and railway, are suggested in this paper

  17. Human-Robot Teaming: From Space Robotics to Self-Driving Cars

    Science.gov (United States)

    Fong, Terry

    2017-01-01

    In this talk, I describe how NASA Ames has been developing and testing robots for space exploration. In our research, we have focused on studying how human-robot teams can increase the performance, reduce the cost, and increase the success of space missions. A key tenet of our work is that humans and robots should support one another in order to compensate for limitations of manual control and autonomy. This principle has broad applicability beyond space exploration. Thus, I will conclude by discussing how we have worked with Nissan to apply our methods to self-driving cars, enabling humans to support autonomous vehicles operating in unpredictable and difficult situations.

  18. Linear Temporal Logic-based Mission Planning

    Directory of Open Access Journals (Sweden)

    Anil Kumar

    2016-06-01

    Full Text Available In this paper, we describe the Linear Temporal Logic-based reactive motion planning. We address the problem of motion planning for mobile robots, wherein the goal specification of planning is given in complex environments. The desired task specification may consist of complex behaviors of the robot, including specifications for environment constraints, need of task optimality, obstacle avoidance, rescue specifications, surveillance specifications, safety specifications, etc. We use Linear Temporal Logic to give a representation for such complex task specification and constraints. The specifications are used by a verification engine to judge the feasibility and suitability of plans. The planner gives a motion strategy as output. Finally a controller is used to generate the desired trajectory to achieve such a goal. The approach is tested using simulations on the LTLMoP mission planning tool, operating over the Robot Operating System. Simulation results generated using high level planners and low level controllers work simultaneously for mission planning and controlling the physical behavior of the robot.

  19. Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

    Science.gov (United States)

    Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

    2013-01-01

    This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.

  20. Mobile robotics research at Sandia National Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Morse, W.D.

    1998-09-01

    Sandia is a National Security Laboratory providing scientific and engineering solutions to meet national needs for both government and industry. As part of this mission, the Intelligent Systems and Robotics Center conducts research and development in robotics and intelligent machine technologies. An overview of Sandia`s mobile robotics research is provided. Recent achievements and future directions in the areas of coordinated mobile manipulation, small smart machines, world modeling, and special application robots are presented.

  1. Improved mapping of tropospheric air quality gases based on the Copernicus Sentinel 5 Precursor/TROPOMI mission

    Science.gov (United States)

    Van Roozendael, Michel; De Smedt, Isabelle; Theys, Nicolas; Danckaert, Thomas; Yu, Huan; Lerot, Christophe; van Gent, Jeroen; Vlietinck, Jonas

    2017-04-01

    Scheduled for launch in summer 2017, the Sentinel 5 Precursor (S5P) mission having onboard the TROPOMI payload will fly on a sun-synchronous polar orbit and provide daily global early-afternoon observations of a number of key atmospheric trace gases at the unprecedented spatial resolution of 7x3.5 km2. By the early 2020's, S5P will be complemented by geostationary observations from the Sentinel 4 UVN instrument to be delivered at hourly resolution over Europe, and by mid-morning global observations from the low-earth orbiting Sentinel 5 mission. Altogether these missions will form a constellation serving the needs of the Copernicus Atmospheric Monitoring Services (CAMS). Owing to their unprecedented spatial resolution and spectral performance, TROPOMI/S5P and the subsequent Sentinel 4 and 5 missions will significantly push forward monitoring capabilities addressing anthropogenic and natural emissions of air quality-related trace gases. They will also extend the long-term datasets from past and existing UV-Vis sensors (GOME, SCIAMACHY, OMI, GOME-2, OMPS). In this presentation, we explore the potential of S5P to improve on several aspects of the monitoring of tropospheric pollutants, with a focus on the short-lived species NO2, SO2 and HCHO. Based on algorithms designed at BIRA as part of TROPOMI/S5P and S4/S5 level-2 development projects, and their application to the current OMI and GOME-2 sensors, we illustrate and discuss the expected ability of the new sensors to detect smaller scale point sources with better accuracy and selectivity. The retrieval challenges associated with higher resolution measurements are also addressed.

  2. Exploring the ethical landscape of robot-assisted Search and Rescue

    NARCIS (Netherlands)

    Harbers, M.; Greeff, J. de; Kruijff-Korbayová, I.; Neerincx, M.A.; Hindriks, K.V.

    2017-01-01

    As robots are increasingly used in Search and Rescue (SAR) missions, it becomes highly relevant to study how SAR robots can be developed and deployed in a responsible way. In contrast to some other robot application domains, e.g. military and healthcare, the ethics of robot-assisted SAR are

  3. Wireless Power System Design for Mobile Robots used in Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Choi, S. Y.; Yoo, S. J.; Lee, Kun J.; Rim, C. T. [Korea Advanced Institute of Science and Technology, Daejeon (Korea, Republic of)

    2012-05-15

    The robots used in nuclear power plants (NPP) have received much attention in recent years due to the Fukushima nuclear accident, which is considered as one of the worst nuclear disasters. In general, the NPP robots can play important roles in fuel exchange, repair work, radiation monitoring, rescue, and scouting out NPP. Under these conditions, human access to NPP during normal and emergency operations is strictly restricted due to the risks of high level radiation and contamination. However, in practice, robots have not been widely used in NPP because of the following limitations. First, the NPP robots cannot be of multi-purpose use because of their mission complexity and uniqueness. Second, the demand of the NPP robots is low due to the limited number of NPP over the world. Third, the NPP robots developed so far have no enough confidence in spite of the improvement of robot technology. Lastly, the NPP robots cannot carry on their mission continuously due to the limited energy capacity of the battery: mobile robots should stop working every two hours to recharge their batteries and spend least twenty minutes. As the solutions for this 'energy hungry' problem, high capacity batteries, quick battery chargers, power cables, and internal combustion engines were proposed; however, they still have the problems such as limited mission time and range, frequent recharging, or exhausting emission and noise. In this paper, the wireless power transfer systems (WPTS) for NPP robots are proposed. This technology can let NPP robots free from mission time and range limits, and exhausting emission. The requirements for the NPP robots are newly proposed, and two types of WPTS, roaming and railway, are suggested in this paper

  4. Overview of NASA's In Space Robotic Servicing

    Science.gov (United States)

    Reed, Benjamin B.

    2015-01-01

    The panel discussion will start with a presentation of the work of the Satellite Servicing Capabilities Office (SSCO), a team responsible for the overall management, coordination, and implementation of satellite servicing technologies and capabilities for NASA. Born from the team that executed the five Hubble servicing missions, SSCO is now maturing a core set of technologies that support both servicing goals and NASA's exploration and science objectives, including: autonomous rendezvous and docking systems; dexterous robotics; high-speed, fault-tolerant computing; advanced robotic tools, and propellant transfer systems. SSCOs proposed Restore-L mission, under development since 2009, is rapidly advancing the core capabilities the fledgling satellite-servicing industry needs to jumpstart a new national industry. Restore-L is also providing key technologies and core expertise to the Asteroid Redirect Robotic Mission (ARRM), with SSCO serving as the capture module lead for the ARRM effort. Reed will present a brief overview of SSCOs history, capabilities and technologies.

  5. L-ALLIANCE: a mechanism for adaptive action selection in heterogeneous multi-robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-11-01

    In practical applications of robotics, it is usually quite difficult, if not impossible, for the system designer to fully predict the environmental states in which the robots will operate. The complexity of the problem is further increased when dealing with teams of robots which themselves may be incompletely known and characterized in advance. It is thus highly desirable for robot teams to be able to adapt their performance during the mission due to changes in the environment, or to changes in other robot team members. In previous work, we introduced a behavior-based mechanism called the ALLIANCE architecture -- that facilitates the fault tolerant cooperative control of multi-robot teams. However, this previous work did not address the issue of how to dynamically update the control parameters during a mission to adapt to ongoing changes in the environment or in the robot team, and to ensure the efficiency of the collective team actions. In this paper, we address this issue by proposing the L-ALLIANCE mechanism, which defines an automated method whereby robots can use knowledge learned from previous experience to continually improve their collective action selection when working on missions composed of loosely coupled, discrete subtasks. This ability to dynamically update robotic control parameters provides a number of distinct advantages: it alleviates the need for human tuning of control parameters, it facilitates the use of custom-designed multi-robot teams for any given application, it improves the efficiency of the mission performance, and It allows robots to continually adapt their performance over time due to changes in the robot team and/or the environment. We describe the L-ALLIANCE mechanism, present the results of various alternative update strategies we investigated, present the formal model of the L-ALLIANCE mechanism, and present the results of a simple proof of concept implementation on a small team of heterogeneous mobile robots.

  6. Robotics and nuclear power. Report by the Technology Transfer Robotics Task Team

    International Nuclear Information System (INIS)

    1985-06-01

    A task team was formed at the request of the Department of Energy to evaluate and assess technology development needed for advanced robotics in the nuclear industry. The mission of these technologies is to provide the nuclear industry with the support for the application of advanced robotics to reduce nuclear power generating costs and enhance the safety of the personnel in the industry. The investigation included robotic and teleoperated systems. A robotic system is defined as a reprogrammable, multifunctional manipulator designed to move materials, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. A teleoperated system includes an operator who remotely controls the system by direct viewing or through a vision system

  7. Human-Robot Interaction in High Vulnerability Domains

    Science.gov (United States)

    Gore, Brian F.

    2016-01-01

    Future NASA missions will require successful integration of the human with highly complex systems. Highly complex systems are likely to involve humans, automation, and some level of robotic assistance. The complex environments will require successful integration of the human with automation, with robots, and with human-automation-robot teams to accomplish mission critical goals. Many challenges exist for the human performing in these types of operational environments with these kinds of systems. Systems must be designed to optimally integrate various levels of inputs and outputs based on the roles and responsibilities of the human, the automation, and the robots; from direct manual control, shared human-robotic control, or no active human control (i.e. human supervisory control). It is assumed that the human will remain involved at some level. Technologies that vary based on contextual demands and on operator characteristics (workload, situation awareness) will be needed when the human integrates into these systems. Predictive models that estimate the impact of the technologies on the system performance and the on the human operator are also needed to meet the challenges associated with such future complex human-automation-robot systems in extreme environments.

  8. Preparing for Humans at Mars, MPPG Updates to Strategic Knowledge Gaps and Collaboration with Science Missions

    Science.gov (United States)

    Baker, John; Wargo, Michael J.; Beaty, David

    2013-01-01

    The Mars Program Planning Group (MPPG) was an agency wide effort, chartered in March 2012 by the NASA Associate Administrator for Science, in collaboration with NASA's Associate Administrator for Human Exploration and Operations, the Chief Scientist, and the Chief Technologist. NASA tasked the MPPG to develop foundations for a program-level architecture for robotic exploration of Mars that is consistent with the President's challenge of sending humans to the Mars system in the decade of the 2030s and responsive to the primary scientific goals of the 2011 NRC Decadal Survey for Planetary Science. The Mars Exploration Program Analysis Group (MEPAG) also sponsored a Precursor measurement Strategy Analysis Group (P-SAG) to revisit prior assessments of required precursor measurements for the human exploration of Mars. This paper will discuss the key results of the MPPG and P-SAG efforts to update and refine our understanding of the Strategic Knowledge Gaps (SKGs) required to successfully conduct human Mars missions.

  9. Control solutions for robots using Android and iOS devices

    Science.gov (United States)

    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.

  10. The French A.E.C. nuclear robotic program

    International Nuclear Information System (INIS)

    Foult, T.

    1991-01-01

    The new French nuclear robotic program launched by the CEA was started at the beginning of 1988 for the duration of two years and with the total subsidy of about 130 million French franc. This program includes the following four steps: the definition of model missions dedicated to inspection and intervention in nuclear environment, the system analysis to define the systems, functions and specifications required to perform these model missions, the technological development required to achieve these systems, and the design of demonstration models with the partial integration of the above developments. The whole program including these four steps is called SYROCO (modular SYstem for RObots COoperating in radioactive environment). The repair of leak in a pipe in a reprocessing cell, the model mission in a PWR nuclear power plant, autonomous load bearing mobile robots, squirrel concept light modular carrier concept, radiation hardening, mechanic, perception of environment, communication, control and simulation and the demonstration models are described. SHERPA project, perception management, force controlled manipulator, squirrel project, light modular carrier, processes and NAB model mission simulation are particularly mentioned

  11. A trainlike vehicle for intervention missions inside nuclear plants

    International Nuclear Information System (INIS)

    Littmann, F.; Villedieu, E.; Chameaud, H.

    1992-01-01

    The Unite Robotique (part of the Direction of Advanced Technologies of Commissariat a l'Energie Atomique) has worked on nuclear robotics in the field of master/slave manipulators with their associated computer-aided teleoperation controls and mobile robots. The CENTAURE mobile robot is tracked (for stair climbing) and articulated (for obstacle crossing and turning on stair landings) with a mobile platform (for increasing stability), designed for inspection missions. For intervention missions, a vehicle is needed with larger payload capabilities (volume and mass) but with the same geometrical and environmental constraints. This paper deals with a new kind of trainlike vehicle designed for intervention missions inside nuclear facilities after an incident or accident. This idea was conceived in 1986 for the EUREKA program advanced mobile robot for civilian safety and is now entering a new phase with the TELEMAN program technology for advanced locomotion systems (in partnership with Kernforschungszentrum Karlsruhe for the locomotion and Cybernetix for the tests) with the building of a two-module linkage mockup and a locomotion mockup

  12. ALLIANCE: An architecture for fault tolerant, cooperative control of heterogeneous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-02-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  13. Autonomous charging to enable long-endurance missions for small aerial robots

    Science.gov (United States)

    Mulgaonkar, Yash; Kumar, Vijay

    2014-06-01

    The past decade has seen an increased interest towards research involving Autonomous Micro Aerial Vehicles (MAVs). The predominant reason for this is their agility and ability to perform tasks too difficult or dangerous for their human counterparts and to navigate into places where ground robots cannot reach. Among MAVs, rotary wing aircraft such as quadrotors have the ability to operate in confined spaces, hover at a given point in space and perch1 or land on a flat surface. This makes the quadrotor a very attractive aerial platform giving rise to a myriad of research opportunities. The potential of these aerial platforms is severely limited by the constraints on the flight time due to limited battery capacity. This in turn arises from limits on the payload of these rotorcraft. By automating the battery recharging process, creating autonomous MAVs that can recharge their on-board batteries without any human intervention and by employing a team of such agents, the overall mission time can be greatly increased. This paper describes the development, testing, and implementation of a system of autonomous charging stations for a team of Micro Aerial Vehicles. This system was used to perform fully autonomous long-term multi-agent aerial surveillance experiments with persistent station keeping. The scalability of the algorithm used in the experiments described in this paper was also tested by simulating a persistence surveillance scenario for 10 MAVs and charging stations. Finally, this system was successfully implemented to perform a 9½ hour multi-agent persistent flight test. Preliminary implementation of this charging system in experiments involving construction of cubic structures with quadrotors showed a three-fold increase in effective mission time.

  14. Starting a Robotics Program in Your County

    Science.gov (United States)

    Habib, Maria A.

    2012-01-01

    The current mission mandates of the National 4-H Headquarters are Citizenship, Healthy Living, and Science. Robotics programs are excellent in fulfilling the Science mandate. Robotics engages students in STEM (Science, Engineering, Technology, and Mathematics) fields by providing interactive, hands-on, minds-on, cross-disciplinary learning…

  15. Developing Principles for Effective Human Collaboration with Free-Flying Robots

    Data.gov (United States)

    National Aeronautics and Space Administration — Aerial robots hold great promise in supporting human activities during space missions and terrestrial operations. For example, free-flying robots may automate...

  16. Computational needs survey of NASA automation and robotics missions. Volume 1: Survey and results

    Science.gov (United States)

    Davis, Gloria J.

    1991-01-01

    NASA's operational use of advanced processor technology in space systems lags behind its commercial development by more than eight years. One of the factors contributing to this is that mission computing requirements are frequently unknown, unstated, misrepresented, or simply not available in a timely manner. NASA must provide clear common requirements to make better use of available technology, to cut development lead time on deployable architectures, and to increase the utilization of new technology. A preliminary set of advanced mission computational processing requirements of automation and robotics (A&R) systems are provided for use by NASA, industry, and academic communities. These results were obtained in an assessment of the computational needs of current projects throughout NASA. The high percent of responses indicated a general need for enhanced computational capabilities beyond the currently available 80386 and 68020 processor technology. Because of the need for faster processors and more memory, 90 percent of the polled automation projects have reduced or will reduce the scope of their implementation capabilities. The requirements are presented with respect to their targeted environment, identifying the applications required, system performance levels necessary to support them, and the degree to which they are met with typical programmatic constraints. Volume one includes the survey and results. Volume two contains the appendixes.

  17. Cooperative Robot Teams Applied to the Site Preparation Task

    International Nuclear Information System (INIS)

    Parker, LE

    2001-01-01

    Prior to human missions to Mars, infrastructures on Mars that support human survival must be prepared. robotic teams can assist in these advance preparations in a number of ways. This paper addresses one of these advance robotic team tasks--the site preparation task--by proposing a control structure that allows robot teams to cooperatively solve this aspect of infrastructure preparation. A key question in this context is determining how robots should make decisions on which aspect of the site preparation t6ask to address throughout the mission, especially while operating in rough terrains. This paper describes a control approach to solving this problem that is based upon the ALLIANCE architecture, combined with performance-based rough terrain navigation that addresses path planning and control of mobile robots in rough terrain environments. They present the site preparation task and the proposed cooperative control approach, followed by some of the results of the initial testing of various aspects of the system

  18. Lightweight Robotic Excavation, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Robust, lightweight, power-efficient excavation robots are mission enablers for lunar outposts and surface systems. Lunar excavators of this type cost-effectively...

  19. Human-Automation Allocations for Current Robotic Space Operations

    Science.gov (United States)

    Marquez, Jessica J.; Chang, Mai L.; Beard, Bettina L.; Kim, Yun Kyung; Karasinski, John A.

    2018-01-01

    Within the Human Research Program, one risk delineates the uncertainty surrounding crew working with automation and robotics in spaceflight. The Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is concerned with the detrimental effects on crew performance due to ineffective user interfaces, system designs and/or functional task allocation, potentially compromising mission success and safety. Risk arises because we have limited experience with complex automation and robotics. One key gap within HARI, is the gap related to functional allocation. The gap states: We need to evaluate, develop, and validate methods and guidelines for identifying human-automation/robot task information needs, function allocation, and team composition for future long duration, long distance space missions. Allocations determine the human-system performance as it identifies the functions and performance levels required by the automation/robotic system, and in turn, what work the crew is expected to perform and the necessary human performance requirements. Allocations must take into account each of the human, automation, and robotic systems capabilities and limitations. Some functions may be intuitively assigned to the human versus the robot, but to optimize efficiency and effectiveness, purposeful role assignments will be required. The role of automation and robotics will significantly change in future exploration missions, particularly as crew becomes more autonomous from ground controllers. Thus, we must understand the suitability of existing function allocation methods within NASA as well as the existing allocations established by the few robotic systems that are operational in spaceflight. In order to evaluate future methods of robotic allocations, we must first benchmark the allocations and allocation methods that have been used. We will present 1) documentation of human-automation-robotic allocations in existing, operational spaceflight systems; and 2) To

  20. Moving NASA Beyond Low Earth Orbit: Future Human-Automation-Robotic Integration Challenges

    Science.gov (United States)

    Marquez, Jessica

    2016-01-01

    This presentation will provide an overview of current human spaceflight operations. It will also describe how future exploration missions will have to adapt and evolve in order to deal with more complex missions and communication latencies. Additionally, there are many implications regarding advanced automation and robotics, and this presentation will outline future human-automation-robotic integration challenges.

  1. Robotics in hazardous waste management

    International Nuclear Information System (INIS)

    Mahalingam, R.J.; Jayaraman, K.M.; Cunningham, A.J.; Meieran, H.B.; Zafrir, H.; Kroitoru, L.

    1994-01-01

    This paper addresses the advent of mobile robotic systems into the earth sciences and environmental studies. It presents issues surrounding the rationale for employing stationary and mobile robots to assist in waste chemical site remediation and cleanup activities, missions that could be conducted, and the current availability status for these devices. This rationale is an extension of that being promoted by the US Department of Energy (DOE) to assist in resolving environmental restoration and waste management (ER and WM) issues associated with several DOE national laboratories, facilities, and other sites. DOE has also committed to restore the environment surrounding the existing storage facilities and sites to a safe state. Technologies that are expected to play a major role in these activities are stationary and mobile robotic devices, and in particular, mobile robots. Specific topics discussed in this article include: introduction to robotics: motivations for considering robots in HWM: incorporation of robotics into HWM methods--this subsection includes a rationale for performing a ''screening test'' to determine the advantages of using a robot; safety and performance factors; illustrations for robots in action and current and future trends

  2. Development of Methodologies, Metrics, and Tools for Investigating Human-Robot Interaction in Space Robotics

    Science.gov (United States)

    Ezer, Neta; Zumbado, Jennifer Rochlis; Sandor, Aniko; Boyer, Jennifer

    2011-01-01

    Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator (SPDM), Robonaut, and Space Exploration Vehicle (SEV), as well as interviews with robotics trainers, robot operators, and developers of gesture interfaces. A survey of methods and metrics used in HRI was completed to identify those most applicable to space robotics. These methods and metrics included techniques and tools associated with task performance, the quantification of human-robot interactions and communication, usability, human workload, and situation awareness. The need for more research in areas such as natural interfaces, compensations for loss of signal and poor video quality, psycho-physiological feedback, and common HRI testbeds were identified. The initial findings from these activities and planned future research are discussed. Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator

  3. Artificial intelligence planning applications for space exploration and space robotics

    Science.gov (United States)

    Rokey, Mark; Grenander, Sven

    1986-01-01

    Mission sequencing involves the plan for actuation of the experiments to be conducted aboard a spacecraft; automation is under study by NASA as a means to reduce time and manpower costs in mission planning and in robotic implementation. The development of a mission sequence is conditioned by the limited duration of advantageous spacecraft encounters with objects of study, more research requests than can be satisfied, and requested changes in objectives. Autonomous robot development is hampered by the absence of task-level programming languages, the existence of anomalies in real-world interactions, and a lack of required capabilities in current sensor technology.

  4. Peer-to-Peer Human-Robot Interaction for Space Exploration

    Science.gov (United States)

    Fong, Terrence; Nourbakhsh, Illah

    2004-01-01

    NASA has embarked on a long-term program to develop human-robot systems for sustained, affordable space exploration. To support this mission, we are working to improve human-robot interaction and performance on planetary surfaces. Rather than building robots that function as glorified tools, our focus is to enable humans and robots to work as partners and peers. In this paper. we describe our approach, which includes contextual dialogue, cognitive modeling, and metrics-based field testing.

  5. Automation &robotics for future Mars exploration

    Science.gov (United States)

    Schulte, W.; von Richter, A.; Bertrand, R.

    2003-04-01

    Automation and Robotics (A&R) are currently considered as a key technology for Mars exploration. initiatives in this field aim at developing new A&R systems and technologies for planetary surface exploration. Kayser-Threde led the study AROMA (Automation &Robotics for Human Mars Exploration) under ESA contract in order to define a reference architecture of A&R elements in support of a human Mars exploration program. One of the goals was to define new developments and to maintain the competitiveness of European industry within this field. We present a summary of the A&R study in respect to a particular system: The Autonomous Research Island (ARI). In the Mars exploration scenario initially a robotic outpost system lands at pre-selected sites in order to search for life forms and water and to analyze the surface, geology and atmosphere. A&R systems, i.e. rovers and autonomous instrument packages, perform a number of missions with scientific and technology development objectives on the surface of Mars as part of preparations for a human exploration mission. In the Robotic Outpost Phase ARI is conceived as an automated lander which can perform in-situ analysis. It consists of a service module and a micro-rover system for local investigations. Such a system is already under investigation and development in other TRP activities. The micro-rover system provides local mobility for in-situ scientific investigations at a given landing or deployment site. In the long run ARI supports also human Mars missions. An astronaut crew would travel larger distances in a pressurized rover on Mars. Whenever interesting features on the surface are identified, the crew would interrupt the travel and perform local investigations. In order to save crew time ARI could be deployed by the astronauts to perform time-consuming investigations as for example in-situ geochemistry analysis of rocks/soil. Later, the crew could recover the research island for refurbishment and deployment at another

  6. Mars Exploration 2003 to 2013 - An Integrated Perspective: Time Sequencing the Missions

    Science.gov (United States)

    Briggs, G.; McKay, C.

    2000-01-01

    The science goals for the Mars exploration program, together with the HEDS precursor environmental and technology needs, serve as a solid starting point for re-planning the program in an orderly way. Most recently, the community has recognized the significance of subsurface sampling as a key component in "following the water". Accessing samples from hundreds and even thousands of meters beneath the surface is a challenge that will call for technology development and for one or more demonstration missions. Recent mission failures and concerns about the complexity of the previously planned MSR missions indicate that, before we are ready to undertake sample return and deep sampling, the Mars exploration program needs to include: 1) technology development missions; and 2) basic landing site assessment missions. These precursor missions should demonstrate the capability for reliable & accurate soft landing and in situ propellant production. The precursor missions will need to carry out close-up site observations, ground-penetrating radar mapping from orbit and conduct seismic surveys. Clearly the programs should be planned as a single, continuous exploration effort. A prudent minimum list of missions, including surface rovers with ranges of more than 10 km, can be derived from the numerous goals and requirements; they can be sequenced in an orderly way to ensure that time is available to feed forward the results of the precursor missions. One such sequence of missions is proposed for the decade beginning in 2003.

  7. Mission simulation as an approach to develop requirements for automation in Advanced Life Support Systems

    Science.gov (United States)

    Erickson, J. D.; Eckelkamp, R. E.; Barta, D. J.; Dragg, J.; Henninger, D. L. (Principal Investigator)

    1996-01-01

    This paper examines mission simulation as an approach to develop requirements for automation and robotics for Advanced Life Support Systems (ALSS). The focus is on requirements and applications for command and control, control and monitoring, situation assessment and response, diagnosis and recovery, adaptive planning and scheduling, and other automation applications in addition to mechanized equipment and robotics applications to reduce the excessive human labor requirements to operate and maintain an ALSS. Based on principles of systems engineering, an approach is proposed to assess requirements for automation and robotics using mission simulation tools. First, the story of a simulated mission is defined in terms of processes with attendant types of resources needed, including options for use of automation and robotic systems. Next, systems dynamics models are used in simulation to reveal the implications for selected resource allocation schemes in terms of resources required to complete operational tasks. The simulations not only help establish ALSS design criteria, but also may offer guidance to ALSS research efforts by identifying gaps in knowledge about procedures and/or biophysical processes. Simulations of a planned one-year mission with 4 crewmembers in a Human Rated Test Facility are presented as an approach to evaluation of mission feasibility and definition of automation and robotics requirements.

  8. Transformers: Shape-Changing Space Systems Built with Robotic Textiles

    Science.gov (United States)

    Stoica, Adrian

    2013-01-01

    Prior approaches to transformer-like robots had only very limited success. They suffer from lack of reliability, ability to integrate large surfaces, and very modest change in overall shape. Robots can now be built from two-dimensional (2D) layers of robotic fabric. These transformers, a new kind of robotic space system, are dramatically different from current systems in at least two ways. First, the entire transformer is built from a single, thin sheet; a flexible layer of a robotic fabric (ro-fabric); or robotic textile (ro-textile). Second, the ro-textile layer is foldable to small volume and self-unfolding to adapt shape and function to mission phases.

  9. Interaction Challenges in Human-Robot Space Exploration

    Science.gov (United States)

    Fong, Terrence; Nourbakhsh, Illah

    2005-01-01

    In January 2004, NASA established a new, long-term exploration program to fulfill the President's Vision for U.S. Space Exploration. The primary goal of this program is to establish a sustained human presence in space, beginning with robotic missions to the Moon in 2008, followed by extended human expeditions to the Moon as early as 2015. In addition, the program places significant emphasis on the development of joint human-robot systems. A key difference from previous exploration efforts is that future space exploration activities must be sustainable over the long-term. Experience with the space station has shown that cost pressures will keep astronaut teams small. Consequently, care must be taken to extend the effectiveness of these astronauts well beyond their individual human capacity. Thus, in order to reduce human workload, costs, and fatigue-driven error and risk, intelligent robots will have to be an integral part of mission design.

  10. Mars MetNet Mission Status

    Science.gov (United States)

    Harri, Ari-Matti; Aleksashkin, Sergei; Arruego, Ignacio; Schmidt, Walter; Genzer, Maria; Vazquez, Luis; Haukka, Harri

    2015-04-01

    New kind of planetary exploration mission for Mars is under development in collaboration between the Finnish Meteorological Institute (FMI), Lavochkin Association (LA), Space Research Institute (IKI) and Institutio Nacional de Tecnica Aerospacial (INTA). The Mars MetNet mission is based on a new semi-hard landing vehicle called MetNet Lander (MNL). The scientific payload of the Mars MetNet Precursor [1] mission is divided into three categories: Atmospheric instruments, Optical devices and Composition and structure devices. Each of the payload instruments will provide significant insights in to the Martian atmospheric behavior. The key technologies of the MetNet Lander have been qualified and the electrical qualification model (EQM) of the payload bay has been built and successfully tested. 1. MetNet Lander The MetNet landing vehicles are using an inflatable entry and descent system instead of rigid heat shields and parachutes as earlier semi-hard landing devices have used. This way the ratio of the payload mass to the overall mass is optimized. The landing impact will burrow the payload container into the Martian soil providing a more favorable thermal environment for the electronics and a suitable orientation of the telescopic boom with external sensors and the radio link antenna. It is planned to deploy several tens of MNLs on the Martian surface operating at least partly at the same time to allow meteorological network science. 2. Scientific Payload The payload of the two MNL precursor models includes the following instruments: Atmospheric instruments: 1. MetBaro Pressure device 2. MetHumi Humidity device 3. MetTemp Temperature sensors Optical devices: 1. PanCam Panoramic 2. MetSIS Solar irradiance sensor with OWLS optical wireless system for data transfer 3. DS Dust sensor The descent processes dynamic properties are monitored by a special 3-axis accelerometer combined with a 3-axis gyrometer. The data will be sent via auxiliary beacon antenna throughout the

  11. An Ultralightweight and Living Legged Robot.

    Science.gov (United States)

    Vo Doan, Tat Thang; Tan, Melvin Y W; Bui, Xuan Hien; Sato, Hirotaka

    2018-02-01

    In this study, we describe the most ultralightweight living legged robot to date that makes it a strong candidate for a search and rescue mission. The robot is a living beetle with a wireless electronic backpack stimulator mounted on its thorax. Inheriting from the living insect, the robot employs a compliant body made of soft actuators, rigid exoskeletons, and flexure hinges. Such structure would allow the robot to easily adapt to any complex terrain due to the benefit of soft interface, self-balance, and self-adaptation of the insect without any complex controller. The antenna stimulation enables the robot to perform not only left/right turning but also backward walking and even cessation of walking. We were also able to grade the turning and backward walking speeds by changing the stimulation frequency. The power required to drive the robot is low as the power consumption of the antenna stimulation is in the order of hundreds of microwatts. In contrast to the traditional legged robots, this robot is of low cost, easy to construct, simple to control, and has ultralow power consumption.

  12. Robotic Planetary Drill Tests

    Science.gov (United States)

    Glass, Brian J.; Thompson, S.; Paulsen, G.

    2010-01-01

    Several proposed or planned planetary science missions to Mars and other Solar System bodies over the next decade require subsurface access by drilling. This paper discusses the problems of remote robotic drilling, an automation and control architecture based loosely on observed human behaviors in drilling on Earth, and an overview of robotic drilling field test results using this architecture since 2005. Both rotary-drag and rotary-percussive drills are targeted. A hybrid diagnostic approach incorporates heuristics, model-based reasoning and vibration monitoring with neural nets. Ongoing work leads to flight-ready drilling software.

  13. Automatic Modeling and Simulation of Modular Robots

    Science.gov (United States)

    Jiang, C.; Wei, H.; Zhang, Y.

    2018-03-01

    The ability of reconfiguration makes modular robots have the ability of adaptable, low-cost, self-healing and fault-tolerant. It can also be applied to a variety of mission situations. In this manuscript, a robot platform which relied on the module library was designed, based on the screw theory and module theory. Then, the configuration design method of the modular robot was proposed. And the different configurations of modular robot system have been built, including industrial mechanical arms, the mobile platform, six-legged robot and 3D exoskeleton manipulator. Finally, the simulation and verification of one system among them have been made, using the analyses of screw kinematics and polynomial planning. The results of experiments demonstrate the feasibility and superiority of this modular system.

  14. Field Tested Service Oriented Robotic Architecture: Case Study

    Science.gov (United States)

    Flueckiger, Lorenzo; Utz, Hanz

    2012-01-01

    This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. SORA relies on proven software methods and technologies applied to the robotic world. Based on a Service Oriented Architecture and robust middleware, SORA extends its reach beyond the on-board robot controller and supports the full suite of software tools used during mission scenarios from ground control to remote robotic sites. SORA has been field tested in numerous scenarios of robotic lunar and planetary exploration. The results of these high fidelity experiments are illustrated through concrete examples that have shown the benefits of using SORA as well as its limitations.

  15. Robotics crosscutting program: Technology summary

    International Nuclear Information System (INIS)

    1996-08-01

    The Office of Environmental Management (EM) is responsible for cleaning up the legacy of radioactive and chemically hazardous waste at contaminated sites and facilities throughout the U.S. Department of Energy (DOE) nuclear weapons complex, preventing further environmental contamination, and instituting responsible environmental management. Initial efforts to achieve this mission resulted in the establishment of environmental restoration and waste management programs. However, as EM began to execute its responsibilities, decision makers became aware that the complexity and magnitude of this mission could not be achieved efficiently, affordably, safely, or reasonably with existing technology. Once the need for advanced cleanup technologies became evident, EM established an aggressive, innovative program of applied research and technology development. The Office of Technology Development (OTD) was established in November 1989 to advance new and improved environmental restoration and waste management technologies that would reduce risks to workers, the public, and the environment; reduce cleanup costs; and devise methods to correct cleanup problems that currently have no solutions. In 1996, OTD added two new responsibilities - management of a Congressionally mandated environmental science program and development of risk policy, requirements, and guidance. OTD was renamed the Office of Science and Technology (OST). This documents presents information concerning robotics tank waste retrieval overview, robotic chemical analysis automation, robotics decontamination and dismantlement, and robotics crosscutting and advanced technology

  16. Self-organized control in cooperative robots using a pattern formation principle

    International Nuclear Information System (INIS)

    Starke, Jens; Ellsaesser, Carmen; Fukuda, Toshio

    2011-01-01

    Self-organized modular approaches proved in nature to be robust and optimal and are a promising strategy to control future concepts of flexible and modular manufacturing processes. We show how this can be applied to a model of flexible manufacturing based on time-dependent robot-target assignment problems where robot teams have to serve manufacturing targets such that an objective function is optimized. Feasibility of the self-organized solutions can be guaranteed even for unpredictable situations like sudden changes in the demands or breakdowns of robots. As example an uncrewed space mission is visualized in a simulation where robots build a space station. - Highlights: → Adapting a pattern formation principle to control cooperative robots in a robust way. → Flexible manufacturing systems are modelled by time-dependent assignment problems. → Coupled selection equations guarantee feasibility of solutions. → Solution structure (permutations) is not destroyed by inhomogeneous growth rates. → Example of an uncrewed space mission shows effectivity and robustness.

  17. Distributed control of multi-robot teams: Cooperative baton passing task

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, they describe the implementation of this architecture on a team of physical mobile robots performing a cooperative baton passing task. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes during the task.

  18. Intelligent control system for nuclear power plant mobile robot

    International Nuclear Information System (INIS)

    Koenig, A.; Lecoeur-Taibi, I.; Crochon, E.; Vacherand, F.

    1991-01-01

    In order to fully optimize the efficiency of the perception and navigation components available on a mobile robot, the upper level of a mobile robot control requires intelligence support to unload the work of the teleoperator. This knowledge-based system has to manage a priori data such as the map of the workspace, the mission, the characteristics of sensors and robot, but also, the current environment state and the running mission. It has to issue a plan to drive the sensors to focus on relevant objects or to scan the environment and to select the best algorithms depending on the current situation. The environment workspace is a nuclear power plant building. The teleoperated robot is a mobile wheeled or legged vehicle that moves inside the different floors of the building. There are three types of mission: radio-activity survey, inspection and intervention. To perform these goals the robot must avoid obstacles, pass through doors, possibly climb stairs and recognize valves and pipes. The perception control system has to provide the operator with a synthetic view of the surroundings. It manages background tasks such as obstacle detection and free space map building, and specific tasks such as beacon recognition for odometry relocalization and valve detection for maintenance. To do this, the system solves perception resources conflicts, taking into account the current states of the sensors and the current conditions such as lightness or darkness, cluttered scenes, sensor failure. A perception plan is issued from the mission goals, planned path, relocalization requirements and available perception resources. Basically, the knowledge-based system is implemented on a blackboard architecture which includes two parts: a top-down planning part and a bottom-up perception part. The results of the perception are continuously sent to the operator who can trigger new perception actions. (author)

  19. Development and human factors analysis of an augmented reality interface for multi-robot tele-operation and control

    Science.gov (United States)

    Lee, Sam; Lucas, Nathan P.; Ellis, R. Darin; Pandya, Abhilash

    2012-06-01

    This paper presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semiautonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. The role of this human multi-robot interface is to allow an operator to control groups of heterogeneous robots in real time in a collaborative manner. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. Each robot knows the environment and obstacles and can automatically generate a collision-free path to any user-selected target. It displayed sensor information from each individual robot directly on the robot in the video view. In addition, a sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks. Results show that the novel Augmented Reality multi-robot control (Point-and-Go and Path Planning) reduced mission completion times compared to the traditional joystick control for target detection missions. Usability tests and operator workload analysis are also investigated.

  20. A Breakthrough Propulsion Architecture for Interstellar Precursor Missions

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose a new power/propulsion architecture to enable missions such as a 12-yr flight time to 500 AU—the distance at which solar gravity lensing can be used to...

  1. A Comparative Study of Aerocapture Missions with a Mars Destination

    Science.gov (United States)

    Vaughan, Diane; Miller, Heather C.; Griffin, Brand; James, Bonnie F.; Munk, Michelle M.

    2005-01-01

    Conventional interplanetary spacecraft use propulsive systems to decelerate into orbit. Aerocapture is an alternative approach for orbit capture, in which the spacecraft makes a single pass through a target destination's atmosphere. Although this technique has never been performed, studies show there are substantial benefits of using aerocapture for reduction of propellant mass, spacecraft size, and mission cost. The In-Space Propulsion (ISP) Program, part of NASA's Science Mission Directorate, has invested in aerocapture technology development since 2002. Aerocapture investments within ISP are largely driven by mission systems analysis studies, The purpose of this NASA-funded report is to identify and document the fundamental parameters of aerocapture within previous human and robotic Mars mission studies which will assist the community in identifying technology research gaps in human and robotic missions, and provide insight for future technology investments. Upon examination of the final data set, some key attributes within the aerocapture disciplines are identified.

  2. Robotic planetary mission benefits from nuclear electric propulsion

    International Nuclear Information System (INIS)

    Kelley, J.H.; Yen, C.L.

    1992-01-01

    Several interesting planetary missions are either enabled or significantly enhanced by nuclear electric propulsion (NEP) in the 50 to 100 kW power range. These missions include a Pluto Orbiter/Probe with an 11-year flight time and several years of operational life in orbit versus a ballistic very fast (13 km/s) flyby which would take longer to get to Pluto and would have a very short time to observe the planet. (A ballistic orbiter would take about 40 years to get to Pluto.) Other missions include a Neptune Orbiter/Probe, a Jupiter Grand Tour orbiting each of the major moons in order, a Uranus Orbiter/Probe, a Multiple Mainbelt Asteroid Rendezvous orbiting six selected asteroids, and a Comet Nucleus Sample Return. This paper discusses potential missions and compares the nuclear electric propulsion option to the conventional ballistic approach on a parametric basis

  3. 7th International Robotic Sailing Conference

    CERN Document Server

    Tynan, Dermot

    2015-01-01

    An autonomous sailboat robot is a boat that only uses the wind on its sail as the propelling force, without remote control or human assistance to achieve its mission. Robotic sailing offers the potential of long range and long term autonomous wind propelled, solar or wave-powered carbon neutral devices. Robotic sailing devices could contribute to monitoring of environmental, ecological, meteorological, hydrographic and oceanographic data. These devices can also be used in traffic monitoring, border surveillance, security, assistance and rescue. The dependency on changing winds and sea conditions presents a considerable challenge for short and long term route and stability planning, collision avoidance and boat control. Building a robust and seaworthy sailing robot presents a truly complex and multi-disciplinary challenge for boat designers, naval architects, systems/electrical engineers and computer scientists. Over the last decade, several events such as Sailbot, World Robotic Sailing Championship and the In...

  4. Maximizing Function through Intelligent Robot Actuator Control

    Data.gov (United States)

    National Aeronautics and Space Administration — Maximizing Function through Intelligent Robot Actuator Control Successful missions to Mars and beyond will only be possible with the support of high-performance...

  5. CANINE: a robotic mine dog

    Science.gov (United States)

    Stancil, Brian A.; Hyams, Jeffrey; Shelley, Jordan; Babu, Kartik; Badino, Hernán.; Bansal, Aayush; Huber, Daniel; Batavia, Parag

    2013-01-01

    Neya Systems, LLC competed in the CANINE program sponsored by the U.S. Army Tank Automotive Research Development and Engineering Center (TARDEC) which culminated in a competition held at Fort Benning as part of the 2012 Robotics Rodeo. As part of this program, we developed a robot with the capability to learn and recognize the appearance of target objects, conduct an area search amid distractor objects and obstacles, and relocate the target object in the same way that Mine dogs and Sentry dogs are used within military contexts for exploration and threat detection. Neya teamed with the Robotics Institute at Carnegie Mellon University to develop vision-based solutions for probabilistic target learning and recognition. In addition, we used a Mission Planning and Management System (MPMS) to orchestrate complex search and retrieval tasks using a general set of modular autonomous services relating to robot mobility, perception and grasping.

  6. Robotic exploration of the solar system

    CERN Document Server

    Ulivi, Paolo

    In Robotic Exploration of the Solar System, Paolo Ulivi and David Harland provide a comprehensive account of the design and managment of deep-space missions, the spacecraft involved - some flown, others not - their instruments, and their scientific results. This third volume in the series covers launches in the period 1997 to 2003 and features: - a chapter entirely devoted to the Cassini-Huygens mission to Saturn; - coverage of planetary missions of the period, including the Deep Space 1 mission and the Stardust and Hayabusa sample returns from comets and asteroids; - extensive coverage of Mars exploration, the failed 1999 missions, Mars Odyssey, Mars Express, and the twin rovers Spirit and Opportunity. The story will continue in Part 4.

  7. Mission-directed path planning for planetary rover exploration

    Science.gov (United States)

    Tompkins, Paul

    2005-07-01

    Robotic rovers uniquely benefit planetary exploration---they enable regional exploration with the precision of in-situ measurements, a combination impossible from an orbiting spacecraft or fixed lander. Mission planning for planetary rover exploration currently utilizes sophisticated software for activity planning and scheduling, but simplified path planning and execution approaches tailored for localized operations to individual targets. This approach is insufficient for the investigation of multiple, regionally distributed targets in a single command cycle. Path planning tailored for this task must consider the impact of large scale terrain on power, speed and regional access; the effect of route timing on resource availability; the limitations of finite resource capacity and other operational constraints on vehicle range and timing; and the mutual influence between traverses and upstream and downstream stationary activities. Encapsulating this reasoning in an efficient autonomous planner would allow a rover to continue operating rationally despite significant deviations from an initial plan. This research presents mission-directed path planning that enables an autonomous, strategic reasoning capability for robotic explorers. Planning operates in a space of position, time and energy. Unlike previous hierarchical approaches, it treats these dimensions simultaneously to enable globally-optimal solutions. The approach calls on a near incremental search algorithm designed for planning and re-planning under global constraints, in spaces of higher than two dimensions. Solutions under this method specify routes that avoid terrain obstacles, optimize the collection and use of rechargable energy, satisfy local and global mission constraints, and account for the time and energy of interleaved mission activities. Furthermore, the approach efficiently re-plans in response to updates in vehicle state and world models, and is well suited to online operation aboard a robot

  8. Mobile Robotic Teams Applied to Precision Agriculture

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Matthew Oley; Kinoshita, Robert Arthur; Mckay, Mark D; Willis, Walter David; Gunderson, R.W.; Flann, N.S.

    1999-04-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University’s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in realtime. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

  9. Mobile Robotic Teams Applied to Precision Agriculture

    Energy Technology Data Exchange (ETDEWEB)

    M.D. McKay; M.O. Anderson; N.S. Flann (Utah State University); R.A. Kinoshita; R.W. Gunderson; W.D. Willis (INEEL)

    1999-04-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University�s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in real-time. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

  10. 9th International Robotic Sailing Conference

    CERN Document Server

    Cruz, Nuno

    2017-01-01

    This book contains selected papers that address a variety of topics related to the design, development and operation of unmanned and fully autonomous sailing boats. These papers were presented in the 9th International Robotic Sailing Conference, in association with the 9th World Robotic Sailing Championship that took place in Viana do Castelo, Portugal from the 5th to 10th of September 2016. The book is divided in three parts, each focusing on key aspects of robotic sailing. The first part addresses the design, construction and validation of autonomous sailboat platforms, including their rigs, appendages and control mechanisms. The second part is devoted to the development of sensors and algorithms to enhance the performance of robotic sailing boats, in terms of their speed, course control and manoeuvring ability. Finally, the papers in the last part are dedicated to the improvement of behaviours required for the accomplishment of complex autonomous missions. Robotic sailing is a relatively new multidisciplin...

  11. Self-organized control in cooperative robots using a pattern formation principle

    DEFF Research Database (Denmark)

    Starke, Jens; Ellsaesser, Carmen; Fukuda, Toshio

    2011-01-01

    problems where robot teams have to serve manufacturing targets such that an objective function is optimized. Feasibility of the self-organized solutions can be guaranteed even for unpredictable situations like sudden changes in the demands or breakdowns of robots. As example an uncrewed space mission...

  12. Robot and Human Surface Operations on Solar System Bodies

    Science.gov (United States)

    Weisbin, C. R.; Easter, R.; Rodriguez, G.

    2001-01-01

    This paper presents a comparison of robot and human surface operations on solar system bodies. The topics include: 1) Long Range Vision of Surface Scenarios; 2) Human and Robots Complement Each Other; 3) Respective Human and Robot Strengths; 4) Need More In-Depth Quantitative Analysis; 5) Projected Study Objectives; 6) Analysis Process Summary; 7) Mission Scenarios Decompose into Primitive Tasks; 7) Features of the Projected Analysis Approach; and 8) The "Getting There Effect" is a Major Consideration. This paper is in viewgraph form.

  13. Robotic Tool Changer for Planetary Exploration, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Future planetary exploration missions will require compact, lightweight robotic manipulators for handling a variety of tools & instruments without increasing the...

  14. Calculator-Controlled Robots: Hands-On Mathematics and Science Discovery

    Science.gov (United States)

    Tuchscherer, Tyson

    2010-01-01

    The Calculator Controlled Robots activities are designed to engage students in hands-on inquiry-based missions. These activities address National science and technology standards, as well as specifically focusing on mathematics content and process standards. There are ten missions and three exploration extensions that provide activities for up to…

  15. Mars MetNet Mission - Martian Atmospheric Observational Post Network

    Science.gov (United States)

    Hari, Ari-Matti; Haukka, Harri; Aleksashkin, Sergey; Arruego, Ignacio; Schmidt, Walter; Genzer, Maria; Vazquez, Luis; Siikonen, Timo; Palin, Matti

    2017-04-01

    A new kind of planetary exploration mission for Mars is under development in collaboration between the Finnish Meteorological Institute (FMI), Lavochkin Association (LA), Space Research Institute (IKI) and Institutio Nacional de Tecnica Aerospacial (INTA). The Mars MetNet mission is based on a new semi-hard landing vehicle called MetNet Lander (MNL). The scientific payload of the Mars MetNet Precursor [1] mission is divided into three categories: Atmospheric instruments, Optical devices and Composition and structure devices. Each of the payload instruments will provide significant insights in to the Martian atmospheric behavior. The key technologies of the MetNet Lander have been qualified and the electrical qualification model (EQM) of the payload bay has been built and successfully tested. 1. MetNet Lander The MetNet landing vehicles are using an inflatable entry and descent system instead of rigid heat shields and parachutes as earlier semi-hard landing devices have used. This way the ratio of the payload mass to the overall mass is optimized. The landing impact will burrow the payload container into the Martian soil providing a more favorable thermal environment for the electronics and a suitable orientation of the telescopic boom with external sensors and the radio link antenna. It is planned to deploy several tens of MNLs on the Martian surface operating at least partly at the same time to allow meteorological network science. 2. Strawman Scientific Payload The strawman payload of the two MNL precursor models includes the following instruments: Atmospheric instruments: - MetBaro Pressure device - MetHumi Humidity device - MetTemp Temperature sensors Optical devices: - PanCam Panoramic - MetSIS Solar irradiance sensor with OWLS optical wireless system for data transfer - DS Dust sensor Composition and Structure Devices: Tri-axial magnetometer MOURA Tri-axial System Accelerometer The descent processes dynamic properties are monitored by a special 3-axis

  16. Micro-Inspector Spacecraft for Space Exploration Missions

    Science.gov (United States)

    Mueller, Juergen; Alkalai, Leon; Lewis, Carol

    2005-01-01

    NASA is seeking to embark on a new set of human and robotic exploration missions back to the Moon, to Mars, and destinations beyond. Key strategic technical challenges will need to be addressed to realize this new vision for space exploration, including improvements in safety and reliability to improve robustness of space operations. Under sponsorship by NASA's Exploration Systems Mission, the Jet Propulsion Laboratory (JPL), together with its partners in government (NASA Johnson Space Center) and industry (Boeing, Vacco Industries, Ashwin-Ushas Inc.) is developing an ultra-low mass (missions. The micro-inspector will provide remote vehicle inspections to ensure safety and reliability, or to provide monitoring of in-space assembly. The micro-inspector spacecraft represents an inherently modular system addition that can improve safety and support multiple host vehicles in multiple applications. On human missions, it may help extend the reach of human explorers, decreasing human EVA time to reduce mission cost and risk. The micro-inspector development is the continuation of an effort begun under NASA's Office of Aerospace Technology Enabling Concepts and Technology (ECT) program. The micro-inspector uses miniaturized celestial sensors; relies on a combination of solar power and batteries (allowing for unlimited operation in the sun and up to 4 hours in the shade); utilizes a low-pressure, low-leakage liquid butane propellant system for added safety; and includes multi-functional structure for high system-level integration and miniaturization. Versions of this system to be designed and developed under the H&RT program will include additional capabilities for on-board, vision-based navigation, spacecraft inspection, and collision avoidance, and will be demonstrated in a ground-based, space-related environment. These features make the micro-inspector design unique in its ability to serve crewed as well as robotic spacecraft, well beyond Earth-orbit and into arenas such

  17. Autonomous Motion Learning for Intra-Vehicular Activity Space Robot

    Science.gov (United States)

    Watanabe, Yutaka; Yairi, Takehisa; Machida, Kazuo

    Space robots will be needed in the future space missions. So far, many types of space robots have been developed, but in particular, Intra-Vehicular Activity (IVA) space robots that support human activities should be developed to reduce human-risks in space. In this paper, we study the motion learning method of an IVA space robot with the multi-link mechanism. The advantage point is that this space robot moves using reaction force of the multi-link mechanism and contact forces from the wall as space walking of an astronaut, not to use a propulsion. The control approach is determined based on a reinforcement learning with the actor-critic algorithm. We demonstrate to clear effectiveness of this approach using a 5-link space robot model by simulation. First, we simulate that a space robot learn the motion control including contact phase in two dimensional case. Next, we simulate that a space robot learn the motion control changing base attitude in three dimensional case.

  18. Propulsion Utilizing Laser-Driven Ponderomotive Fields for Deep-Space Missions

    International Nuclear Information System (INIS)

    Williams, George J.; Gilland, James H.

    2009-01-01

    The generation of large amplitude electric fields in plasmas by high-power lasers has been studied for several years in the context of high-energy particle acceleration. Fields on the order of GeV/m are generated in the plasma wake of the laser by non-linear ponderomotive forces. The laser fields generate longitudinal and translational electron plasma waves with phase velocities close to the speed of light. These fields and velocities offer the potential to revolutionize spacecraft propulsion, leading to extended deep space robotic probes. Based on these initial calculations, plasma acceleration by means of laser-induced ponderomotive forces appears to offer significant potential for spacecraft propulsion. Relatively high-efficiencies appear possible with proper beam conditioning, resulting in an order of magnitude more thrust than alternative concepts for high I SP (>10 5 s) and elimination of the primary life-limiting erosion phenomena associated with conventional electric propulsion systems. Ponderomotive propulsion readily lends itself to beamed power which might overcome some of the constraints of power-limited propulsion concepts. A preliminary assessment of the impact of these propulsion systems for several promising configurations on mission architectures has been conducted. Emphasizing interstellar and interstellar-precursor applications, performance and technical requirements are identified for a number of missions. The use of in-situ plasma and gas for propellant is evaluated as well.

  19. Modeling and Simulation for Multi-Missions Space Exploration Vehicle

    Science.gov (United States)

    Chang, Max

    2011-01-01

    Asteroids and Near-Earth Objects [NEOs] are of great interest for future space missions. The Multi-Mission Space Exploration Vehicle [MMSEV] is being considered for future Near Earth Object missions and requires detailed planning and study of its Guidance, Navigation, and Control [GNC]. A possible mission of the MMSEV to a NEO would be to navigate the spacecraft to a stationary orbit with respect to the rotating asteroid and proceed to anchor into the surface of the asteroid with robotic arms. The Dynamics and Real-Time Simulation [DARTS] laboratory develops reusable models and simulations for the design and analysis of missions. In this paper, the development of guidance and anchoring models are presented together with their role in achieving mission objectives and relationships to other parts of the simulation. One important aspect of guidance is in developing methods to represent the evolution of kinematic frames related to the tasks to be achieved by the spacecraft and its robot arms. In this paper, we compare various types of mathematical interpolation methods for position and quaternion frames. Subsequent work will be on analyzing the spacecraft guidance system with different movements of the arms. With the analyzed data, the guidance system can be adjusted to minimize the errors in performing precision maneuvers.

  20. Human Exploration Using Real-Time Robotic Operations (HERRO)- Crew Telerobotic Control Vehicle (CTCV) Design

    Science.gov (United States)

    Oleson, Steven R.; McGuire, Melissa L.; Burke, Laura; Chato, David; Fincannon, James; Landis, Geoff; Sandifer, Carl; Warner, Joe; Williams, Glenn; Colozza, Tony; hide

    2010-01-01

    The HERRO concept allows real time investigation of planets and small bodies by sending astronauts to orbit these targets and telerobotically explore them using robotic systems. Several targets have been put forward by past studies including Mars, Venus, and near Earth asteroids. A conceptual design study was funded by the NASA Innovation Fund to explore what the HERRO concept and it's vehicles would look like and what technological challenges need to be met. This design study chose Mars as the target destination. In this way the HERRO studies can define the endpoint design concepts for an all-up telerobotic exploration of the number one target of interest Mars. This endpoint design will serve to help planners define combined precursor telerobotics science missions and technology development flights. A suggested set of these technologies and demonstrator missions is shown in Appendix B. The HERRO concept includes a crewed telerobotics orbit vehicle as well three Truck rovers, each supporting two teleoperated geologist robots Rockhounds (each truck/Rockhounds set is landed using a commercially launched aeroshell landing system.) Options include a sample ascent system teamed with an orbital telerobotic sample rendezvous and return spacecraft (S/C) (yet to be designed). Each truck rover would be landed in a science location with the ability to traverse a 100 km diameter area, carrying the Rockhounds to 100 m diameter science areas for several week science activities. The truck is not only responsible for transporting the Rockhounds to science areas, but also for relaying telecontrol and high-res communications to/from the Rockhound and powering/heating the Rockhound during the non-science times (including night-time). The Rockhounds take the place of human geologists by providing an agile robotic platform with real-time telerobotics control to the Rockhound from the crew telerobotics orbiter. The designs of the Truck rovers and Rockhounds will be described in other

  1. A Preliminary Study of Peer-to-Peer Human-Robot Interaction

    Science.gov (United States)

    Fong, Terrence; Flueckiger, Lorenzo; Kunz, Clayton; Lees, David; Schreiner, John; Siegel, Michael; Hiatt, Laura M.; Nourbakhsh, Illah; Simmons, Reid; Ambrose, Robert

    2006-01-01

    The Peer-to-Peer Human-Robot Interaction (P2P-HRI) project is developing techniques to improve task coordination and collaboration between human and robot partners. Our work is motivated by the need to develop effective human-robot teams for space mission operations. A central element of our approach is creating dialogue and interaction tools that enable humans and robots to flexibly support one another. In order to understand how this approach can influence task performance, we recently conducted a series of tests simulating a lunar construction task with a human-robot team. In this paper, we describe the tests performed, discuss our initial results, and analyze the effect of intervention on task performance.

  2. Evaluation of teleoperated surgical robots in an enclosed undersea environment.

    Science.gov (United States)

    Doarn, Charles R; Anvari, Mehran; Low, Thomas; Broderick, Timothy J

    2009-05-01

    The ability to support surgical care in an extreme environment is a significant issue for both military medicine and space medicine. Telemanipulation systems, those that can be remotely operated from a distant site, have been used extensively by the National Aeronautics and Space Administration (NASA) for a number of years. These systems, often called telerobots, have successfully been applied to surgical interventions. A further extension is to operate these robotic systems over data communication networks where robotic slave and master are separated by a great distance. NASA utilizes the National Oceanographic and Atmospheric Administration (NOAA) Aquarius underwater habitat as an analog environment for research and technology evaluation missions, known as NASA Extreme Environment Mission Operations (NEEMO). Three NEEMO missions have provided an opportunity to evaluate teleoperated surgical robotics by astronauts and surgeons. Three robotic systems were deployed to the habitat for evaluation during NEEMO 7, 9, and 12. These systems were linked via a telecommunications link to various sites for remote manipulation. Researchers in the habitat conducted a variety of tests to evaluate performance and applicability in extreme environments. Over three different NEEMO missions, components of the Automated Endoscopic System for Optimal Positioning (AESOP), the M7 Surgical System, and the RAVEN were deployed and evaluated. A number of factors were evaluated, including communication latency and semiautonomous functions. The M7 was modified to permit a remote surgeon the ability to insert a needle into simulated tissue with ultrasound guidance, resulting in the world's first semi-autonomous supervisory-controlled medical task. The deployment and operation of teleoperated surgical systems and semi-autonomous, supervisory-controlled tasks were successfully conducted.

  3. RASSOR - Regolith Advanced Surface Systems Operations Robot

    Science.gov (United States)

    Gill, Tracy R.; Mueller, Rob

    2015-01-01

    The Regolith Advanced Surface Systems Operations Robot (RASSOR) is a lightweight excavator for mining in reduced gravity. RASSOR addresses the need for a lightweight (robot that is able to overcome excavation reaction forces while operating in reduced gravity environments such as the moon or Mars. A nominal mission would send RASSOR to the moon to operate for five years delivering regolith feedstock to a separate chemical plant, which extracts oxygen from the regolith using H2 reduction methods. RASSOR would make 35 trips of 20 kg loads every 24 hours. With four RASSORs operating at one time, the mission would achieve 10 tonnes of oxygen per year (8 t for rocket propellant and 2 t for life support). Accessing craters in space environments may be extremely hard and harsh due to volatile resources - survival is challenging. New technologies and methods are required. RASSOR is a product of KSC Swamp Works which establishes rapid, innovative and cost effective exploration mission solutions by leveraging partnerships across NASA, industry and academia.

  4. An Interactive Astronaut-Robot System with Gesture Control

    Directory of Open Access Journals (Sweden)

    Jinguo Liu

    2016-01-01

    Full Text Available Human-robot interaction (HRI plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM is employed to recognize hand gestures and particle swarm optimization (PSO algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL have been selected and used to test and validate the performance of the proposed system.

  5. Robot for Investigations and Assessments of Nuclear Areas

    Energy Technology Data Exchange (ETDEWEB)

    Kanaan, Daniel; Dogny, Stephane [AREVA D and S/DT, 30206 Bagnols sur Ceze (France)

    2015-07-01

    RIANA is a remote controlled Robot dedicated for Investigations and Assessments of Nuclear Areas. The development of RIANA is motivated by the need to have at disposal a proven robot, tested in hot cells; a robot capable of remotely investigate and characterise the inside of nuclear facilities in order to collect efficiently all the required data in the shortest possible time. It is based on a wireless medium sized remote carrier that may carry a wide variety of interchangeable modules, sensors and tools. It is easily customised to match specific requirements and quickly configured depending on the mission and the operator's preferences. RIANA integrates localisation and navigation systems. The robot will be able to generate / update a 2D map of its surrounding and exploring areas. The position of the robot is given accurately on the map. Furthermore, the robot will be able to autonomously calculate, define and follow a trajectory between 2 points taking into account its environment and obstacles. The robot is configurable to manage obstacles and restrict access to forbidden areas. RIANA allows an advanced control of modules, sensors and tools; all collected data (radiological and measured data) are displayed in real time in different format (chart, on the generated map...) and stored in a single place so that may be exported in a convenient format for data processing. This modular design gives RIANA the flexibility to perform multiple investigation missions where humans cannot work such as: visual inspections, dynamic localization and 2D mapping, characterizations and nuclear measurements of floor and walls, non destructive testing, samples collection: solid and liquid. The benefits of using RIANA are: - reducing the personnel exposures by limiting the manual intervention time, - minimizing the time and reducing the cost of investigation operations, - providing critical inputs to set up and optimize cleanup and dismantling operations. (authors)

  6. Robot for Investigations and Assessments of Nuclear Areas

    International Nuclear Information System (INIS)

    Kanaan, Daniel; Dogny, Stephane

    2015-01-01

    RIANA is a remote controlled Robot dedicated for Investigations and Assessments of Nuclear Areas. The development of RIANA is motivated by the need to have at disposal a proven robot, tested in hot cells; a robot capable of remotely investigate and characterise the inside of nuclear facilities in order to collect efficiently all the required data in the shortest possible time. It is based on a wireless medium sized remote carrier that may carry a wide variety of interchangeable modules, sensors and tools. It is easily customised to match specific requirements and quickly configured depending on the mission and the operator's preferences. RIANA integrates localisation and navigation systems. The robot will be able to generate / update a 2D map of its surrounding and exploring areas. The position of the robot is given accurately on the map. Furthermore, the robot will be able to autonomously calculate, define and follow a trajectory between 2 points taking into account its environment and obstacles. The robot is configurable to manage obstacles and restrict access to forbidden areas. RIANA allows an advanced control of modules, sensors and tools; all collected data (radiological and measured data) are displayed in real time in different format (chart, on the generated map...) and stored in a single place so that may be exported in a convenient format for data processing. This modular design gives RIANA the flexibility to perform multiple investigation missions where humans cannot work such as: visual inspections, dynamic localization and 2D mapping, characterizations and nuclear measurements of floor and walls, non destructive testing, samples collection: solid and liquid. The benefits of using RIANA are: - reducing the personnel exposures by limiting the manual intervention time, - minimizing the time and reducing the cost of investigation operations, - providing critical inputs to set up and optimize cleanup and dismantling operations. (authors)

  7. Modeling and Simulation for Exploring Human-Robot Team Interaction Requirements

    Energy Technology Data Exchange (ETDEWEB)

    Dudenhoeffer, Donald Dean; Bruemmer, David Jonathon; Davis, Midge Lee

    2001-12-01

    Small-sized and micro-robots will soon be available for deployment in large-scale forces. Consequently, the ability of a human operator to coordinate and interact with largescale robotic forces is of great interest. This paper describes the ways in which modeling and simulation have been used to explore new possibilities for human-robot interaction. The paper also discusses how these explorations have fed implementation of a unified set of command and control concepts for robotic force deployment. Modeling and simulation can play a major role in fielding robot teams in actual missions. While live testing is preferred, limitations in terms of technology, cost, and time often prohibit extensive experimentation with physical multi-robot systems. Simulation provides insight, focuses efforts, eliminates large areas of the possible solution space, and increases the quality of actual testing.

  8. Robots for Astrobiology!

    Science.gov (United States)

    Boston, Penelope J.

    2016-01-01

    The search for life and its study is known as astrobiology. Conducting that search on other planets in our Solar System is a major goal of NASA and other space agencies, and a driving passion of the community of scientists and engineers around the world. We practice for that search in many ways, from exploring and studying extreme environments on Earth, to developing robots to go to other planets and help us look for any possible life that may be there or may have been there in the past. The unique challenges of space exploration make collaborations between robots and humans essential. The products of those collaborations will be novel and driven by the features of wholly new environments. For space and planetary environments that are intolerable for humans or where humans present an unacceptable risk to possible biologically sensitive sites, autonomous robots or telepresence offer excellent choices. The search for life signs on Mars fits within this category, especially in advance of human landed missions there, but also as assistants and tools once humans reach the Red Planet. For planetary destinations where we do not envision humans ever going in person, like bitterly cold icy moons, or ocean worlds with thick ice roofs that essentially make them planetary-sized ice caves, we will rely on robots alone to visit those environments for us and enable us to explore and understand any life that we may find there. Current generation robots are not quite ready for some of the tasks that we need them to do, so there are many opportunities for roboticists of the future to advance novel types of mobility, autonomy, and bio-inspired robotic designs to help us accomplish our astrobiological goals. We see an exciting partnership between robotics and astrobiology continually strengthening as we jointly pursue the quest to find extraterrestrial life.

  9. Additive Manufacturing of Parts and Tooling in Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Love, Lonnie J. [ORNL; Hassen, Ahmed A. [ORNL; Chesser, Phillip C. [ORNL; Parsons, Jeremy [Mantaro Networks, Inc.

    2018-04-01

    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 robotic 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.

  10. Mars MetNet Mission Payload Overview

    Science.gov (United States)

    Harri, A.-M.; Haukka, H.; Alexashkin, S.; Guerrero, H.; Schmidt, W.; Genzer, M.; Vazquez, L.

    2012-09-01

    A new kind of planetary exploration mission for Mars is being developed in collaboration between the Finnish Meteorological Institute (FMI), Lavochkin Association (LA), Space Research Institute (IKI) and Institutio Nacional de Tecnica Aerospacial (INTA). The Mars MetNet mission [1] is based on a new semi-hard landing vehicle called MetNet Lander (MNL). The scientific payload of the Mars MetNet Precursor mission is divided into three categories: Atmospheric instruments, Optical devices and Composition and structure devices. Each of the payload instruments will provide crucial scientific data about the Martian atmospheric phenomena.

  11. Technology under Moon and Mars Analog Missions Activities (MMAMA)

    Data.gov (United States)

    National Aeronautics and Space Administration — NASA Analog Missions research addresses the need for integrated interdisciplinary field experiments as an integral part of preparation for planned human and robotic...

  12. Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994

    Science.gov (United States)

    1994-01-01

    The Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 94), held October 18-20, 1994, in Pasadena, California, was jointly sponsored by NASA, ESA, and Japan's National Space Development Agency, and was hosted by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology. i-SAIRAS 94 featured presentations covering a variety of technical and programmatic topics, ranging from underlying basic technology to specific applications of artificial intelligence and robotics to space missions. i-SAIRAS 94 featured a special workshop on planning and scheduling and provided scientists, engineers, and managers with the opportunity to exchange theoretical ideas, practical results, and program plans in such areas as space mission control, space vehicle processing, data analysis, autonomous spacecraft, space robots and rovers, satellite servicing, and intelligent instruments.

  13. Automation and Robotics for Space-Based Systems, 1991

    Science.gov (United States)

    Williams, Robert L., II (Editor)

    1992-01-01

    The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

  14. Investigating Astromaterials Curation Applications for Dexterous Robotic Arms

    Science.gov (United States)

    Snead, C. J.; Jang, J. H.; Cowden, T. R.; McCubbin, F. M.

    2018-01-01

    The Astromaterials Acquisition and Curation office at NASA Johnson Space Center is currently investigating tools and methods that will enable the curation of future astromaterials collections. Size and temperature constraints for astromaterials to be collected by current and future proposed missions will require the development of new robotic sample and tool handling capabilities. NASA Curation has investigated the application of robot arms in the past, and robotic 3-axis micromanipulators are currently in use for small particle curation in the Stardust and Cosmic Dust laboratories. While 3-axis micromanipulators have been extremely successful for activities involving the transfer of isolated particles in the 5-20 micron range (e.g. from microscope slide to epoxy bullet tip, beryllium SEM disk), their limited ranges of motion and lack of yaw, pitch, and roll degrees of freedom restrict their utility in other applications. For instance, curators removing particles from cosmic dust collectors by hand often employ scooping and rotating motions to successfully free trapped particles from the silicone oil coatings. Similar scooping and rotating motions are also employed when isolating a specific particle of interest from an aliquot of crushed meteorite. While cosmic dust curators have been remarkably successful with these kinds of particle manipulations using handheld tools, operator fatigue limits the number of particles that can be removed during a given extraction session. The challenges for curation of small particles will be exacerbated by mission requirements that samples be processed in N2 sample cabinets (i.e. gloveboxes). We have been investigating the use of compact robot arms to facilitate sample handling within gloveboxes. Six-axis robot arms potentially have applications beyond small particle manipulation. For instance, future sample return missions may involve biologically sensitive astromaterials that can be easily compromised by physical interaction with

  15. Analyzing Cyber-Physical Threats on Robotic Platforms.

    Science.gov (United States)

    Ahmad Yousef, Khalil M; AlMajali, Anas; Ghalyon, Salah Abu; Dweik, Waleed; Mohd, Bassam J

    2018-05-21

    Robots are increasingly involved in our daily lives. Fundamental to robots are the communication link (or stream) and the applications that connect the robots to their clients or users. Such communication link and applications are usually supported through client/server network connection. This networking system is amenable of being attacked and vulnerable to the security threats. Ensuring security and privacy for robotic platforms is thus critical, as failures and attacks could have devastating consequences. In this paper, we examine several cyber-physical security threats that are unique to the robotic platforms; specifically the communication link and the applications. Threats target integrity, availability and confidential security requirements of the robotic platforms, which use MobileEyes/arnlServer client/server applications. A robot attack tool (RAT) was developed to perform specific security attacks. An impact-oriented approach was adopted to analyze the assessment results of the attacks. Tests and experiments of attacks were conducted in simulation environment and physically on the robot. The simulation environment was based on MobileSim; a software tool for simulating, debugging and experimenting on MobileRobots/ActivMedia platforms and their environments. The robot platform PeopleBot TM was used for physical experiments. The analysis and testing results show that certain attacks were successful at breaching the robot security. Integrity attacks modified commands and manipulated the robot behavior. Availability attacks were able to cause Denial-of-Service (DoS) and the robot was not responsive to MobileEyes commands. Integrity and availability attacks caused sensitive information on the robot to be hijacked. To mitigate security threats, we provide possible mitigation techniques and suggestions to raise awareness of threats on the robotic platforms, especially when the robots are involved in critical missions or applications.

  16. Analyzing Cyber-Physical Threats on Robotic Platforms

    Directory of Open Access Journals (Sweden)

    Khalil M. Ahmad Yousef

    2018-05-01

    Full Text Available Robots are increasingly involved in our daily lives. Fundamental to robots are the communication link (or stream and the applications that connect the robots to their clients or users. Such communication link and applications are usually supported through client/server network connection. This networking system is amenable of being attacked and vulnerable to the security threats. Ensuring security and privacy for robotic platforms is thus critical, as failures and attacks could have devastating consequences. In this paper, we examine several cyber-physical security threats that are unique to the robotic platforms; specifically the communication link and the applications. Threats target integrity, availability and confidential security requirements of the robotic platforms, which use MobileEyes/arnlServer client/server applications. A robot attack tool (RAT was developed to perform specific security attacks. An impact-oriented approach was adopted to analyze the assessment results of the attacks. Tests and experiments of attacks were conducted in simulation environment and physically on the robot. The simulation environment was based on MobileSim; a software tool for simulating, debugging and experimenting on MobileRobots/ActivMedia platforms and their environments. The robot platform PeopleBotTM was used for physical experiments. The analysis and testing results show that certain attacks were successful at breaching the robot security. Integrity attacks modified commands and manipulated the robot behavior. Availability attacks were able to cause Denial-of-Service (DoS and the robot was not responsive to MobileEyes commands. Integrity and availability attacks caused sensitive information on the robot to be hijacked. To mitigate security threats, we provide possible mitigation techniques and suggestions to raise awareness of threats on the robotic platforms, especially when the robots are involved in critical missions or applications.

  17. In Situ Biological Contamination Studies of the Moon: Implications for Future Planetary Protection and Life Detection Missions

    Science.gov (United States)

    Glavin, Daniel P.; Dworkin, Jason P.; Lupisella, Mark; Kminek, Gerhard; Rummel, John D.

    2010-01-01

    NASA and ESA have outlined visions for solar system exploration that will include a series of lunar robotic precursor missions to prepare for, and support a human return to the Moon, and future human exploration of Mars and other destinations. One of the guiding principles for exploration is to pursue compelling scientific questions about the origin and evolution of life. The search for life on objects such as Mars will require that all spacecraft and instrumentation be sufficiently cleaned and sterilized prior to launch to ensure that the scientific integrity of extraterrestrial samples is not jeopardized by terrestrial organic contamination. Under the Committee on Space Research's (COSPAR's) current planetary protection policy for the Moon, no sterilization procedures are required for outbound lunar spacecraft, nor is there yet a planetary protection category for human missions. Future in situ investigations of a variety of locations on the Moon by highly sensitive instruments designed to search for biologically derived organic compounds would help assess the contamination of the Moon by lunar spacecraft. These studies could also provide valuable "ground truth" data for Mars sample return missions and help define planetary protection requirements for future Mars bound spacecraft carrying life detection experiments. In addition, studies of the impact of terrestrial contamination of the lunar surface by the Apollo astronauts could provide valuable data to help refine future Mars surface exploration plans for a human mission to Mars.

  18. Robot dispatching Scenario for Accident Condition Monitoring of NPP

    International Nuclear Information System (INIS)

    Kim, Jongseog

    2013-01-01

    In March of 2011, unanticipated big size of tsunami attacks Fukushima NPP, this accident results in explosion of containment building. Tokyo electric power of Japan couldn't dispatch a robot for monitoring of containment inside. USA Packbot robot used for desert war in Iraq was supplied to Fukushima NPP for monitoring of high radiation area. Packbot also couldn't reach deep inside of Fukushima NPP due to short length of power cable. Japanese robot 'Queens' also failed to complete a mission due to communication problem between robot and operator. I think major reason of these robot failures is absence of robot dispatching scenario. If there was a scenario and a rehearsal for monitoring during or after accident, these unanticipated obstacles could be overcome. Robot dispatching scenario studied for accident of nuclear power plant was described herein. Study on scenario of robot dispatching is performed. Flying robot is regarded as good choice for accident monitoring. Walking robot with arm equipped is good for emergency valve close. Short time work and shift work by several robots can be a solution for high radiation area. Thin and soft cable with rolling reel can be a good solution for long time work and good communication

  19. Control system of the inspection robots group applying auctions and multi-criteria analysis for task allocation

    Science.gov (United States)

    Panfil, Wawrzyniec; Moczulski, Wojciech

    2017-10-01

    In the paper presented is a control system of a mobile robots group intended for carrying out inspection missions. The main research problem was to define such a control system in order to facilitate a cooperation of the robots resulting in realization of the committed inspection tasks. Many of the well-known control systems use auctions for tasks allocation, where a subject of an auction is a task to be allocated. It seems that in the case of missions characterized by much larger number of tasks than number of robots it will be better if robots (instead of tasks) are subjects of auctions. The second identified problem concerns the one-sided robot-to-task fitness evaluation. Simultaneous assessment of the robot-to-task fitness and task attractiveness for robot should affect positively for the overall effectiveness of the multi-robot system performance. The elaborated system allows to assign tasks to robots using various methods for evaluation of fitness between robots and tasks, and using some tasks allocation methods. There is proposed the method for multi-criteria analysis, which is composed of two assessments, i.e. robot's concurrency position for task among other robots and task's attractiveness for robot among other tasks. Furthermore, there are proposed methods for tasks allocation applying the mentioned multi-criteria analysis method. The verification of both the elaborated system and the proposed tasks' allocation methods was carried out with the help of simulated experiments. The object under test was a group of inspection mobile robots being a virtual counterpart of the real mobile-robot group.

  20. Including communication success in the estimation of information gain for multi-robot exploration

    NARCIS (Netherlands)

    Visser, A.; Slamet, B.A.

    2008-01-01

    This article investigates the effect of incorporating knowledge about the communication possibilities in an exploration algorithm used to map an unknown environment. The mission is to explore a hypothetical disaster site with a small team of robots. The challenge faced by the robot team is to

  1. Development of Advanced Robotic Hand System for space application

    Science.gov (United States)

    Machida, Kazuo; Akita, Kenzo; Mikami, Tatsuo; Komada, Satoru

    1994-01-01

    The Advanced Robotic Hand System (ARH) is a precise telerobotics system with a semi dexterous hand for future space application. The ARH will be tested in space as one of the missions of the Engineering Tests Satellite 7 (ETS-7) which will be launched in 1997. The objectives of the ARH development are to evaluate the capability of a possible robot hand for precise and delicate tasks and to validate the related technologies implemented in the system. The ARH is designed to be controlled both from ground as a teleoperation and by locally autonomous control. This paper presents the overall system design and the functional capabilities of the ARH as well as its mission outline as the preliminary design has been completed.

  2. The MARS2013 Mars analog mission.

    Science.gov (United States)

    Groemer, Gernot; Soucek, Alexander; Frischauf, Norbert; Stumptner, Willibald; Ragonig, Christoph; Sams, Sebastian; Bartenstein, Thomas; Häuplik-Meusburger, Sandra; Petrova, Polina; Evetts, Simon; Sivenesan, Chan; Bothe, Claudia; Boyd, Andrea; Dinkelaker, Aline; Dissertori, Markus; Fasching, David; Fischer, Monika; Föger, Daniel; Foresta, Luca; Fritsch, Lukas; Fuchs, Harald; Gautsch, Christoph; Gerard, Stephan; Goetzloff, Linda; Gołebiowska, Izabella; Gorur, Paavan; Groemer, Gerhard; Groll, Petra; Haider, Christian; Haider, Olivia; Hauth, Eva; Hauth, Stefan; Hettrich, Sebastian; Jais, Wolfgang; Jones, Natalie; Taj-Eddine, Kamal; Karl, Alexander; Kauerhoff, Tilo; Khan, Muhammad Shadab; Kjeldsen, Andreas; Klauck, Jan; Losiak, Anna; Luger, Markus; Luger, Thomas; Luger, Ulrich; McArthur, Jane; Moser, Linda; Neuner, Julia; Orgel, Csilla; Ori, Gian Gabriele; Paternesi, Roberta; Peschier, Jarno; Pfeil, Isabella; Prock, Silvia; Radinger, Josef; Ramirez, Barbara; Ramo, Wissam; Rampey, Mike; Sams, Arnold; Sams, Elisabeth; Sandu, Oana; Sans, Alejandra; Sansone, Petra; Scheer, Daniela; Schildhammer, Daniel; Scornet, Quentin; Sejkora, Nina; Stadler, Andrea; Stummer, Florian; Taraba, Michael; Tlustos, Reinhard; Toferer, Ernst; Turetschek, Thomas; Winter, Egon; Zanella-Kux, Katja

    2014-05-01

    We report on the MARS2013 mission, a 4-week Mars analog field test in the northern Sahara. Nineteen experiments were conducted by a field crew in Morocco under simulated martian surface exploration conditions, supervised by a Mission Support Center in Innsbruck, Austria. A Remote Science Support team analyzed field data in near real time, providing planning input for the management of a complex system of field assets; two advanced space suit simulators, four robotic vehicles, an emergency shelter, and a stationary sensor platform in a realistic work flow were coordinated by a Flight Control Team. A dedicated flight planning group, external control centers for rover tele-operations, and a biomedical monitoring team supported the field operations. A 10 min satellite communication delay and other limitations pertinent to human planetary surface activities were introduced. The fields of research for the experiments were geology, human factors, astrobiology, robotics, tele-science, exploration, and operations research. This paper provides an overview of the geological context and environmental conditions of the test site and the mission architecture, in particular the communication infrastructure emulating the signal travel time between Earth and Mars. We report on the operational work flows and the experiments conducted, including a deployable shelter prototype for multiple-day extravehicular activities and contingency situations.

  3. Robots are stalling in Fukushima

    International Nuclear Information System (INIS)

    Anon.

    2012-01-01

    Whereas robots were expected to be the heroes of the cleaning up of radioactive zones of the Fukushima power station, they fall, lack of autonomy, or stay prisoners of debris. After having briefly described how these robots look like (the characteristics of four models are given, two Japanese and two American robots), this article outlines that they resist quite well to radioactivity, but are rather slow and are not used all at the same time: some are being maintained, some are trapped in debris. Thus, they perform a mission once a week, with finally less than hundred hours of operation for each of them. They are often trapped by debris, their movements are often difficult (notably in front of stairs or of debris), their battery lacks autonomy, and they did not significantly reduce the exposure of humans to radioactivity, but they open perspectives for new devices

  4. Wireless Communication Enhancement Methods for Mobile Robots in Radiation Environments

    CERN Document Server

    Nattanmai Parasuraman, Ramviyas; Ferre, Manuel

    In hostile environments such as in scientific facilities where ionising radiation is a dominant hazard, reducing human interventions by increasing robotic operations are desirable. CERN, the European Organization for Nuclear Research, has around 50 km of underground scientific facilities, where wireless mobile robots could help in the operation of the accelerator complex, e.g. in conducting remote inspections and radiation surveys in different areas. The main challenges to be considered here are not only that the robots should be able to go over long distances and operate for relatively long periods, but also the underground tunnel environment, the possible presence of electromagnetic fields, radiation effects, and the fact that the robots shall in no way interrupt the operation of the accelerators. Having a reliable and robust wireless communication system is essential for successful execution of such robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs ...

  5. Multi-robot team design for real-world applications

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1996-10-01

    Many of these applications are in dynamic environments requiring capabilities distributed in functionality, space, or time, and therefore often require teams of robots to work together. While much research has been done in recent years, current robotics technology is still far from achieving many of the real world applications. Two primary reasons for this technology gap are that (1) previous work has not adequately addressed the issues of fault tolerance and adaptivity in multi-robot teams, and (2) existing robotics research is often geared at specific applications and is not easily generalized to different, but related, applications. This paper addresses these issues by first describing the design issues of key importance in these real-world cooperative robotics applications: fault tolerance, reliability, adaptivity, and coherence. We then present a general architecture addressing these design issues (called ALLIANCE) that facilities multi-robot cooperation of small- to medium-sized teams in dynamic environments, performing missions composed of loosely coupled subtasks. We illustrate an implementation of ALLIANCE in a real-world application, called Bounding Overwatch, and then discuss how this architecture addresses our key design issues.

  6. System Design and Locomotion of Superball, an Untethered Tensegrity Robot

    Science.gov (United States)

    Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

    2015-01-01

    The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

  7. Tactile Sensing for Dexterous Robotic Hands

    Science.gov (United States)

    Martin, Toby B.

    2000-01-01

    Robotic systems will be used as precursors to human exploration to explore the solar system and expand our knowledge of planetary surfaces. Robotic systems will also be used to build habitats and infrastructure required for human presence in space and on other planetary surfaces . Such robots will require a high level of intelligence and automation. The ability to flexibly manipulate their physical environment is one characteristic that makes humans so effective at these building and exploring tasks . The development of a generic autonomous grasp ing capability will greatly enhance the efficiency and ability of robotics to build, maintain and explore. To tele-operate a robot over vast distances of space, with long communication delays, has proven to be troublesome. Having an autonomous grasping capability that can react in real-time to disturbances or adapt to generic objects, without operator intervention, will reduce the probability of mishandled tools and samples and reduce the number of re-grasp attempts due to dropping. One aspect that separates humans from machines is a rich sensor set. We have the ability to feel objects and respond to forces and textures. The development of touch or tactile sensors for use on a robot that emulates human skin and nerves is the basis for this discussion. We will discuss the use of new piezo-electric and resistive materials that have emerged on the market with the intention of developing a touch sensitive sensor. With viable tacti le sensors we will be one step closer to developing an autonomous grasping capability.

  8. Intelligent robotics can boost America's economic growth

    Science.gov (United States)

    Erickson, Jon D.

    1994-01-01

    A case is made for strategic investment in intelligent robotics as a part of the solution to the problem of improved global competitiveness for U.S. manufacturing, a critical industrial sector. Similar cases are made for strategic investments in intelligent robotics for field applications, construction, and service industries such as health care. The scope of the country's problems and needs is beyond the capability of the private sector alone, government alone, or academia alone to solve independently of the others. National cooperative programs in intelligent robotics are needed with the private sector supplying leadership direction and aerospace and non-aerospace industries conducting the development. Some necessary elements of such programs are outlined. The National Aeronautics and Space Administration (NASA) and the Lyndon B. Johnson Space Center (JSC) can be key players in such national cooperative programs in intelligent robotics for several reasons: (1) human space exploration missions require supervised intelligent robotics as enabling tools and, hence must develop supervised intelligent robotic systems; (2) intelligent robotic technology is being developed for space applications at JSC (but has a strong crosscutting or generic flavor) that is advancing the state of the art and is producing both skilled personnel and adaptable developmental infrastructure such as integrated testbeds; and (3) a NASA JSC Technology Investment Program in Robotics has been proposed based on commercial partnerships and collaborations for precompetitive, dual-use developments.

  9. Hybrid System Design for the Coordination of Multi-Modal Aerial Robots

    DEFF Research Database (Denmark)

    Koo, T. John; Quottrup, Michael Melholt; Clifton, C. A.

    2006-01-01

    In this paper we provide a framework for the coordination of a network of heterogeneous aerial robots by using temporal logic to formulate mission speci¯cations for the network of robots. The full dynamics of the aerial robots are considered, and multiple controllers that can cope with various......¯ed. These robots are coordinated by communicating through a single occupancy table. By using the model checker Uppaal, a discrete plan that satis¯es a given temporal logic formula, speci¯ed in CTL, is generated for the robot to execute. Finally, the discrete plan for each robot is re¯ned into a discrete control...... constraints are designed to ensure that desired reachability properties can be preserved by properly switching among the controllers. A timed automaton is then constructed for preserving the temporal properties of a given robot. For di®erent types of robots, unique temporal properties can be speci...

  10. Hazardous-environment problems: Mobile robots to the rescue

    International Nuclear Information System (INIS)

    Meieran, H.B.

    1992-01-01

    This paper presents a rationale for employing a spectrum of similar mobile robots to conduct appropriate common missions for the following five hazardous-environment issues: (1) dismantlement of nuclear weapons; (2) environmental restoration and waste management of US Department of Energy weapons sites; (3) operations in nuclear power plants and other facilities; (4) waste chemical site remediation and cleanup activities; and (5) assistance in handling toxic chemical/radiation accidents. Mobile robots have been developed for several hazardous-environment industries, the most visible ones being construction/excavation/tunneling, explosive ordnance/bomb disposal (EOD), fire-fighting, military operations, mining, nuclear, and security. A summary of the range of functions that mobile robots are currently capable of conducting is presented

  11. Planetary rovers robotic exploration of the solar system

    CERN Document Server

    Ellery, Alex

    2016-01-01

    The increasing adoption of terrain mobility – planetary rovers – for the investigation of planetary surfaces emphasises their central importance in space exploration. This imposes a completely new set of technologies and methodologies to the design of such spacecraft – and planetary rovers are indeed, first and foremost, spacecraft. This introduces vehicle engineering, mechatronics, robotics, artificial intelligence and associated technologies to the spacecraft engineer’s repertoire of skills. Planetary Rovers is the only book that comprehensively covers these aspects of planetary rover engineering and more. The book: • discusses relevant planetary environments to rover missions, stressing the Moon and Mars; • includes a brief survey of previous rover missions; • covers rover mobility, traction and control systems; • stresses the importance of robotic vision in rovers for both navigation and science; • comprehensively covers autonomous navigation, path planning and multi-rover formations on ...

  12. Robotics and automation in Mars exploration

    Science.gov (United States)

    Bourke, Roger D.; Sturms, Francis M., Jr.; Golombek, Matthew P.; Gamber, R. T.

    1992-01-01

    A new approach to the exploration of Mars is examined which relies on the use of smaller and simpler vehicles. The new strategy involves the following principles: limiting science objectives to retrieval of rock samples from several different but geologically homogeneous areas; making use of emerging microspacecraft technologies to significantly reduce the mass of hardware elements; simplifying missions to the absolutely essential elements; and managing risk through the employment of many identical independent pieces some of which may fail. The emerging technologies and their applications to robotic Mars missions are discussed.

  13. Mars MetNet Mission Status

    Science.gov (United States)

    Harri, A.-M.; Aleksashkin, S.; Arruego, I.; Schmidt, W.; Genzer, M.; Vazquez, L.; Haukka, H.; Palin, M.; Nikkanen, T.

    2015-10-01

    New kind of planetary exploration mission for Mars is under development in collaboration between the Finnish Meteorological Institute (FMI), Lavochkin Association (LA), Space Research Institute (IKI) and Institutio Nacional de Tecnica Aerospacial (INTA). The Mars MetNet mission is based on a new semihard landing vehicle called MetNet Lander (MNL). The scientific payload of the Mars MetNet Precursor [1] mission is divided into three categories: Atmospheric instruments, Optical devices and Composition and structure devices. Each of the payload instruments will provide significant insights in to the Martian atmospheric behavior. The key technologies of the MetNet Lander have been qualified and the electrical qualification model (EQM) of the payload bay has been built and successfully tested.

  14. Magnetic resonant wireless power transfer for propulsion of implantable micro-robot

    Science.gov (United States)

    Kim, D.; Kim, M.; Yoo, J.; Park, H.-H.; Ahn, S.

    2015-05-01

    Recently, various types of mobile micro-robots have been proposed for medical and industrial applications. Especially in medical applications, a motor system for propulsion cannot easily be used in a micro-robot due to their small size. Therefore, micro-robots are usually actuated by controlling the magnitude and direction of an external magnetic field. However, for micro-robots, these methods in general are only applicable for moving and drilling operations, but not for the undertaking of various missions. In this paper, we propose a new micro-robot concept, which uses wireless power transfer to deliver the propulsion force and electric power simultaneously. The mechanism of Lorentz force generation and the coil design methodologies are explained, and validation of the proposed propulsion system for a micro-robot is discussed thorough a simulation and with actual measurements with up-scaled test vehicles.

  15. Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot

    Directory of Open Access Journals (Sweden)

    Max Schwarz

    2016-10-01

    Full Text Available Planetary exploration scenarios illustrate the need for autonomous robots that are capable to operate in unknown environments without direct human interaction. At the DARPA Robotics Challenge, we demonstrated that our Centaur-like mobile manipulation robot Momaro can solve complex tasks when teleoperated. Motivated by the DLR SpaceBot Cup 2015, where robots should explore a Mars-like environment, find and transport objects, take a soil sample, and perform assembly tasks, we developed autonomous capabilities for Momaro. Our robot perceives and maps previously unknown, uneven terrain using a 3D laser scanner. Based on the generated height map, we assess drivability, plan navigation paths, and execute them using the omnidirectional drive. Using its four legs, the robot adapts to the slope of the terrain. Momaro perceives objects with cameras, estimates their pose, and manipulates them with its two arms autonomously. For specifying missions, monitoring mission progress, on-the-fly reconfiguration, and teleoperation, we developed a ground station with suitable operator interfaces. To handle network communication interruptions and latencies between robot and ground station, we implemented a robust network layer for the ROS middleware. With the developed system, our team NimbRo Explorer solved all tasks of the DLR SpaceBot Camp 2015. We also discuss the lessons learned from this demonstration.

  16. Human-Robot Site Survey and Sampling for Space Exploration

    Science.gov (United States)

    Fong, Terrence; Bualat, Maria; Edwards, Laurence; Flueckiger, Lorenzo; Kunz, Clayton; Lee, Susan Y.; Park, Eric; To, Vinh; Utz, Hans; Ackner, Nir

    2006-01-01

    NASA is planning to send humans and robots back to the Moon before 2020. In order for extended missions to be productive, high quality maps of lunar terrain and resources are required. Although orbital images can provide much information, many features (local topography, resources, etc) will have to be characterized directly on the surface. To address this need, we are developing a system to perform site survey and sampling. The system includes multiple robots and humans operating in a variety of team configurations, coordinated via peer-to-peer human-robot interaction. In this paper, we present our system design and describe planned field tests.

  17. Design on a Composite Mobile System for Exploration Robot

    OpenAIRE

    Shang, Weiyan; Yang, Canjun; Liu, Yunping; Wang, Junming

    2016-01-01

    In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS) has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been st...

  18. Analyzing Cyber-Physical Threats on Robotic Platforms †

    Science.gov (United States)

    2018-01-01

    Robots are increasingly involved in our daily lives. Fundamental to robots are the communication link (or stream) and the applications that connect the robots to their clients or users. Such communication link and applications are usually supported through client/server network connection. This networking system is amenable of being attacked and vulnerable to the security threats. Ensuring security and privacy for robotic platforms is thus critical, as failures and attacks could have devastating consequences. In this paper, we examine several cyber-physical security threats that are unique to the robotic platforms; specifically the communication link and the applications. Threats target integrity, availability and confidential security requirements of the robotic platforms, which use MobileEyes/arnlServer client/server applications. A robot attack tool (RAT) was developed to perform specific security attacks. An impact-oriented approach was adopted to analyze the assessment results of the attacks. Tests and experiments of attacks were conducted in simulation environment and physically on the robot. The simulation environment was based on MobileSim; a software tool for simulating, debugging and experimenting on MobileRobots/ActivMedia platforms and their environments. The robot platform PeopleBotTM was used for physical experiments. The analysis and testing results show that certain attacks were successful at breaching the robot security. Integrity attacks modified commands and manipulated the robot behavior. Availability attacks were able to cause Denial-of-Service (DoS) and the robot was not responsive to MobileEyes commands. Integrity and availability attacks caused sensitive information on the robot to be hijacked. To mitigate security threats, we provide possible mitigation techniques and suggestions to raise awareness of threats on the robotic platforms, especially when the robots are involved in critical missions or applications. PMID:29883403

  19. Multi-Robot Interfaces and Operator Situational Awareness: Study of the Impact of Immersion and Prediction.

    Science.gov (United States)

    Roldán, Juan Jesús; Peña-Tapia, Elena; Martín-Barrio, Andrés; Olivares-Méndez, Miguel A; Del Cerro, Jaime; Barrientos, Antonio

    2017-07-27

    Multi-robot missions are a challenge for operators in terms of workload and situational awareness. These operators have to receive data from the robots, extract information, understand the situation properly, make decisions, generate the adequate commands, and send them to the robots. The consequences of excessive workload and lack of awareness can vary from inefficiencies to accidents. This work focuses on the study of future operator interfaces of multi-robot systems, taking into account relevant issues such as multimodal interactions, immersive devices, predictive capabilities and adaptive displays. Specifically, four interfaces have been designed and developed: a conventional, a predictive conventional, a virtual reality and a predictive virtual reality interface. The four interfaces have been validated by the performance of twenty-four operators that supervised eight multi-robot missions of fire surveillance and extinguishing. The results of the workload and situational awareness tests show that virtual reality improves the situational awareness without increasing the workload of operators, whereas the effects of predictive components are not significant and depend on their implementation.

  20. Multi-Robot Interfaces and Operator Situational Awareness: Study of the Impact of Immersion and Prediction

    Science.gov (United States)

    Peña-Tapia, Elena; Martín-Barrio, Andrés; Olivares-Méndez, Miguel A.

    2017-01-01

    Multi-robot missions are a challenge for operators in terms of workload and situational awareness. These operators have to receive data from the robots, extract information, understand the situation properly, make decisions, generate the adequate commands, and send them to the robots. The consequences of excessive workload and lack of awareness can vary from inefficiencies to accidents. This work focuses on the study of future operator interfaces of multi-robot systems, taking into account relevant issues such as multimodal interactions, immersive devices, predictive capabilities and adaptive displays. Specifically, four interfaces have been designed and developed: a conventional, a predictive conventional, a virtual reality and a predictive virtual reality interface. The four interfaces have been validated by the performance of twenty-four operators that supervised eight multi-robot missions of fire surveillance and extinguishing. The results of the workload and situational awareness tests show that virtual reality improves the situational awareness without increasing the workload of operators, whereas the effects of predictive components are not significant and depend on their implementation. PMID:28749407

  1. Multi-Robot Interfaces and Operator Situational Awareness: Study of the Impact of Immersion and Prediction

    Directory of Open Access Journals (Sweden)

    Juan Jesús Roldán

    2017-07-01

    Full Text Available Multi-robot missions are a challenge for operators in terms of workload and situational awareness. These operators have to receive data from the robots, extract information, understand the situation properly, make decisions, generate the adequate commands, and send them to the robots. The consequences of excessive workload and lack of awareness can vary from inefficiencies to accidents. This work focuses on the study of future operator interfaces of multi-robot systems, taking into account relevant issues such as multimodal interactions, immersive devices, predictive capabilities and adaptive displays. Specifically, four interfaces have been designed and developed: a conventional, a predictive conventional, a virtual reality and a predictive virtual reality interface. The four interfaces have been validated by the performance of twenty-four operators that supervised eight multi-robot missions of fire surveillance and extinguishing. The results of the workload and situational awareness tests show that virtual reality improves the situational awareness without increasing the workload of operators, whereas the effects of predictive components are not significant and depend on their implementation.

  2. Toward semi-autonomous control of mobile robots for constrained environments

    International Nuclear Information System (INIS)

    Mercier, O.; Cara, O.

    1991-01-01

    Drawing from long-time experience in nuclear maintenance robotics, FRAMATOME leads with several partners an important effort with the goal of developing the decision and operator assistance capabilities of mobile robots. Future robots shall be better adapted (in size and configuration) to the operational requirements of nuclear plants work than current demonstrators. Due regards shall be paid to safety aspects and qualification procedure shall be specified soon. Also, dosimetry gains (e.g. as evaluated by DOSIANA) shall be evaluated to establish further the advantages of robotic solutions. Current achievements and plans for the next two years are expected to provide the necessary know-how for semi-autonomous control of various mobile robots in actual missions in nuclear plant environment. These advances in many closely connected disciplines and technologies should put FRAMATOME in a leader position as systems integrator or as developer for future markets in autonomous mobile robotics, not only in the nuclear field but in other domains as well. (author)

  3. Multisensor Data Fusion and Integration for Mobile Robots: A Review

    Directory of Open Access Journals (Sweden)

    KS Nagla

    2013-09-01

    Full Text Available One of the most important and useful feature of autonomous mobile robots is their ability to adopt themselves to operate in unstructured environment. Today robots are performing autonomously in industrial floor, office environments, as well as in crowded public places where the robots need to maintain their localization and mapping parameters.The basic requirement of an intelligent mobile robot is to develop and maintain localization and mapping parameters to complete the complex missions. In such situations, several difficulties arise in due to the inaccuracies and uncertainties in sensor measurements. Various techniques are there to handle such noises where the multisensor data fusion is not the exceptional one.From the last two decades, multisensor data fusions in mobile robots become a dominant paradigm  due to its potential advantages like reduction in uncertainty, increase in accuracy and reliability and reduction of cost.This paper presents the reviews of autonomous mobile robots and role of multisenosr data fusion.

  4. Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

    Science.gov (United States)

    Erickson, Jon D. (Editor)

    1994-01-01

    The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications.

  5. Evaluation of robot deployment in live missions with the military, police, and fire brigade

    Science.gov (United States)

    Lundberg, Carl; Reinhold, Roger; Christensen, Henrik I.

    2007-04-01

    Robots have been successfully deployed within bomb squads all over the world for decades. Recent technical improvements are increasing the prospects to achieve the same benefits also for other high risk professions. As the number of applications increase issues of collaboration and coordination come into question. Can several groups deploy the same type of robot? Can they deploy the same methods? Can resources be shared? What characterizes the different applications? What are the similarities and differences between different groups? This paper reports on a study of four areas in which robots are already, or are about to be deployed: Military Operations in Urban Terrain (MOUT), Military and Police Explosive Ordnance Disposal (EOD), Military Chemical Biological Radiological Nuclear contamination control (CBRN), and Fire Fighting (FF). The aim of the study has been to achieve a general overview across the four areas to survey and compare their similarities and differences. It has also been investigated to what extent it is possible for the them to deploy the same type of robot. It was found that the groups share many requirements, but, that they also have a few individual hard constrains. A comparison across the groups showed the demands of man-portability, ability to access narrow premises, and ability to handle objects of different weight to be decisive; two or three different sizes of robots will be needed to satisfy the need of the four areas.

  6. The Phoenix Mars Lander Robotic Arm

    Science.gov (United States)

    Bonitz, Robert; Shiraishi, Lori; Robinson, Matthew; Carsten, Joseph; Volpe, Richard; Trebi-Ollennu, Ashitey; Arvidson, Raymond E.; Chu, P. C.; Wilson, J. J.; Davis, K. R.

    2009-01-01

    The Phoenix Mars Lander Robotic Arm (RA) has operated for over 150 sols since the Lander touched down on the north polar region of Mars on May 25, 2008. During its mission it has dug numerous trenches in the Martian regolith, acquired samples of Martian dry and icy soil, and delivered them to the Thermal Evolved Gas Analyzer (TEGA) and the Microscopy, Electrochemistry, and Conductivity Analyzer (MECA). The RA inserted the Thermal and Electrical Conductivity Probe (TECP) into the Martian regolith and positioned it at various heights above the surface for relative humidity measurements. The RA was used to point the Robotic Arm Camera to take images of the surface, trenches, samples within the scoop, and other objects of scientific interest within its workspace. Data from the RA sensors during trenching, scraping, and trench cave-in experiments have been used to infer mechanical properties of the Martian soil. This paper describes the design and operations of the RA as a critical component of the Phoenix Mars Lander necessary to achieve the scientific goals of the mission.

  7. Robotics Algorithms Provide Nutritional Guidelines

    Science.gov (United States)

    2009-01-01

    On July 5, 1997, a small robot emerged from its lander like an insect from an egg, crawling out onto the rocky surface of Mars. About the size of a child s wagon, NASA s Sojourner robot was the first successful rover mission to the Red Planet. For 83 sols (Martian days, typically about 40 minutes longer than Earth days), Sojourner - largely remote controlled by NASA operators on Earth - transmitted photos and data unlike any previously collected. Sojourner was perhaps the crowning achievement of the NASA Space Telerobotics Program, an Agency initiative designed to push the limits of robotics in space. Telerobotics - devices that merge the autonomy of robotics with the direct human control of teleoperators - was already a part of NASA s efforts; probes like the Viking landers that preceded Sojourner on Mars, for example, were telerobotic applications. The Space Telerobotics Program, a collaboration between Ames Research Center, Johnson Space Center, Jet Propulsion Laboratory (JPL), and multiple universities, focused on developing remote-controlled robotics for three main purposes: on-orbit assembly and servicing, science payload tending, and planetary surface robotics. The overarching goal was to create robots that could be guided to build structures in space, monitor scientific experiments, and, like Sojourner, scout distant planets in advance of human explorers. While telerobotics remains a significant aspect of NASA s efforts, as evidenced by the currently operating Spirit and Opportunity Mars rovers, the Hubble Space Telescope, and many others - the Space Telerobotics Program was dissolved and redistributed within the Agency the same year as Sojourner s success. The program produced a host of remarkable technologies and surprising inspirations, including one that is changing the way people eat

  8. Extending Mobile Security Robots to Force Protection Missions

    National Research Council Canada - National Science Library

    Carroll, Daniel

    2002-01-01

    ...) sites for physical security and automated inventory missions MDARS was initiated in 1989 to improve the effectiveness of a shrinking guard force, but was quickly expanded to address the intensive...

  9. Development of a Novel Locomotion Algorithm for Snake Robot

    International Nuclear Information System (INIS)

    Khan, Raisuddin; Billah, Md Masum; Watanabe, Mitsuru; Shafie, A A

    2013-01-01

    A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation

  10. Drilling Load Model of an Inchworm Boring Robot for Lunar Subsurface Exploration

    Directory of Open Access Journals (Sweden)

    Weiwei Zhang

    2017-01-01

    Full Text Available In the past decade, the wireline robot has received increasing attention due to the advantages of light weight, low cost, and flexibility compared to the traditional drilling instruments in space missions. For the lunar subsurface in situ exploration mission, we proposed a type of wireline robot named IBR (Inchworm Boring Robot drawing inspiration from the inchworm. Two auger tools are utilized to remove chips for IBR, which directly interacted with the lunar regolith in the drilling process. Therefore, for obtaining the tools drilling characteristics, the chips removal principle of IBR is analyzed and its drilling load model is further established based on the soil mechanical theory in this paper. And then the proposed theoretical drilling load model is experimentally validated. In addition, according to the theoretical drilling load model, this paper discusses the effect of the drilling parameters on the tools drilling moments and power consumption. These results imply a possible energy-efficient control strategy for IBR.

  11. UNIVERSITY RESEARCH PROGRAM IN ROBOTICS, Final Technical Annual Report, Project Period: 9/1/04 - 8/31/05

    Energy Technology Data Exchange (ETDEWEB)

    James S. Tulenko; Carl D. Crane III

    2006-02-15

    The University Research Program in Robotics (URPR) Implementation Plan is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities of robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

  12. The Asteroid Redirect Mission (ARM)

    Science.gov (United States)

    Abell, Paul; Gates, Michele; Johnson, Lindley; Chodas, Paul; Mazanek, Dan; Reeves, David; Ticker, Ronald

    2016-07-01

    To achieve its long-term goal of sending humans to Mars, the National Aeronautics and Space Administration (NASA) plans to proceed in a series of incrementally more complex human spaceflight missions. Today, human flight experience extends only to Low-Earth Orbit (LEO), and should problems arise during a mission, the crew can return to Earth in a matter of minutes to hours. The next logical step for human spaceflight is to gain flight experience in the vicinity of the Moon. These cis-lunar missions provide a "proving ground" for the testing of systems and operations while still accommodating an emergency return path to the Earth that would last only several days. Cis-lunar mission experience will be essential for more ambitious human missions beyond the Earth-Moon system, which will require weeks, months, or even years of transit time. In addition, NASA has been given a Grand Challenge to find all asteroid threats to human populations and know what to do about them. Obtaining knowledge of asteroid physical properties combined with performing technology demonstrations for planetary defense provide much needed information to address the issue of future asteroid impacts on Earth. Hence the combined objectives of human exploration and planetary defense give a rationale for the Asteroid Re-direct Mission (ARM). Mission Description: NASA's ARM consists of two mission segments: 1) the Asteroid Redirect Robotic Mission (ARRM), the first robotic mission to visit a large (greater than ~100 m diameter) near-Earth asteroid (NEA), collect a multi-ton boulder from its surface along with regolith samples, demonstrate a planetary defense technique, and return the asteroidal material to a stable orbit around the Moon; and 2) the Asteroid Redirect Crewed Mission (ARCM), in which astronauts will take the Orion capsule to rendezvous and dock with the robotic vehicle, conduct multiple extravehicular activities to explore the boulder, and return to Earth with samples. NASA's proposed

  13. Mission Activity Planning for Humans and Robots on the Moon

    Science.gov (United States)

    Weisbin, C.; Shelton, K.; Lincoln, W.; Elfes, A.; Smith, J.H.; Mrozinski, J.; Hua, H.; Adumitroaie, V.; Silberg, R.

    2008-01-01

    A series of studies is conducted to develop a systematic approach to optimizing, both in terms of the distribution and scheduling of tasks, scenarios in which astronauts and robots accomplish a group of activities on the Moon, given an objective function (OF) and specific resources and constraints. An automated planning tool is developed as a key element of this optimization system.

  14. Robotic cleaning of a spent fuel pool

    International Nuclear Information System (INIS)

    Roman, H.T.; Marian, F.A.; Silverman, E.B.; Barkley, V.P.

    1987-01-01

    Spent fuel pools at nuclear power plants are not cleaned routinely, other than by purifying the water that they contain. Yet, debris can collect on the bottom of a pool and should be removed prior to fuel transfer. At Public Service Electric and Gas Company's Hope Creek Nuclear Power Plant, a submersible mobile robot - ARD Corporation's SCAVENGER - was used to clean the bottom of the spent fuel pool prior to initial fuel loading. The robotic device was operated remotely (as opposed to autonomously) with a simple forward/reverse control, and it cleaned 70-80% of the pool bottom. This paper reports that a simple cost-benefit analysis shows that the robotic device would be less expensive, on a per mission basis, than other cleaning alternatives, especially if it were used for other similar cleaning operations throughout the plant

  15. The Sample Handling System for the Mars Icebreaker Life Mission: from Dirt to Data

    Science.gov (United States)

    Dave, Arwen; Thompson, Sarah J.; McKay, Christopher P.; Stoker, Carol R.; Zacny, Kris; Paulsen, Gale; Mellerowicz, Bolek; Glass, Brian J.; Wilson, David; Bonaccorsi, Rosalba; hide

    2013-01-01

    The Mars icebreaker life mission will search for subsurface life on mars. It consists of three payload elements: a drill to retrieve soil samples from approx. 1 meter below the surface, a robotic sample handling system to deliver the sample from the drill to the instruments, and the instruments themselves. This paper will discuss the robotic sample handling system.

  16. Liquid Robotics Wave Glider, Honey Badger (G3), 2015, Phytoflash

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Liquid Robotics Wave Glider, Honey Badger (G3), 2015, Phytoflash. The MAGI mission is to use the Wave Glider to sample the late summer chlorophyll bloom that...

  17. Historical Trends of Participation of Women Scientists in Robotic Spacecraft Mission Science Teams: Effect of Participating Scientist Programs

    Science.gov (United States)

    Rathbun, Julie A.; Castillo-Rogez, Julie; Diniega, Serina; Hurley, Dana; New, Michael; Pappalardo, Robert T.; Prockter, Louise; Sayanagi, Kunio M.; Schug, Joanna; Turtle, Elizabeth P.; Vasavada, Ashwin R.

    2016-10-01

    Many planetary scientists consider involvement in a robotic spacecraft mission the highlight of their career. We have searched for names of science team members and determined the percentage of women on each team. We have limited the lists to members working at US institutions at the time of selection. We also determined the year each team was selected. The gender of each team member was limited to male and female and based on gender expression. In some cases one of the authors knew the team member and what pronouns they use. In other cases, we based our determinations on the team member's name or photo (obtained via a google search, including institution). Our initial analysis considered 22 NASA planetary science missions over a period of 41 years and only considered NASA-selected PI and Co-Is and not participating scientists, postdocs, or graduate students. We found that there has been a dramatic increase in participation of women on spacecraft science teams since 1974, from 0-2% in the 1970s - 1980s to an average of 14% 2000-present. This, however, is still lower than the recent percentage of women in planetary science, which 3 different surveys found to be ~25%. Here we will present our latest results, which include consideration of participating scientists. As in the case of PIs and Co-Is, we consider only participating scientists working at US institutions at the time of their selection.

  18. Lunar surface exploration using mobile robots

    Science.gov (United States)

    Nishida, Shin-Ichiro; Wakabayashi, Sachiko

    2012-06-01

    A lunar exploration architecture study is being carried out by space agencies. JAXA is carrying out research and development of a mobile robot (rover) to be deployed on the lunar surface for exploration and outpost construction. The main target areas for outpost construction and lunar exploration are mountainous zones. The moon's surface is covered by regolith. Achieving a steady traversal of such irregular terrain constitutes the major technical problem for rovers. A newly developed lightweight crawler mechanism can effectively traverse such irregular terrain because of its low contact force with the ground. This fact was determined on the basis of the mass and expected payload of the rover. This paper describes a plan for Japanese lunar surface exploration using mobile robots, and presents the results of testing and analysis needed in their development. This paper also gives an overview of the lunar exploration robot to be deployed in the SELENE follow-on mission, and the composition of its mobility, navigation, and control systems.

  19. Automated identification and quantification of glycerophospholipid molecular species by multiple precursor ion scanning

    DEFF Research Database (Denmark)

    Ejsing, Christer S.; Duchoslav, Eva; Sampaio, Julio

    2006-01-01

    We report a method for the identification and quantification of glycerophospholipid molecular species that is based on the simultaneous automated acquisition and processing of 41 precursor ion spectra, specific for acyl anions of common fatty acids moieties and several lipid class-specific fragment...... of glycerophospholipids. The automated analysis of total lipid extracts was powered by a robotic nanoflow ion source and produced currently the most detailed description of the glycerophospholipidome....

  20. Standards for space automation and robotics

    Science.gov (United States)

    Kader, Jac B.; Loftin, R. B.

    1992-01-01

    The AIAA's Committee on Standards for Space Automation and Robotics (COS/SAR) is charged with the identification of key functions and critical technologies applicable to multiple missions that reflect fundamental consideration of environmental factors. COS/SAR's standards/practices/guidelines implementation methods will be based on reliability, performance, and operations, as well as economic viability and life-cycle costs, simplicity, and modularity.

  1. Human-Robot Collaboration: A Literature Review and Augmented Reality Approach in Design

    Directory of Open Access Journals (Sweden)

    Scott A. Green

    2008-03-01

    Full Text Available NASA's vision for space exploration stresses the cultivation of human-robotic systems. Similar systems are also envisaged for a variety of hazardous earthbound applications such as urban search and rescue. Recent research has pointed out that to reduce human workload, costs, fatigue driven error and risk, intelligent robotic systems will need to be a significant part of mission design. However, little attention has been paid to joint human-robot teams. Making human-robot collaboration natural and efficient is crucial. In particular, grounding, situational awareness, a common frame of reference and spatial referencing are vital in effective communication and collaboration. Augmented Reality (AR, the overlaying of computer graphics onto the real worldview, can provide the necessary means for a human-robotic system to fulfill these requirements for effective collaboration. This article reviews the field of human-robot interaction and augmented reality, investigates the potential avenues for creating natural human-robot collaboration through spatial dialogue utilizing AR and proposes a holistic architectural design for human-robot collaboration.

  2. Human-Robot Collaboration: A Literature Review and Augmented Reality Approach in Design

    Directory of Open Access Journals (Sweden)

    Scott A. Green

    2008-11-01

    Full Text Available NASA?s vision for space exploration stresses the cultivation of human-robotic systems. Similar systems are also envisaged for a variety of hazardous earthbound applications such as urban search and rescue. Recent research has pointed out that to reduce human workload, costs, fatigue driven error and risk, intelligent robotic systems will need to be a significant part of mission design. However, little attention has been paid to joint human-robot teams. Making human-robot collaboration natural and efficient is crucial. In particular, grounding, situational awareness, a common frame of reference and spatial referencing are vital in effective communication and collaboration. Augmented Reality (AR, the overlaying of computer graphics onto the real worldview, can provide the necessary means for a human-robotic system to fulfill these requirements for effective collaboration. This article reviews the field of human-robot interaction and augmented reality, investigates the potential avenues for creating natural human-robot collaboration through spatial dialogue utilizing AR and proposes a holistic architectural design for human-robot collaboration.

  3. Liquid Robotics Wave Glider, Honey Badger (G3), 2015, Weather

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Liquid Robotics Wave Glider, Honey Badger (G3), 2015, Weather. The MAGI mission is to use the Wave Glider to sample the late summer chlorophyll bloom that develops...

  4. Liquid Robotics Wave Glider, Honey Badger (G3), 2015, Telemetry

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Liquid Robotics Wave Glider, Honey Badger (G3), 2015, Telemetry. The MAGI mission is to use the Wave Glider to sample the late summer chlorophyll bloom that develops...

  5. The NASA automation and robotics technology program

    Science.gov (United States)

    Holcomb, Lee B.; Montemerlo, Melvin D.

    1986-01-01

    The development and objectives of the NASA automation and robotics technology program are reviewed. The objectives of the program are to utilize AI and robotics to increase the probability of mission success; decrease the cost of ground control; and increase the capability and flexibility of space operations. There is a need for real-time computational capability; an effective man-machine interface; and techniques to validate automated systems. Current programs in the areas of sensing and perception, task planning and reasoning, control execution, operator interface, and system architecture and integration are described. Programs aimed at demonstrating the capabilities of telerobotics and system autonomy are discussed.

  6. Mars Atmosphere Resource Verification INsitu (MARVIN) - In Situ Resource Demonstration for the Mars 2020 Mission

    Science.gov (United States)

    Sanders, Gerald B.; Araghi, Koorosh; Ess, Kim M.; Valencia, Lisa M.; Muscatello, Anthony C.; Calle, Carlos I.; Clark, Larry; Iacomini, Christie

    2014-01-01

    The making of oxygen from resources in the Martian atmosphere, known as In Situ Resource Utilization (ISRU), has the potential to provide substantial benefits for future robotic and human exploration. In particular, the ability to produce oxygen on Mars for use in propulsion, life support, and power systems can provide significant mission benefits such as a reducing launch mass, lander size, and mission and crew risk. To advance ISRU for possible incorporation into future human missions to Mars, NASA proposed including an ISRU instrument on the Mars 2020 rover mission, through an announcement of opportunity (AO). The purpose of the the Mars Atmosphere Resource Verification INsitu or (MARVIN) instrument is to provide the first demonstration on Mars of oxygen production from acquired and stored Martian atmospheric carbon dioxide, as well as take measurements of atmospheric pressure and temperature, and of suspended dust particle sizes and amounts entrained in collected atmosphere gases at different times of the Mars day and year. The hardware performance and environmental data obtained will be critical for future ISRU systems that will reduce the mass of propellants and other consumables launched from Earth for robotic and human exploration, for better understanding of Mars dust and mitigation techniques to improve crew safety, and to help further define Mars global circulation models and better understand the regional atmospheric dynamics on Mars. The technologies selected for MARVIN are also scalable for future robotic sample return and human missions to Mars using ISRU.

  7. Human and Robotic Space Mission Use Cases for High-Performance Spaceflight Computing

    Science.gov (United States)

    Some, Raphael; Doyle, Richard; Bergman, Larry; Whitaker, William; Powell, Wesley; Johnson, Michael; Goforth, Montgomery; Lowry, Michael

    2013-01-01

    Spaceflight computing is a key resource in NASA space missions and a core determining factor of spacecraft capability, with ripple effects throughout the spacecraft, end-to-end system, and mission. Onboard computing can be aptly viewed as a "technology multiplier" in that advances provide direct dramatic improvements in flight functions and capabilities across the NASA mission classes, and enable new flight capabilities and mission scenarios, increasing science and exploration return. Space-qualified computing technology, however, has not advanced significantly in well over ten years and the current state of the practice fails to meet the near- to mid-term needs of NASA missions. Recognizing this gap, the NASA Game Changing Development Program (GCDP), under the auspices of the NASA Space Technology Mission Directorate, commissioned a study on space-based computing needs, looking out 15-20 years. The study resulted in a recommendation to pursue high-performance spaceflight computing (HPSC) for next-generation missions, and a decision to partner with the Air Force Research Lab (AFRL) in this development.

  8. Multiple NEO Rendezvous Using Solar Sails

    Science.gov (United States)

    Johnson, Les; Alexander, Leslie; Fabisinski, Leo; Heaton, Andy; Miernik, Janie; Stough, Rob; Wright, Roosevelt; Young, Roy

    2012-01-01

    Mission concept is to assess the feasibility of using solar sail propulsion to enable a robotic precursor that would survey multiple Near Earth Objects (NEOs) for potential future human visits. Single spacecraft will rendezvous with and image 3 NEOs within 6 years of launch

  9. Solar-based navigation for robotic explorers

    Science.gov (United States)

    Shillcutt, Kimberly Jo

    2000-12-01

    This thesis introduces the application of solar position and shadowing information to robotic exploration. Power is a critical resource for robots with remote, long-term missions, so this research focuses on the power generation capabilities of robotic explorers during navigational tasks, in addition to power consumption. Solar power is primarily considered, with the possibility of wind power also contemplated. Information about the environment, including the solar ephemeris, terrain features, time of day, and surface location, is incorporated into a planning structure, allowing robots to accurately predict shadowing and thus potential costs and gains during navigational tasks. By evaluating its potential to generate and expend power, a robot can extend its lifetime and accomplishments. The primary tasks studied are coverage patterns, with a variety of plans developed for this research. The use of sun, terrain and temporal information also enables new capabilities of identifying and following sun-synchronous and sun-seeking paths. Digital elevation maps are combined with an ephemeris algorithm to calculate the altitude and azimuth of the sun from surface locations, and to identify and map shadows. Solar navigation path simulators use this information to perform searches through two-dimensional space, while considering temporal changes. Step by step simulations of coverage patterns also incorporate time in addition to location. Evaluations of solar and wind power generation, power consumption, area coverage, area overlap, and time are generated for sets of coverage patterns, with on-board environmental information linked to the simulations. This research is implemented on the Nomad robot for the Robotic Antarctic Meteorite Search. Simulators have been developed for coverage pattern tests, as well as for sun-synchronous and sun-seeking path searches. Results of field work and simulations are reported and analyzed, with demonstrated improvements in efficiency

  10. Autonomous flying robots

    CERN Document Server

    Nonami, Kenzo; Suzuki, Satoshi; Wang, Wei; Nakazawa, Daisuke

    2010-01-01

    Worldwide demand for robotic aircraft such as unmanned aerial vehicles (UAVs) and micro aerial vehicles (MAVs) is surging. Not only military but especially civil applications are being developed at a rapid pace. Unmanned vehicles offer major advantages when used for aerial surveillance, reconnaissance, and inspection in complex and inhospitable environments. UAVs are better suited for dirty or dangerous missions than manned aircraft and are more cost-effective. UAVs can operate in contaminated environments, for example, and at altitudes both lower and higher than those typically traversed by m

  11. Liquid Robotics Wave Glider, Honey Badger (G3), 2015, MOSE

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Liquid Robotics Wave Glider, Honey Badger (G3), 2015, MOSE. The MAGI mission is to use the Wave Glider to sample the late summer chlorophyll bloom that develops near...

  12. Liquid Robotics Wave Glider, Honey Badger (G3), 2015, AIS

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Liquid Robotics Wave Glider, Honey Badger (G3), 2015, AIS. The MAGI mission is to use the Wave Glider to sample the late summer chlorophyll bloom that develops near...

  13. Liquid Robotics Wave Glider, Honey Badger (G3), 2015, CTD

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Liquid Robotics Wave Glider, Honey Badger (G3), 2015, CTD. The MAGI mission is to use the Wave Glider to sample the late summer chlorophyll bloom that develops near...

  14. Technology Development of Automated Rendezvous and Docking/Capture Sensors and Docking Mechanism for the Asteroid Redirect Crewed Mission

    Science.gov (United States)

    Hinkel, Heather; Strube, Matthew; Zipay, John J.; Cryan, Scott

    2016-01-01

    This paper will describe the technology development efforts NASA has underway for Automated Rendezvous and Docking/Capture (AR&D/C) sensors and a docking mechanism and the challenges involved. The paper will additionally address how these technologies will be extended to other missions requiring AR&D/C whether robotic or manned. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion spacecraft. The commonality assessment also considered several future exploration and science missions requiring an AR&D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a three-dimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build-time instead of at design-time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal non-recurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR&D/C today. These sensor specifications are tightly coupled to the docking system capabilities and requirements for final docking conditions. The paper will describe NASA's efforts to develop a standard docking system for use across NASA human spaceflight missions to multiple destinations. It will describe the current

  15. Software Innovation in a Mission Critical Environment

    Science.gov (United States)

    Fredrickson, Steven

    2015-01-01

    Operating in mission-critical environments requires trusted solutions, and the preference for "tried and true" approaches presents a potential barrier to infusing innovation into mission-critical systems. This presentation explores opportunities to overcome this barrier in the software domain. It outlines specific areas of innovation in software development achieved by the Johnson Space Center (JSC) Engineering Directorate in support of NASA's major human spaceflight programs, including International Space Station, Multi-Purpose Crew Vehicle (Orion), and Commercial Crew Programs. Software engineering teams at JSC work with hardware developers, mission planners, and system operators to integrate flight vehicles, habitats, robotics, and other spacecraft elements for genuinely mission critical applications. The innovations described, including the use of NASA Core Flight Software and its associated software tool chain, can lead to software that is more affordable, more reliable, better modelled, more flexible, more easily maintained, better tested, and enabling of automation.

  16. Technology assessment of advanced automation for space missions

    Science.gov (United States)

    1982-01-01

    Six general classes of technology requirements derived during the mission definition phase of the study were identified as having maximum importance and urgency, including autonomous world model based information systems, learning and hypothesis formation, natural language and other man-machine communication, space manufacturing, teleoperators and robot systems, and computer science and technology.

  17. For Earth into space: The German Spacelab Mission D-2

    Science.gov (United States)

    Sahm, P. R.; Keller, M. H.; Schiewe, B.

    The Spacelab Mission D-2 successfully lifted off from Kennedy Space Center on April 26, 1993. With 88 experiments on board covering eleven different research disciplines it was a very ambitious mission. Besides materials and life science subjects, the mission also encompassed astronomy, earth observation, radiation physics and biology, telecommunication, automation and robotics. Notable results were obtained in almost all cases. To give some examples of the scientific output, building upon results obtained in previous missions (FSLP, D1) diffusion in melts was broadly represented delivering most precise data on the atomic mobility within various liquids, and crystal growth experiments (the largest gallium arsenide crystal grown by the floating zone technique, so far obtained anywhere, was one of the results), biological cell growth experiments were continued (for example, beer yeast cultures, continuing their growth on earth, delivered a qualitatively superior brewery result), the human physiology miniclinic configuration ANTHRORACK gave novel insights concerning cardiovascular, pulmonary, and renal (fluid volume determining) factors. Astronomical experiments yielded insights into our own galaxy within the ultra violet spectrum, earth observation experiments delivered the most precise resolution data superimposed by thematic mapping of many areas of the Earth, and the robotics experiment brought a remarkable feature in that a flying object was caught by the space robot, which was only achieved through several innovative advances during the time of experiment preparation. The eight years of preparation were also beneficial in another sense. Several discoveries have been made, and various technology transfers into ground-based processes were verified. To name the outstanding ones, in the materials science a novel bearing materials production process was developped, a patent granted for an improved high temperature heating chamber; with life sciences a new hormone

  18. Probabilistic Verification of Multi-Robot Missions in Uncertain Environments

    Science.gov (United States)

    2015-11-01

    has been used to measure the environment, including any dynamic obstacles. However, no matter how the model originates, this approach is based on...modeled as bivariate Gaussian distributions and estimated by calibration measurements . The Robot process model is described in prior work [13...sn〉 (pR,pE)(obR) = In〈pR〉〈p〉 ; In〈pE〉〈e〉 ; ( Gtr〈 d(p,e), sr〉〈p1〉 ; Out〈obR,p1〉 | Lte 〈 d(p,e), sr〉〈p2〉 ; Out〈obR, sn+p2 〉 ) ; Sensors

  19. 3D vision upgrade kit for TALON robot

    Science.gov (United States)

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

    2010-04-01

    In this paper, we report on the development of a 3D vision field upgrade kit for TALON robot consisting of a replacement flat panel stereoscopic display, and multiple stereo camera systems. An assessment of the system's use for robotic driving, manipulation, and surveillance operations was conducted. The 3D vision system was integrated onto a TALON IV Robot and Operator Control Unit (OCU) such that stock components could be electrically disconnected and removed, and upgrade components coupled directly to the mounting and electrical connections. A replacement display, replacement mast camera with zoom, auto-focus, and variable convergence, and a replacement gripper camera with fixed focus and zoom comprise the upgrade kit. The stereo mast camera allows for improved driving and situational awareness as well as scene survey. The stereo gripper camera allows for improved manipulation in typical TALON missions.

  20. Human exploration mission studies

    Science.gov (United States)

    Cataldo, Robert L.

    1989-01-01

    The Office of Exploration has established a process whereby all NASA field centers and other NASA Headquarters offices participate in the formulation and analysis of a wide range of mission strategies. These strategies were manifested into specific scenarios or candidate case studies. The case studies provided a systematic approach into analyzing each mission element. First, each case study must address several major themes and rationale including: national pride and international prestige, advancement of scientific knowledge, a catalyst for technology, economic benefits, space enterprise, international cooperation, and education and excellence. Second, the set of candidate case studies are formulated to encompass the technology requirement limits in the life sciences, launch capabilities, space transfer, automation, and robotics in space operations, power, and propulsion. The first set of reference case studies identify three major strategies: human expeditions, science outposts, and evolutionary expansion. During the past year, four case studies were examined to explore these strategies. The expeditionary missions include the Human Expedition to Phobos and Human Expedition to Mars case studies. The Lunar Observatory and Lunar Outpost to Early Mars Evolution case studies examined the later two strategies. This set of case studies established the framework to perform detailed mission analysis and system engineering to define a host of concepts and requirements for various space systems and advanced technologies. The details of each mission are described and, specifically, the results affecting the advanced technologies required to accomplish each mission scenario are presented.

  1. Mars Robotics and Things I Wished I Had Learned in College

    Science.gov (United States)

    Baker, John D.

    2016-01-01

    John D. Baker will explore how Mars robotic missions are designed and operated. He will also discuss a few basic concepts that will help future engineers and scientists develop key skills to use in aerospace projects.

  2. Robots in the USA nuclear industry: An overview to the end of the 20th century

    International Nuclear Information System (INIS)

    Meleran, H.B.

    1993-01-01

    Stationary robotic arms, mobile robotic vehicles, ROV's and other underwater crawling robots, and pipecrawlers are beginning to play a growing role in nuclear power plants and other nuclear facilities. This paper presents an overview of the current status and availability of robots, and in particular mobile robots, in the nuclear industry in the US. Typical missions for the robots conducted upon terrestrial surfaces, underwater, inside pipelines, and above ground location will also be described. An additional focus will also be directed towards the examination of issues concerning evolving insights and new development projects which are currently underway. Successfully exploited technologies that have been developed for other non-nuclear activities the aerospace, underwater, and industrial environments are being incorporated into the new generation of robots used in the nuclear industry

  3. Robotic Hand

    Science.gov (United States)

    1993-01-01

    The Omni-Hand was developed by Ross-Hime Designs, Inc. for Marshall Space Flight Center (MSFC) under a Small Business Innovation Research (SBIR) contract. The multiple digit hand has an opposable thumb and a flexible wrist. Electric muscles called Minnacs power wrist joints and the interchangeable digits. Two hands have been delivered to NASA for evaluation for potential use on space missions and the unit is commercially available for applications like hazardous materials handling and manufacturing automation. Previous SBIR contracts resulted in the Omni-Wrist and Omni-Wrist II robotic systems, which are commercially available for spray painting, sealing, ultrasonic testing, as well as other uses.

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

    Science.gov (United States)

    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

  5. Laws on Robots, Laws by Robots, Laws in Robots : Regulating Robot Behaviour by Design

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

    Speculation about robot morality is almost as old as the concept of a robot itself. Asimov’s three laws of robotics provide an early and well-discussed example of moral rules robots should observe. Despite the widespread influence of the three laws of robotics and their role in shaping visions of

  6. Endeavour blasts-off on ambitious mission

    Science.gov (United States)

    1993-12-01

    "I am delighted to see the servicing mission off to such a beautiful start", said Roger Bonnet, ESA's Director of Science, who watched the launch from the Kennedy Space Center, Florida. "We are anxious to see the Hubble Space Telescope restored to its full capability so astronomers world- wide can take advantage of this unique observatory". During the eight and a half minute climb to orbit ESA astronaut Claude Nicollier helped the shuttle commander and pilot monitor the cockpit displays. Nicollier is the first international astronaut to serve as a shuttle's flight engineer. He will perform the same task at the end of the mission for reentry and landing. The European Space Agency has a major role in the telescope servicing mission. In addition to the presence of its astronaut, the agency is supplying new, improved power generating solar arrays and helped NASA test the Costar system of corrective optics. Nicollier will be responsible for operation of the shuttle's robot arm during the 11-day mission. He will use the arm to pluck the telescope from orbit and move astronauts and equipment around the payload bay during the mission's five spacewalks. The astronauts are spending their first hours in space setting up equipment in the orbiter's crew cabin. They will fire the shuttle's manoeuvring jets before going to bed to begin the two-day pursuit of the orbiting telescope. There will be three orbital manoeuvres tomorrow to further close the gap. The shuttle is due to reach the telescope Saturday and repair work will begin Sunday. Checkouts of the four space suits and the robot arm will occupy the crew tomorrow. Nicollier will use the arm to inspect the equipment in the cargo bay and later practise the manoeuvre he will use on Saturday to capture the telescope. Hubble Space Telescope science operations will be suspended at midnight tonight EST (06h00 a.m. CET tomorrow) and the HST aperture door closed at 07h30 a.m. EST (01h30 p.m. CET).

  7. Robotics: a way to link the "islands of automation".

    Science.gov (United States)

    O'Bryan, D

    1994-01-01

    This article looks at what the natural evolution of robots can do for the clinical testing industry, from performing simple functions to becoming the prime labor force of the clinical laboratory. Until now, robots have been applied to instrument processes as somewhat of an upgrade to accomplish a variety of laboratory tasks. Over the next 10 years, however, robotics development will respond to the internal and external influences expected to challenge the industry. A limited supply of human workers and the increased demands of testing volumes and cost-effectiveness will herald a new phase of robotics to link, as well as develop, technological capabilities. Since science fiction was invented, robots have teased the imagination-alternately as mindless automatons or as clones of their inventors endowed with minds of their own. The appeal in the first case was the seemingly infinite capacity for performing menial tasks too boring, complex, or dangerous for mankind. The appeal in the second was the fantasy of artificial intelligence. In both cases, the fictional concept has become reality--and, by the 21st century, should even be commonplace. Financial encouragement of robotics development might even be a mission for laboratories themselves, as they prepare for potential competition from even more complex technology.

  8. Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses.

    Science.gov (United States)

    Roldán, Juan Jesús; Garcia-Aunon, Pablo; Garzón, Mario; de León, Jorge; Del Cerro, Jaime; Barrientos, Antonio

    2016-07-01

    The productivity of greenhouses highly depends on the environmental conditions of crops, such as temperature and humidity. The control and monitoring might need large sensor networks, and as a consequence, mobile sensory systems might be a more suitable solution. This paper describes the application of a heterogeneous robot team to monitor environmental variables of greenhouses. The multi-robot system includes both ground and aerial vehicles, looking to provide flexibility and improve performance. The multi-robot sensory system measures the temperature, humidity, luminosity and carbon dioxide concentration in the ground and at different heights. Nevertheless, these measurements can be complemented with other ones (e.g., the concentration of various gases or images of crops) without a considerable effort. Additionally, this work addresses some relevant challenges of multi-robot sensory systems, such as the mission planning and task allocation, the guidance, navigation and control of robots in greenhouses and the coordination among ground and aerial vehicles. This work has an eminently practical approach, and therefore, the system has been extensively tested both in simulations and field experiments.

  9. Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses

    Directory of Open Access Journals (Sweden)

    Juan Jesús Roldán

    2016-07-01

    Full Text Available The productivity of greenhouses highly depends on the environmental conditions of crops, such as temperature and humidity. The control and monitoring might need large sensor networks, and as a consequence, mobile sensory systems might be a more suitable solution. This paper describes the application of a heterogeneous robot team to monitor environmental variables of greenhouses. The multi-robot system includes both ground and aerial vehicles, looking to provide flexibility and improve performance. The multi-robot sensory system measures the temperature, humidity, luminosity and carbon dioxide concentration in the ground and at different heights. Nevertheless, these measurements can be complemented with other ones (e.g., the concentration of various gases or images of crops without a considerable effort. Additionally, this work addresses some relevant challenges of multi-robot sensory systems, such as the mission planning and task allocation, the guidance, navigation and control of robots in greenhouses and the coordination among ground and aerial vehicles. This work has an eminently practical approach, and therefore, the system has been extensively tested both in simulations and field experiments.

  10. Planetary Missions of the 20th Century*

    Science.gov (United States)

    Moroz, V. I.; Huntress, W. T.; Shevalev, I. L.

    2002-09-01

    Among of the highlights of the 20th century were flights of spacecraft to other bodies of the Solar System. This paper describes briefly the missions attempted, their goals, and fate. Information is presented in five tables on the missions launched, their goals, mission designations, dates, discoveries when successful, and what happened if they failed. More detailed explanations are given in the accompanying text. It is shown how this enterprise developed and evolved step by step from a politically driven competition to intense scientific investigations and international cooperation. Initially, only the USA and USSR sent missions to the Moon and planets. Europe and Japan joined later. The USSR carried out significant research in Solar System exploration until the end of the 1980s. The Russian Federation no longer supports robotic planetary exploration for economic reasons, and it remains to be seen whether the invaluable Russian experience in planetary space flight will be lost. Collaboration between Russian and other national space agencies may be a solution.

  11. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    Directory of Open Access Journals (Sweden)

    Hooman Samani

    2013-12-01

    Full Text Available In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. According to the importance of the embodiment of robots in the sense of presence, the influence of robots in communication culture is anticipated. The sustainability of robotics culture based on diversity for cultural communities for various acceptance modalities is explored in order to anticipate the creation of different attributes of culture between robots and humans in the future.

  12. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

    This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

  13. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi; Okano, Hideharu; Kuno, Yoshinori; Miyazawa, Tatsuo; Shimada, Hideo; Okada, Satoshi; Kawamura, Astuo

    1991-01-01

    This paper describes Robot Vision and Operation System for Nuclear Advanced Robot. This Robot Vision consists of robot position detection, obstacle detection and object recognition. With these vision techniques, a mobile robot can make a path and move autonomously along the planned path. The authors implemented the above robot vision system on the 'Advanced Robot for Nuclear Power Plant' and tested in an environment mocked up as nuclear power plant facilities. Since the operation system for this robot consists of operator's console and a large stereo monitor, this system can be easily operated by one person. Experimental tests were made using the Advanced Robot (nuclear robot). Results indicate that the proposed operation system is very useful, and can be operate by only person. (author)

  14. Hybrid Propulsion Technology for Robotic Science Missions, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — C3 Propulsion's Hybrid Propulsion Technology will be applied to a NASA selected Sample Return Mission. Phase I will demonstrate Proof-of-Principle and Phase II will...

  15. Lander Technologies

    Science.gov (United States)

    Chavers, Greg

    2015-01-01

    Since 2006 NASA has been formulating robotic missions to the lunar surface through programs and projects like the Robotic Lunar Exploration Program, Lunar Precursor Robotic Program, and International Lunar Network. All of these were led by NASA Marshall Space Flight Center (MSFC). Due to funding shortfalls, the lunar missions associated with these efforts, the designs, were not completed. From 2010 to 2013, the Robotic Lunar Lander Development Activity was funded by the Science Mission Directorate (SMD) to develop technologies that would enable and enhance robotic lunar surface missions at lower costs. In 2013, a requirements-driven, low-cost robotic lunar lander concept was developed for the Resource Prospector Mission. Beginning in 2014, The Advanced Exploration Systems funded the lander team and established the MSFC, Johnson Space Center, Applied Physics Laboratory, and the Jet Propulsion Laboratory team with MSFC leading the project. The lander concept to place a 300-kg rover on the lunar surface has been described in the New Technology Report Case Number MFS-33238-1. A low-cost lander concept for placing a robotic payload on the lunar surface is shown in figures 1 and 2. The NASA lander team has developed several lander concepts using common hardware and software to allow the lander to be configured for a specific mission need. In addition, the team began to transition lander expertise to United States (U.S.) industry to encourage the commercialization of space, specifically the lunar surface. The Lunar Cargo Transportation and Landing by Soft Touchdown (CATALYST) initiative was started and the NASA lander team listed above is partnering with three competitively selected U.S. companies (Astrobotic, Masten Space Systems, and Moon Express) to develop, test, and operate their lunar landers.

  16. Setup of a testing environment for mission planning in mining

    NARCIS (Netherlands)

    Groenen, J.P.J.; Steinbuch, M.

    2013-01-01

    Mission planning algorithms for surface mining applications are difficult to test as a result of the large scale tasks. To validate these algorithms, a scaled setup is created where the mining excavator is mimicked by an industrial robot. This report discusses the development of a software

  17. GeoLab: A Geological Workstation for Future Missions

    Science.gov (United States)

    Evans, Cynthia; Calaway, Michael; Bell, Mary Sue; Li, Zheng; Tong, Shuo; Zhong, Ye; Dahiwala, Ravi

    2014-01-01

    characterization for mission planning, operations, and sample prioritization, 3) evaluate analytical instruments and tools for providing efficient and meaningful data in advance of sample return and 4) identify science operations that leverage human presence with robotic tools. In the first year of tests (2010), GeoLab examined basic glovebox operations performed by one and two crewmembers and science operations performed by a remote science team. The 2010 tests also examined the efficacy of basic sample characterization [descriptions, microscopic imagery, X-ray fluorescence (XRF) analyses] and feedback to the science team. In year 2 (2011), the GeoLab team tested enhanced software and interfaces for the crew and science team (including Web-based and mobile device displays) and demonstrated laboratory configurability with a new diagnostic instrument (the Multispectral Microscopic Imager from the JPL and Arizona State University). In year 3 (2012), the GeoLab team installed and tested a robotic sample manipulator and evaluated robotic-human interfaces for science operations.

  18. Fused filament 3D printing of ionic polymer-metal composites for soft robotics

    Science.gov (United States)

    Carrico, James D.; Leang, Kam K.

    2017-04-01

    Additive manufacturing techniques are used to create three-dimensional structures with complex shapes and features from polymer and/or metal materials. For example, fused filament three-dimensional (3D) printing utilizes non-electroactive polymers, such as acrylonitrile butadiene styrene (ABS) and polylactic acid (PLA), to build structures and components in a layer-by-layer fashion for a wide variety of applications. Presented here is a summary of recent work on a fused filament 3D-printing technique to create 3D ionic polymer-metal composite (IPMC) structures for applications in soft robotics. The 3D printing technique overcomes some of the limitations of existing manufacturing processes for creating IPMCs, such as limited shapes and sizes and time-consuming manufacturing steps. In the process described, first a precursor material (non-acid Nafion precursor resin) is extruded into a thermoplastic filament for 3D printing. Then, a custom-designed 3D printer is described that utilizes the precursor filament to manufacture custom-shaped structures. Finally, the 3D-printed samples are functionalized by hydrolyzing them in an aqueous solution of potassium hydroxide and dimethyl sulfoxide, followed by application of platinum electrodes. Presented are example 3D-printed single and multi-degree-of-freedom IPMC actuators and characterization results, as well as example soft-robotic devices to demonstrate the potential of this process.

  19. Man-Robot Symbiosis: A Framework For Cooperative Intelligence And Control

    Science.gov (United States)

    Parker, Lynne E.; Pin, Francois G.

    1988-10-01

    The man-robot symbiosis concept has the fundamental objective of bridging the gap between fully human-controlled and fully autonomous systems to achieve true man-robot cooperative control and intelligence. Such a system would allow improved speed, accuracy, and efficiency of task execution, while retaining the man in the loop for innovative reasoning and decision-making. The symbiont would have capabilities for supervised and unsupervised learning, allowing an increase of expertise in a wide task domain. This paper describes a robotic system architecture facilitating the symbiotic integration of teleoperative and automated modes of task execution. The architecture reflects a unique blend of many disciplines of artificial intelligence into a working system, including job or mission planning, dynamic task allocation, man-robot communication, automated monitoring, and machine learning. These disciplines are embodied in five major components of the symbiotic framework: the Job Planner, the Dynamic Task Allocator, the Presenter/Interpreter, the Automated Monitor, and the Learning System.

  20. Mobile robots for the nuclear industry - A 1990 status report

    International Nuclear Information System (INIS)

    Meieran, H.B.

    1990-01-01

    Mobile robots with and without manipulating arms have been available for use in radioactive environments for almost 30 yr. Their use commenced in the early 1960s with a family of mobile robots manufactured by the PAR Corporation (now the PAR division of CIMCORP). It was a tethered, two-tracked teleoperator-controlled vehicle that supported one master-slave manipulating arm. The durability of this device is continuing to be demonstrated by HERMAN, which is currently on standby availability at the Oak Ridge National Laboratory (ORNL) to respond to emergency situations by supporting mitigating actions at scenes of incidents that involve the release of radioactive material. Mobile robots are being employed in a spectrum of locations in many reactors and other nuclear installations. This paper presents the current status of the use of mobile robots in the nuclear industry and describes currently contemplated missions, with examples, that are being or will be conducted on terrestrial surfaces, underwater, in pipeline locations, and through the air

  1. Robust coordinated control of a dual-arm space robot

    Science.gov (United States)

    Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

    2017-09-01

    Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.

  2. SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots

    Science.gov (United States)

    Li, Xin; Bilbao, Sonia; Martín-Wanton, Tamara; Bastos, Joaquim; Rodriguez, Jonathan

    2017-01-01

    In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning. PMID:28287468

  3. Radiation beamline testbeds for the simulation of planetary and spacecraft environments for human and robotic mission risk assessment

    Science.gov (United States)

    Wilkins, Richard

    experimental areas associated with the above facilities. CRESSE has broad expertise in space radiation in the areas of space radiation environment modeling, Monte-Carlo radiation transport modeling, space radiation instrumentation and dosimetry, radiation effects on electronics, and multi-functional composite shielding materi-als. The BERT and ERNIE testbeds will be utilized in individual and collaborative research incorporating this expertise. The research goal is to maximize the technical readiness level (TRL) of radiation instrumentation for human and robotic missions, optimizing the return value of CRESSE for NASA exploration and international co-operative missions. Outcomes and knowledge from research utilizing BERT and ERNIE will be applied to a variety of scien-tific and engineering disciplines vital for safe and reliable execution of future space exploration missions, which can be negatively impacted by the space radiation environment. The testbeds will be central to a variety of university educational activities and educational goals of NASA. Specifically, BERT and ERNIE will enhance educational opportunities in science, technol-ogy, engineering and mathematics (STEM) disciplines for engineering and science students at PVAMU, a historically black college/university. Preliminary data on prototype testbed configurations, including simulated lunar regolith (JSC-1A stimulant based on Apollo 11 samples), regolith/polyethylene composites, and dry ice, will be presented to demonstrate the usefulness of BERT and ERNIE in radiation beam line experiments.

  4. Ideas on a system design for end-user robots

    Science.gov (United States)

    Bonasso, R. P.; Slack, Marc G.

    1992-11-01

    Robots are being used successfully in factory automation; however, recently there has been some success in building robots which can operate in field environments, where the domain is less predictable. New perception and control techniques have been developed which allow a robot to accomplish its mission while dealing with natural changes in both land and underwater environments. Unfortunately, efforts in this area have resulted in many one-of-a-kind robots, limited to research laboratories or carefully delimited field task arenas. A user who would like to apply robotic technology to a particular field problem must basically start from scratch. The problem is that the robotic technology (i.e., the hardware and software) which might apply to the user's domain exists in a diverse array of formats and configurations. For end-user robots to become a reality, an effort to standardize some aspects of the robotic technology must be made, in much the same way that personal computer technology is becoming standardized. Presently, a person can buy a computer and then acquire hardware and software extensions which simply `plug in' and provide the user with the required utility without the user having to understand the inner workings of the pieces of the system. This technology even employs standardized interface specifications so the user is presented with a familiar interaction paradigm. This paper outlines some system requirements (hardware and software) and a preliminary design for end-user robots for field environments, drawing parallels to the trends in the personal computer market. The general conclusion is that the appropriate components as well as an integrating architecture are already available, making development of out-of-the- box, turnkey robots for a certain range of commonly required tasks a potential reality.

  5. Surface Support Systems for Co-Operative and Integrated Human/Robotic Lunar Exploration

    Science.gov (United States)

    Mueller, Robert P.

    2006-01-01

    Human and robotic partnerships to realize space goals can enhance space missions and provide increases in human productivity while decreasing the hazards that the humans are exposed to. For lunar exploration, the harsh environment of the moon and the repetitive nature of the tasks involved with lunar outpost construction, maintenance and operation as well as production tasks associated with in-situ resource utilization, make it highly desirable to use robotic systems in co-operation with human activity. A human lunar outpost is functionally examined and concepts for selected human/robotic tasks are discussed in the context of a lunar outpost which will enable the presence of humans on the moon for extended periods of time.

  6. Review of marine animals and bioinspired robotic vehicles: Classifications and characteristics

    Science.gov (United States)

    Zimmerman, S.; Abdelkefi, A.

    2017-08-01

    Marine robots are a developing topic for military, scientific, and environmental missions. However, most existing marine robots are either limited to flight or limited to swimming. Therefore, the combination of both provides endless possibilities for tasks, such as espionage, pollution and marine wildlife surveillance, and border protection. Applying bioinspiration and biomimetics not only camouflages the robot, but also increases the efficiency of already perfected designs. Because bioinspiration and aerial-aquatic locomotion are the main attraction for this article, this review gathers the characteristics of aerial-aquatic animals useful for such designs. These animals are diving birds and flying fish, specifically plunge-diving birds, surface-diving birds, both plunge- and surface-diving birds, two-winger flying fish, and four-winger flying fish. The overview of the current marine bioinspired and non-bioinspired robots that are both aerial and aquatic are also presented, followed by the limitations and recommendations of the bioinspired robots. It is shown by a comparison between the bioinspired robot and its corresponding animal that the existing robotic systems are not truly bioinspired. The main traits these systems are missing are replicating the exact weight, size, muscle movement, and skin texture of the biological animal. In order to have efficient robots, bioinspiration needs to be perfected. Doing so requires not only the basic design to be replicated, but every detail of the system to be imitated.

  7. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  8. Automated and Adaptive Mission Planning for Orbital Express

    Science.gov (United States)

    Chouinard, Caroline; Knight, Russell; Jones, Grailing; Tran, Daniel; Koblick, Darin

    2008-01-01

    The Orbital Express space mission was a Defense Advanced Research Projects Agency (DARPA) lead demonstration of on-orbit satellite servicing scenarios, autonomous rendezvous, fluid transfers of hydrazine propellant, and robotic arm transfers of Orbital Replacement Unit (ORU) components. Boeing's Autonomous Space Transport Robotic Operations (ASTRO) vehicle provided the servicing to the Ball Aerospace's Next Generation Serviceable Satellite (NextSat) client. For communication opportunities, operations used the high-bandwidth ground-based Air Force Satellite Control Network (AFSCN) along with the relatively low-bandwidth GEO-Synchronous space-borne Tracking and Data Relay Satellite System (TDRSS) network. Mission operations were conducted out of the RDT&E Support Complex (RSC) at the Kirtland Air Force Base in New Mexico. All mission objectives were met successfully: The first of several autonomous rendezvous was demonstrated on May 5, 2007; autonomous free-flyer capture was demonstrated on June 22, 2007; the fluid and ORU transfers throughout the mission were successful. Planning operations for the mission were conducted by a team of personnel including Flight Directors, who were responsible for verifying the steps and contacts within the procedures, the Rendezvous Planners who would compute the locations and visibilities of the spacecraft, the Scenario Resource Planners (SRPs), who were concerned with assignment of communications windows, monitoring of resources, and sending commands to the ASTRO spacecraft, and the Mission planners who would interface with the real-time operations environment, process planning products and coordinate activities with the SRP. The SRP position was staffed by JPL personnel who used the Automated Scheduling and Planning ENvironment (ASPEN) to model and enforce mission and satellite constraints. The lifecycle of a plan began three weeks outside its execution on-board. During the planning timeframe, many aspects could change the plan

  9. Sistem kontrol gerak kinematika robot gripper manipulator

    Directory of Open Access Journals (Sweden)

    Wayan Widhiada

    2018-01-01

    Full Text Available Abstrak Sistem robot manipulator ini merupakan mekanisme lengan yang terdiri dari serangkaian segmen yang digunakan untuk menangkap dan memindahkan benda dengan beberapa derajat kebebasan. Dalam perkembangannya, robot manipulator telah digunakan dalam melaksanakan misi tertentu dan membantu operasi di ruang angkasa. Robot biasanya berinteraksi dengan sistem tangan, dan dalam kegiatan industri tangan biasanya disebut sebagai gripper. Penulis menggunakan metode simulasi teknik yang dapat menentukan sistem gerak kinematika robot. Simulasi teknik adalah metode yang digunakan untuk mendesain dan menganalisa gerakan robot dimana hasil dari respon gerakan robot yang didapat mendekati hasil dalam keadaan sebenarnya. Simulasi juga dapat menghemat waktu dan biaya yang digunakan dalam mendesain robot gripper manipulator lima jari dengan elemen prismatik. Dengan menggunakan kontrol PID diharapkan respon gerak kinematik dari setiap joint robot manipulator mencapai perfomance yang terbaik seperti overshoot yang kecil, dan kondisi tenang (steady state dalam waktu yang singkat disertai dengan keselahan penggerak yang kecil. Melalui proses Advance tuning pada PID kontrol selesai didapatkan parameter penguat pada PID kontrol yaitu Kp = 0.7194, Ki = 8.306 dan Kd = 0.0061sehingga tercapai performance gerakan kinematika robot gripper manipulator yang terbaik sesuai yang dikehendaki oleh user dengan rise time yang singkat 0.52 detik, waktu puncak yang singkat 0.52 detik, maksimum overshoot yang kecil 1,8%, kesetebailan response dicapai pada 0.76 detik dan kesalahan penggerak yang sangat kecil 0.32%. Kata kunci: Robot gripper manipulator, PID control, gerakan kinematika Abstract A robot gripper manipulator system mechanism comprising a series of segments that are used to capture and move objects with multiple degrees of freedom. In the process, the robot manipulator has been used in carrying out the specific mission and assist operations in space. Robot manipulator

  10. A remotely operated robot for decontamination tasks

    International Nuclear Information System (INIS)

    Dudar, A.M.; Vandewalle, R.C.

    1994-01-01

    Engineers in the Robotics Development Group at the Westinghouse Savannah River Company (WSRC) have developed a robot which will be used to decontaminate a pipe gallery of a tank farm used for nuclear waste storage. Personnel access is required into this pipe gallery to inspect existing pipes and perform repairs to secondary containment walls around the tank farm. Presently, the pipe gallery is littered with debris of various sizes and its surface is contaminated with activity levels up to 2.5E6 DPM (disintegrations per minute) alpha and exposure levels as high as 20 Rad/hr. Cleaning up this pipe gallery win be the mission of an all-hydraulic robotic vehicle developed in-house at WSRC caged the ''Remote Decon'' robot. The Remote Decon is a tracked vehicle which utilizes skid steering and features a six-degree-of-freedom (DOF) manipulator arm, a five-DOF front end loader type bucket with a rotating brush for scrubbing and decontaminating surfaces, and a three-DOF pan/tilt mechanism with cameras and lights. The Remote Decon system is connected to a control console via a 200 foot tethered cable. The control console was designed with ergonomics and simplicity as the main design factors and features three joysticks, video monitors, LED panels, and audible alarms

  11. Robot 2015 : Second Iberian Robotics Conference : Advances in Robotics

    CERN Document Server

    Moreira, António; Lima, Pedro; Montano, Luis; Muñoz-Martinez, Victor

    2016-01-01

    This book contains a selection of papers accepted for presentation and discussion at ROBOT 2015: Second Iberian Robotics Conference, held in Lisbon, Portugal, November 19th-21th, 2015. ROBOT 2015 is part of a series of conferences that are a joint organization of SPR – “Sociedade Portuguesa de Robótica/ Portuguese Society for Robotics”, SEIDROB – Sociedad Española para la Investigación y Desarrollo de la Robótica/ Spanish Society for Research and Development in Robotics and CEA-GTRob – Grupo Temático de Robótica/ Robotics Thematic Group. The conference organization had also the collaboration of several universities and research institutes, including: University of Minho, University of Porto, University of Lisbon, Polytechnic Institute of Porto, University of Aveiro, University of Zaragoza, University of Malaga, LIACC, INESC-TEC and LARSyS. Robot 2015 was focussed on the Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other...

  12. Electrical power technology for robotic planetary rovers

    Science.gov (United States)

    Bankston, C. P.; Shirbacheh, M.; Bents, D. J.; Bozek, J. M.

    1993-01-01

    Power technologies which will enable a range of robotic rover vehicle missions by the end of the 1990s and beyond are discussed. The electrical power system is the most critical system for reliability and life, since all other on board functions (mobility, navigation, command and data, communications, and the scientific payload instruments) require electrical power. The following are discussed: power generation, energy storage, power management and distribution, and thermal management.

  13. Design on a Composite Mobile System for Exploration Robot

    Directory of Open Access Journals (Sweden)

    Weiyan Shang

    2016-01-01

    Full Text Available In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been studied. Firstly, a simplified dynamic model has been established, and then by affecting factors analysis on ride performance, an optimization model for suspension parameters has been presented. Using NSGA-II method, a set of nondominated solutions for suspension parameters has been gotten, and by weighing the importance of the objective function, an optimal solution has been selected to be applied on suspension design. As the wheel-tracked exploration robot has been designed and manufactured, the property test has been conducted. By testing on physical prototype, the robot’s ability to surmount complex terrain has been verified. Design of the wheel-tracked robot will provide a stable platform for field exploration tasks, and in addition, the certain configuration and suspension parameters optimization method will provide reference to other robot designs.

  14. Cultural Robotics: The Culture of Robotics and Robotics in Culture

    OpenAIRE

    Hooman Samani; Elham Saadatian; Natalie Pang; Doros Polydorou; Owen Noel Newton Fernando; Ryohei Nakatsu; Jeffrey Tzu Kwan Valino Koh

    2013-01-01

    In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. Ac...

  15. Human Mars Surface Mission Nuclear Power Considerations

    Science.gov (United States)

    Rucker, Michelle A.

    2018-01-01

    A key decision facing Mars mission designers is how to power a crewed surface field station. Unlike the solar-powered Mars Exploration Rovers (MER) that could retreat to a very low power state during a Martian dust storm, human Mars surface missions are estimated to need at least 15 kilowatts of electrical (kWe) power simply to maintain critical life support and spacecraft functions. 'Hotel' loads alone for a pressurized crew rover approach two kWe; driving requires another five kWe-well beyond what the Curiosity rover’s Radioisotope Power System (RPS) was designed to deliver. Full operation of a four-crew Mars field station is estimated at about 40 kWe. Clearly, a crewed Mars field station will require a substantial and reliable power source, beyond the scale of robotic mission experience. This paper explores the applications for both fission and RPS nuclear options for Mars.

  16. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  17. A Guide for Developing Human-Robot Interaction Experiments in the Robotic Interactive Visualization and Experimentation Technology (RIVET) Simulation

    Science.gov (United States)

    2016-05-01

    5.2 Gunnery 34 5.3 Driverless Vehicle Transport 36 6. Discussion 38 6.1 Lessons Learned 38 6.1.1 Problem No. 1: CARVE Does Not Always Load...gunnery user interface GUI setup 5.3 Driverless Vehicle Transport A third, and most recent, type of mission used for HRI experimentation investigated a...specific non-combat operation of driverless vehicles for passenger transit. One example is an experiment motivated by the Autonomous Robotics for

  18. GEMMP - A Google Maps Enabled Mobile Mission Planning Tool for Autonomous Underwater Vehicles

    OpenAIRE

    Steven Seeley; Ramprasad Balasubramanian

    2012-01-01

    Many applications for mobile robotics involve operations in remote, outdoor environments. In these environments, it can be difficult to plan missions dynamically due to the lack of portability of existing mission planning software. Mobile platforms allow access to the Web from nearly anywhere while other features, like touch interfaces, simplify user interaction, and GPS integration allows developers and users to take advantage to location-based services. In this paper, we describe a prototype...

  19. Peculiarities of domestic and foreign experience of teachers preparation to training robotics

    Directory of Open Access Journals (Sweden)

    Наталья Александровна Ионкина

    2018-12-01

    Full Text Available Robotics within the subject “Technology” is included in the curriculum of Russian schools. This fact transforms robotics from the subject of additional education into a full-fledged academic subject of the school curriculum. The introduction of robotics into the curriculum of Russian schools requires significant changes in the system of training teachers who will teach students this discipline. Training of teachers for the training of students in robotics is carried out, both in the framework of programs for the preparation of masters in pedagogical universities, and within the framework of various refresher courses. Different countries carry out such training in different ways. In some countries, the training of teachers of robotics is financed by the state, in others by private initiatives. The mission of most foreign educational organizations is to use the motivational effects of robotics to activate schoolchildren and involve them in STEM-education. Many manufacturing companies not only sell robotic equipment, but also prepare methodological and training materials for the implementation of STEM-education technology, as well as create electronic educational resources, training programs, online lessons, evaluation materials and much more. Teaching teachers and schoolchildren, while it is based on the equipment that produces such companies.

  20. Survey of the state of art in robotics and artificial intelligence, Volume 2

    Energy Technology Data Exchange (ETDEWEB)

    Thieme, G; Lux, P; Knappmann, R J; Schmidt, U

    1981-07-01

    This survey presents the state of the art in robotics and AI with emphasis on control and intelligence. It gives an introduction and summary description of robots and AI, identifies main application areas in space and benefits of the new technologies. Basic methods and concepts are illustrated. The state of the art, evolution trends and problem areas are described for industrial robots and space systems. Two reference missions are used to identify space opportunities. The potential application of existing know-how to space usage is identified. Recommendations for future research and development are given to overcome the problem areas. The survey comprises inventories of relevant publications, firms and institutions and know-how.

  1. Entry, Descent and Landing Systems Analysis: Exploration Feed Forward Internal Peer Review Slide Package

    Science.gov (United States)

    Dwyer Cianciolo, Alicia M. (Editor)

    2011-01-01

    NASA senior management commissioned the Entry, Descent and Landing Systems Analysis (EDL-SA) Study in 2008 to identify and roadmap the Entry, Descent and Landing (EDL) technology investments that the agency needed to successfully land large payloads at Mars for both robotic and human-scale missions. Year 1 of the study focused on technologies required for Exploration-class missions to land payloads of 10 to 50 mt. Inflatable decelerators, rigid aeroshell and supersonic retro-propulsion emerged as the top candidate technologies. In Year 2 of the study, low TRL technologies identified in Year 1, inflatables aeroshells and supersonic retropropulsion, were combined to create a demonstration precursor robotic mission. This part of the EDL-SA Year 2 effort, called Exploration Feed Forward (EFF), took much of the systems analysis simulation and component model development from Year 1 to the next level of detail.

  2. Entry, Descent and Landing Systems Analysis Study: Phase 2 Report on Exploration Feed-Forward Systems

    Science.gov (United States)

    Dwyer Ciancolo, Alicia M.; Davis, Jody L.; Engelund, Walter C.; Komar, D. R.; Queen, Eric M.; Samareh, Jamshid A.; Way, David W.; Zang, Thomas A.; Murch, Jeff G.; Krizan, Shawn A.; hide

    2011-01-01

    NASA senior management commissioned the Entry, Descent and Landing Systems Analysis (EDL-SA) Study in 2008 to identify and roadmap the Entry, Descent and Landing (EDL) technology investments that the agency needed to successfully land large payloads at Mars for both robotic and human-scale missions. Year 1 of the study focused on technologies required for Exploration-class missions to land payloads of 10 to 50 t. Inflatable decelerators, rigid aeroshell and supersonic retro-propulsion emerged as the top candidate technologies. In Year 2 of the study, low TRL technologies identified in Year 1, inflatables aeroshells and supersonic retropropulsion, were combined to create a demonstration precursor robotic mission. This part of the EDL-SA Year 2 effort, called Exploration Feed Forward (EFF), took much of the systems analysis simulation and component model development from Year 1 to the next level of detail.

  3. The Role of Ground-Based Robotic Observatories in Satellite Projects

    Czech Academy of Sciences Publication Activity Database

    Hudec, René

    2010-01-01

    Roč. 2010, - (2010), 594854/1-594854/10 ISSN 1687-7969 R&D Projects: GA ČR GA205/08/1207 Grant - others:ESA(XE) ESA-PECS project No. 98058 Institutional research plan: CEZ:AV0Z10030501 Keywords : robotic telescopes * satellite projects * INTEGRAL mission Subject RIV: BN - Astronomy, Celestial Mechanics, Astrophysics

  4. Design of Photovoltaic Power System for a Precursor Mission for Human Exploration of Mars

    Science.gov (United States)

    Mcnatt, Jeremiah; Landis, Geoffrey; Fincannon, James

    2016-01-01

    This project analyzed the viability of a photovoltaic power source for technology demonstration mission to demonstrate Mars in-situ resource utilization (ISRU) to produce propellant for a future human mission, based on technology available within the next ten years. For this assessment, we performed a power-system design study for a scaled ISRU demonstrator lander on the Mars surface based on existing solar array technologies.

  5. Sediment Sampling in Estuarine Mudflats with an Aerial-Ground Robotic Team

    Directory of Open Access Journals (Sweden)

    Pedro Deusdado

    2016-09-01

    Full Text Available This paper presents a robotic team suited for bottom sediment sampling and retrieval in mudflats, targeting environmental monitoring tasks. The robotic team encompasses a four-wheel-steering ground vehicle, equipped with a drilling tool designed to be able to retain wet soil, and a multi-rotor aerial vehicle for dynamic aerial imagery acquisition. On-demand aerial imagery, properly fused on an aerial mosaic, is used by remote human operators for specifying the robotic mission and supervising its execution. This is crucial for the success of an environmental monitoring study, as often it depends on human expertise to ensure the statistical significance and accuracy of the sampling procedures. Although the literature is rich on environmental monitoring sampling procedures, in mudflats, there is a gap as regards including robotic elements. This paper closes this gap by also proposing a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Field trials in the south bank of the river Tagus’ estuary show the ability of the robotic system to successfully extract and transport bottom sediment samples for offline analysis. The results also show the efficiency of the extraction and the benefits when compared to (conventional human-based sampling.

  6. Sediment Sampling in Estuarine Mudflats with an Aerial-Ground Robotic Team

    Science.gov (United States)

    Deusdado, Pedro; Guedes, Magno; Silva, André; Marques, Francisco; Pinto, Eduardo; Rodrigues, Paulo; Lourenço, André; Mendonça, Ricardo; Santana, Pedro; Corisco, José; Almeida, Susana Marta; Portugal, Luís; Caldeira, Raquel; Barata, José; Flores, Luis

    2016-01-01

    This paper presents a robotic team suited for bottom sediment sampling and retrieval in mudflats, targeting environmental monitoring tasks. The robotic team encompasses a four-wheel-steering ground vehicle, equipped with a drilling tool designed to be able to retain wet soil, and a multi-rotor aerial vehicle for dynamic aerial imagery acquisition. On-demand aerial imagery, properly fused on an aerial mosaic, is used by remote human operators for specifying the robotic mission and supervising its execution. This is crucial for the success of an environmental monitoring study, as often it depends on human expertise to ensure the statistical significance and accuracy of the sampling procedures. Although the literature is rich on environmental monitoring sampling procedures, in mudflats, there is a gap as regards including robotic elements. This paper closes this gap by also proposing a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Field trials in the south bank of the river Tagus’ estuary show the ability of the robotic system to successfully extract and transport bottom sediment samples for offline analysis. The results also show the efficiency of the extraction and the benefits when compared to (conventional) human-based sampling. PMID:27618060

  7. Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualilsm.

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

    If we are doing ethics of robotics, what exactly is the object of our inquiry? This paper challenges 'individualist' robot ontology and 'individualist' social philosophy of robots. It is argued that ethics of robotics should not study and evaluate robotics exclusively in terms of individual

  8. Robots for hazardous duties: Military, space, and nuclear facility applications. (Latest citations from the NTIS bibliographic database). Published Search

    International Nuclear Information System (INIS)

    1993-09-01

    The bibliography contains citations concerning the design and application of robots used in place of humans where the environment could be hazardous. Military applications include autonomous land vehicles, robotic howitzers, and battlefield support operations. Space operations include docking, maintenance, mission support, and intra-vehicular and extra-vehicular activities. Nuclear applications include operations within the containment vessel, radioactive waste operations, fueling operations, and plant security. Many of the articles reference control techniques and the use of expert systems in robotic operations. Applications involving industrial manufacturing, walking robots, and robot welding are cited in other published searches in this series. (Contains a minimum of 183 citations and includes a subject term index and title list.)

  9. Fusion energy for space missions in the 21st Century

    International Nuclear Information System (INIS)

    Schulze, N.R.

    1991-08-01

    Future space missions were hypothesized and analyzed and the energy source for their accomplishment investigated. The mission included manned Mars, scientific outposts to and robotic sample return missions from the outer planets and asteroids, as well as fly-by and rendezvous mission with the Oort Cloud and the nearest star, Alpha Centauri. Space system parametric requirements and operational features were established. The energy means for accomplishing the High Energy Space Mission were investigated. Potential energy options which could provide the propulsion and electric power system and operational requirements were reviewed and evaluated. Fusion energy was considered to be the preferred option and was analyzed in depth. Candidate fusion fuels were evaluated based upon the energy output and neutron flux. Reactors exhibiting a highly efficient use of magnetic fields for space use while at the same time offering efficient coupling to an exhaust propellant or to a direct energy convertor for efficient electrical production were examined. Near term approaches were identified

  10. Human-Robot Teaming in a Multi-Agent Space Assembly Task

    Science.gov (United States)

    Rehnmark, Fredrik; Currie, Nancy; Ambrose, Robert O.; Culbert, Christopher

    2004-01-01

    NASA's Human Space Flight program depends heavily on spacewalks performed by pairs of suited human astronauts. These Extra-Vehicular Activities (EVAs) are severely restricted in both duration and scope by consumables and available manpower. An expanded multi-agent EVA team combining the information-gathering and problem-solving skills of humans with the survivability and physical capabilities of robots is proposed and illustrated by example. Such teams are useful for large-scale, complex missions requiring dispersed manipulation, locomotion and sensing capabilities. To study collaboration modalities within a multi-agent EVA team, a 1-g test is conducted with humans and robots working together in various supporting roles.

  11. NASA's Human Mission to a Near-Earth Asteroid: Landing on a Moving Target

    Science.gov (United States)

    Smith, Jeffrey H.; Lincoln, William P.; Weisbin, Charles R.

    2011-01-01

    This paper describes a Bayesian approach for comparing the productivity and cost-risk tradeoffs of sending versus not sending one or more robotic surveyor missions prior to a human mission to land on an asteroid. The expected value of sample information based on productivity combined with parametric variations in the prior probability an asteroid might be found suitable for landing were used to assess the optimal number of spacecraft and asteroids to survey. The analysis supports the value of surveyor missions to asteroids and indicates one launch with two spacecraft going simultaneously to two independent asteroids appears optimal.

  12. GEMMP - A Google Maps Enabled Mobile Mission Planning Tool for Autonomous Underwater Vehicles

    Directory of Open Access Journals (Sweden)

    Steven Seeley

    2012-05-01

    Full Text Available Many applications for mobile robotics involve operations in remote, outdoor environments. In these environments, it can be difficult to plan missions dynamically due to the lack of portability of existing mission planning software. Mobile platforms allow access to the Web from nearly anywhere while other features, like touch interfaces, simplify user interaction, and GPS integration allows developers and users to take advantage to location-based services. In this paper, we describe a prototype AUV mission planner developed on the Android platform, created to aid and enhance the capability of an existing AUV mission planner, VectorMap, developed and maintained by OceanServer Technology, by taking advantage of the capabilities of existing mobile computing technology.

  13. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  14. Automated Kinematics Equations Generation and Constrained Motion Planning Resolution for Modular and Reconfigurable Robots

    Energy Technology Data Exchange (ETDEWEB)

    Pin, Francois G.; Love, Lonnie L.; Jung, David L.

    2004-03-29

    Contrary to the repetitive tasks performed by industrial robots, the tasks in most DOE missions such as environmental restoration or Decontamination and Decommissioning (D&D) can be characterized as ''batches-of-one'', in which robots must be capable of adapting to changes in constraints, tools, environment, criteria and configuration. No commercially available robot control code is suitable for use with such widely varying conditions. In this talk we present our development of a ''generic code'' to allow real time (at loop rate) robot behavior adaptation to changes in task objectives, tools, number and type of constraints, modes of controls or kinematics configuration. We present the analytical framework underlying our approach and detail the design of its two major modules for the automatic generation of the kinematics equations when the robot configuration or tools change and for the motion planning under time-varying constraints. Sample problems illustrating the capabilities of the developed system are presented.

  15. The Lunar Reconnaissance Orbiter, a Planning Tool for Missions to the Moon

    Science.gov (United States)

    Keller, J. W.; Petro, N. E.

    2017-12-01

    The Lunar Reconnaissance Orbiter Mission was conceived as a one year exploration mission to pave the way for a return to the lunar surface, both robotically and by humans. After a year in orbit LRO transitioned to a science mission but has operated in a duel role of science and exploration ever since. Over the years LRO has compiled a wealth of data that can and is being used for planning future missions to the Moon by NASA, other national agencies and by private enterprises. While collecting this unique and unprecedented data set, LRO's science investigations have uncovered new questions that motivate new missions and targets. Examples include: when did volcanism on the Moon cease, motivating a sample return mission from an irregular mare patch such as Ina-D; or, is there significant water ice sequestered near the poles outside of the permanently shaded regions? In this presentation we will review the data products, tools and maps that are available for mission planning, discuss how the operating LRO mission can further enhance future missions, and suggest new targets motivated by LRO's scientific investigations.

  16. Mechanically-Deployed Hypersonic Decelerator and Conformal Ablator Technologies for Mars Missions

    Science.gov (United States)

    Venkatapathy, Ethiraj; Wercinski, Paul F.; Beck, Robin A. S.; Hamm, Kenneth R.; Yount, Bryan C.; Makino, A.; Smith, B.; Gage, P.; Prabhu, D.

    2012-01-01

    The concept of a mechanically deployable hypersonic decelerator, developed initially for high mass (40 MT) human Mars missions, is currently funded by OCT for technology maturation. The ADEPT (Adaptive, Deployable Entry and Placement Technology) project has broad, game-changing applicability to in situ science missions to Venus, Mars, and the Outer Planets. Combined with maturation of conformal ablator technology (another current OCT investment), the two technologies provide unique low mass mission enabling capabilities otherwise not achievable by current rigid aeroshell or by inflatables. If this abstract is accepted, we will present results that illustrate the mission enabling capabilities of the mechanically deployable architecture for: (1) robotic Mars (Discovery or New Frontiers class) in the near term; (2) alternate approaches to landing MSL-class payloads, without the need for supersonic parachute or lifting entry, in the mid-term; and (3) Heavy mass and human missions to Mars in the long term.

  17. Application of Solar-Electric Propulsion to Robotic and Human Missions in Near-Earth Space

    Science.gov (United States)

    Woodcock, Gordon R.; Dankanich, John

    2011-01-01

    Interest in applications of solar electric propulsion (SEP) is increasing. Application of SEP technology is favored when: (1) the mission is compatible with low-thrust propulsion, (2) the mission needs high total delta V such that chemical propulsion is disadvantaged; and (3) performance enhancement is needed. If all such opportunities for future missions are considered, many uses of SEP are likely. Representative missions are surveyed and several SEP applications selected for analysis, including orbit raising, lunar science, lunar exploration, lunar exploitation, planetary science, and planetary exploration. These missions span SEP power range from 10s of kWe to several MWe. Modes of use and benefits are described, and potential SEP evolution is discussed.

  18. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

    This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

  19. Evidence Report, Risk of Inadequate Design of Human and Automation/Robotic Integration

    Science.gov (United States)

    Zumbado, Jennifer Rochlis; Billman, Dorrit; Feary, Mike; Green, Collin

    2011-01-01

    The success of future exploration missions depends, even more than today, on effective integration of humans and technology (automation and robotics). This will not emerge by chance, but by design. Both crew and ground personnel will need to do more demanding tasks in more difficult conditions, amplifying the costs of poor design and the benefits of good design. This report has looked at the importance of good design and the risks from poor design from several perspectives: 1) If the relevant functions needed for a mission are not identified, then designs of technology and its use by humans are unlikely to be effective: critical functions will be missing and irrelevant functions will mislead or drain attention. 2) If functions are not distributed effectively among the (multiple) participating humans and automation/robotic systems, later design choices can do little to repair this: additional unnecessary coordination work may be introduced, workload may be redistributed to create problems, limited human attentional resources may be wasted, and the capabilities of both humans and technology underused. 3) If the design does not promote accurate understanding of the capabilities of the technology, the operators will not use the technology effectively: the system may be switched off in conditions where it would be effective, or used for tasks or in contexts where its effectiveness may be very limited. 4) If an ineffective interaction design is implemented and put into use, a wide range of problems can ensue. Many involve lack of transparency into the system: operators may be unable or find it very difficult to determine a) the current state and changes of state of the automation or robot, b) the current state and changes in state of the system being controlled or acted on, and c) what actions by human or by system had what effects. 5) If the human interfaces for operation and control of robotic agents are not designed to accommodate the unique points of view and

  20. QFD-based conceptual design of an autonomous underwater robot

    Directory of Open Access Journals (Sweden)

    Thip Pasawang

    2015-12-01

    Full Text Available Autonomous underwater robots in the past few years have been designed according to the individual concepts and experiences of the researchers. To design a robot, which meets all the requirements of potential users, is an advanced work. Hence, a systematic design method that could include users’ preferences and requirements is needed. This paper presents the quality function deployment (QFD technique to design an autonomous underwater robot focusing on the Thai Navy military mission. Important user requirements extracted from the QFD method are the ability to record videos, operating at depth up to 10 meters, the ability to operate remotely with cable and safety concerns related to water leakages. Less important user requirements include beauty, using renewable energy, operating remotely with radio and ability to work during night time. The important design parameters derived from the user requirements are a low cost-controller, an autonomous control algorithm, a compass sensor and vertical gyroscope, and a depth sensor. Of low-importance ranked design parameters include the module design, use clean energy, a low noise electric motor, remote surveillance design, a pressure hull, and a beautiful hull form design. The study results show the feasibility of using QFD techniques to systematically design the autonomous underwater robot to meet user requirements. Mapping between the design and expected parameters and a conceptual drafting design of an autonomous underwater robot are also presented.

  1. Towards the Verification of Human-Robot Teams

    Science.gov (United States)

    Fisher, Michael; Pearce, Edward; Wooldridge, Mike; Sierhuis, Maarten; Visser, Willem; Bordini, Rafael H.

    2005-01-01

    Human-Agent collaboration is increasingly important. Not only do high-profile activities such as NASA missions to Mars intend to employ such teams, but our everyday activities involving interaction with computational devices falls into this category. In many of these scenarios, we are expected to trust that the agents will do what we expect and that the agents and humans will work together as expected. But how can we be sure? In this paper, we bring together previous work on the verification of multi-agent systems with work on the modelling of human-agent teamwork. Specifically, we target human-robot teamwork. This paper provides an outline of the way we are using formal verification techniques in order to analyse such collaborative activities. A particular application is the analysis of human-robot teams intended for use in future space exploration.

  2. Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

    International Nuclear Information System (INIS)

    Pin, Francois G.

    2002-01-01

    Robotic tasks are typically defined in Task Space (e.g., the 3-D World), whereas robots are controlled in Joint Space (motors). The transformation from Task Space to Joint Space must consider the task objectives (e.g., high precision, strength optimization, torque optimization), the task constraints (e.g., obstacles, joint limits, non-holonomic constraints, contact or tool task constraints), and the robot kinematics configuration (e.g., tools, type of joints, mobile platform, manipulator, modular additions, locked joints). Commercially available robots are optimized for a specific set of tasks, objectives and constraints and, therefore, their control codes are extremely specific to a particular set of conditions. Thus, there exist a multiplicity of codes, each handling a particular set of conditions, but none suitable for use on robots with widely varying tasks, objectives, constraints, or environments. On the other hand, most DOE missions and tasks are typically ''batches of one''. Attempting to use commercial codes for such work requires significant personnel and schedule costs for re-programming or adding code to the robots whenever a change in task objective, robot configuration, number and type of constraint, etc. occurs. The objective of our project is to develop a ''generic code'' to implement this Task-space to Joint-Space transformation that would allow robot behavior adaptation, in real time (at loop rate), to changes in task objectives, number and type of constraints, modes of controls, kinematics configuration (e.g., new tools, added module). Our specific goal is to develop a single code for the general solution of under-specified systems of algebraic equations that is suitable for solving the inverse kinematics of robots, is useable for all types of robots (mobile robots, manipulators, mobile manipulators, etc.) with no limitation on the number of joints and the number of controlled Task-Space variables, can adapt to real time changes in number and

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

    Science.gov (United States)

    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

  4. Goal driven kinematic simulation of flexible arm robot for space station missions

    Science.gov (United States)

    Janssen, P.; Choudry, A.

    1987-01-01

    Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.

  5. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    DEFF Research Database (Denmark)

    Lyder, Andreas

    arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a modular robot to be a robot consisting of dynamically reconfigurable modules. The goal of this thesis......Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem...... is to increase the versatility and practical usability of modular robots by introducing new conceptual designs. Until now modular robots have been based on a pre-specified set of modules, and thus, their functionality is limited. We propose an open heterogeneous design concept, which allows a modular robot...

  6. Tactical mobile robots for urban search and rescue

    Science.gov (United States)

    Blitch, John; Sidki, Nahid; Durkin, Tim

    2000-07-01

    Few disasters can inspire more compassion for victims and families than those involving structural collapse. Video clips of children's bodies pulled from earthquake stricken cities and bombing sties tend to invoke tremendous grief and sorrow because of the totally unpredictable nature of the crisis and lack of even the slightest degree of negligence (such as with those who choose to ignore storm warnings). Heartbreaking stories of people buried alive for days provide a visceral and horrific perspective of some of greatest fears ever to be imagined by human beings. Current trends toward urban sprawl and increasing human discord dictates that structural collapse disasters will continue to present themselves at an alarming rate. The proliferation of domestic terrorism, HAZMAT and biological contaminants further complicates the matter further and presents a daunting problem set for Urban Search and Rescue (USAR) organizations around the world. This paper amplifies the case for robot assisted search and rescue that was first presented during the KNOBSAR project initiated at the Colorado School of Mines in 1995. It anticipates increasing technical development in mobile robot technologies and promotes their use for a wide variety of humanitarian assistance missions. Focus is placed on development of advanced robotic systems that are employed in a complementary tool-like fashion as opposed to traditional robotic approaches that portend to replace humans in hazardous tasks. Operational challenges for USAR are presented first, followed by a brief history of mobiles robot development. The paper then presents conformal robotics as a new design paradigm with emphasis on variable geometry and volumes. A section on robot perception follows with an initial attempt to characterize sensing in a volumetric manner. Collaborative rescue is then briefly discussed with an emphasis on marsupial operations and linked mobility. The paper concludes with an emphasis on Human Robot Interface

  7. Mars MetNet Mission - Martian Atmospheric Observational Post Network

    Science.gov (United States)

    Harri, A.-M.; Haukka, H.; Aleksashkin, S.; Arruego, I.; Schmidt, W.; Genzer, M.; Vazquez, L.; Siikonen, T.; Palin, M.

    2017-09-01

    A new kind of planetary exploration mission for Mars is under development in collaboration between the Finnish Meteorological Institute (FMI), Lavochkin Association (LA), Space Research Institute (IKI) and Institutio Nacional de Tecnica Aerospacial (INTA). The Mars MetNet mission is based on a new semi-hard landing vehicle called MetNet Lander (MNL). The scientific payload of the Mars MetNet Precursor [1] mission is divided into three categories: Atmospheric instruments, Optical devices and Composition and structure devices. Each of the payload instruments will provide significant insights in to the Martian atmospheric behavior. The key technologies of the MetNet Lander have been qualified and the electrical qualification model (EQM) of the payload bay has been built and successfully tested.

  8. From Prime to Extended Mission: Evolution of the MER Tactical Uplink Process

    Science.gov (United States)

    Mishkin, Andrew H.; Laubach, Sharon

    2006-01-01

    To support a 90-day surface mission for two robotic rovers, the Mars Exploration Rover mission designed and implemented an intensive tactical operations process, enabling daily commanding of each rover. Using a combination of new processes, custom software tools, a Mars-time staffing schedule, and seven-day-a-week operations, the MER team was able to compress the traditional weeks-long command-turnaround for a deep space robotic mission to about 18 hours. However, the pace of this process was never intended to be continued indefinitely. Even before the end of the three-month prime mission, MER operations began evolving towards greater sustainability. A combination of continued software tool development, increasing team experience, and availability of reusable sequences first reduced the mean process duration to approximately 11 hours. The number of workshifts required to perform the process dropped, and the team returned to a modified 'Earth-time' schedule. Additional process and tool adaptation eventually provided the option of planning multiple Martian days of activity within a single workshift, making 5-day-a-week operations possible. The vast majority of the science team returned to their home institutions, continuing to participate fully in the tactical operations process remotely. MER has continued to operate for over two Earth-years as many of its key personnel have moved on to other projects, the operations team and budget have shrunk, and the rovers have begun to exhibit symptoms of aging.

  9. Socially intelligent robots: dimensions of human-robot interaction.

    Science.gov (United States)

    Dautenhahn, Kerstin

    2007-04-29

    Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.

  10. ESA strategy for human exploration and the Lunar Lander Mission

    Science.gov (United States)

    Gardini, B.

    As part of ESAs Aurora Exploration programme, the Agency has defined, since 2001, a road map for exploration in which, alongside robotic exploration missions, the International Space Station (ISS) and the Moon play an essential role on the way to other destinations in the Solar System, ultimately to a human mission to Mars in a more distant future. In the frame of the Human Spaceflight programme the first European Lunar Lander Mission, with a launch date on 2018, has been defined, targeting the lunar South Pole region to capitalize on unique illumination conditions and provide the opportunity to carry out scientific investigations in a region of the Moon not explored so far. The Phase B1 industrial study, recently initiated, will consolidate the mission design and prepare the ground for the approval of the full mission development phase at the 2012 ESA Council at Ministerial. This paper describes the mission options which have been investigated in the past Phase A studies and presents the main activities foreseen in the Phase B1 to consolidate the mission design, including a robust bread-boards and technology development programme. In addition, the approach to overcoming the mission's major technical and environmental challenges and the activities to advance the definition of the payload elements will be described.

  11. Xenon Acquisition Strategies for High-Power Electric Propulsion NASA Missions

    Science.gov (United States)

    Herman, Daniel A.; Unfried, Kenneth G.

    2015-01-01

    The benefits of high-power solar electric propulsion (SEP) for both NASA's human and science exploration missions combined with the technology investment from the Space Technology Mission Directorate have enabled the development of a 50kW-class SEP mission. NASA mission concepts developed, including the Asteroid Redirect Robotic Mission, and those proposed by contracted efforts for the 30kW-class demonstration have a range of xenon propellant loads from 100's of kg up to 10,000 kg. A xenon propellant load of 10 metric tons represents greater than 10% of the global annual production rate of xenon. A single procurement of this size with short-term delivery can disrupt the xenon market, driving up pricing, making the propellant costs for the mission prohibitive. This paper examines the status of the xenon industry worldwide, including historical xenon supply and pricing. The paper discusses approaches for acquiring on the order of 10 MT of xenon propellant considering realistic programmatic constraints to support potential near-term NASA missions. Finally, the paper will discuss acquisitions strategies for mission campaigns utilizing multiple high-power solar electric propulsion vehicles requiring 100's of metric tons of xenon over an extended period of time where a longer term acquisition approach could be implemented.

  12. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  13. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  14. Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

    This chapter discussed the importance and methods of conducting robot workcell calibration for enhancing the accuracy of the robot TCP positions in industrial robot applications. It shows that the robot frame transformations define the robot geometric parameters such as joint position variables, link dimensions, and joint offsets in an industrial robot system. The D-H representation allows the robot designer to model the robot motion geometry with the four standard D-H parameters. The robot k...

  15. Technological evaluation of gesture and speech interfaces for enabling dismounted soldier-robot dialogue

    Science.gov (United States)

    Kattoju, Ravi Kiran; Barber, Daniel J.; Abich, Julian; Harris, Jonathan

    2016-05-01

    With increasing necessity for intuitive Soldier-robot communication in military operations and advancements in interactive technologies, autonomous robots have transitioned from assistance tools to functional and operational teammates able to service an array of military operations. Despite improvements in gesture and speech recognition technologies, their effectiveness in supporting Soldier-robot communication is still uncertain. The purpose of the present study was to evaluate the performance of gesture and speech interface technologies to facilitate Soldier-robot communication during a spatial-navigation task with an autonomous robot. Gesture and speech semantically based spatial-navigation commands leveraged existing lexicons for visual and verbal communication from the U.S Army field manual for visual signaling and a previously established Squad Level Vocabulary (SLV). Speech commands were recorded by a Lapel microphone and Microsoft Kinect, and classified by commercial off-the-shelf automatic speech recognition (ASR) software. Visual signals were captured and classified using a custom wireless gesture glove and software. Participants in the experiment commanded a robot to complete a simulated ISR mission in a scaled down urban scenario by delivering a sequence of gesture and speech commands, both individually and simultaneously, to the robot. Performance and reliability of gesture and speech hardware interfaces and recognition tools were analyzed and reported. Analysis of experimental results demonstrated the employed gesture technology has significant potential for enabling bidirectional Soldier-robot team dialogue based on the high classification accuracy and minimal training required to perform gesture commands.

  16. Advancing Lidar Sensors Technologies for Next Generation Landing Missions

    Science.gov (United States)

    Amzajerdian, Farzin; Hines, Glenn D.; Roback, Vincent E.; Petway, Larry B.; Barnes, Bruce W.; Brewster, Paul F.; Pierrottet, Diego F.; Bulyshev, Alexander

    2015-01-01

    Missions to solar systems bodies must meet increasingly ambitious objectives requiring highly reliable "precision landing", and "hazard avoidance" capabilities. Robotic missions to the Moon and Mars demand landing at pre-designated sites of high scientific value near hazardous terrain features, such as escarpments, craters, slopes, and rocks. Missions aimed at paving the path for colonization of the Moon and human landing on Mars need to execute onboard hazard detection and precision maneuvering to ensure safe landing near previously deployed assets. Asteroid missions require precision rendezvous, identification of the landing or sampling site location, and navigation to the highly dynamic object that may be tumbling at a fast rate. To meet these needs, NASA Langley Research Center (LaRC) has developed a set of advanced lidar sensors under the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project. These lidar sensors can provide precision measurement of vehicle relative proximity, velocity, and orientation, and high resolution elevation maps of the surface during the descent to the targeted body. Recent flights onboard Morpheus free-flyer vehicle have demonstrated the viability of ALHAT lidar sensors for future landing missions to solar system bodies.

  17. Generic robot architecture

    Science.gov (United States)

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

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  18. Molecular Robots Obeying Asimov's Three Laws of Robotics.

    Science.gov (United States)

    Kaminka, Gal A; Spokoini-Stern, Rachel; Amir, Yaniv; Agmon, Noa; Bachelet, Ido

    2017-01-01

    Asimov's three laws of robotics, which were shaped in the literary work of Isaac Asimov (1920-1992) and others, define a crucial code of behavior that fictional autonomous robots must obey as a condition for their integration into human society. While, general implementation of these laws in robots is widely considered impractical, limited-scope versions have been demonstrated and have proven useful in spurring scientific debate on aspects of safety and autonomy in robots and intelligent systems. In this work, we use Asimov's laws to examine these notions in molecular robots fabricated from DNA origami. We successfully programmed these robots to obey, by means of interactions between individual robots in a large population, an appropriately scoped variant of Asimov's laws, and even emulate the key scenario from Asimov's story "Runaround," in which a fictional robot gets into trouble despite adhering to the laws. Our findings show that abstract, complex notions can be encoded and implemented at the molecular scale, when we understand robots on this scale on the basis of their interactions.

  19. X-traktor: A Rookie Robot, Simple, Yet Complex, Impeccably Designed, a Very Innovative Multidisciplinary Engineering Masterpiece

    Science.gov (United States)

    Henderson, A. J., Jr.

    2001-01-01

    FIRST is the acronym of For Inspiration and Recognition of Science and Technology. FIRST is a 501.C.3 non-profit organization whose mission is to generate an interest in science and engineering among today's young adults and youth. This mission is accomplished through a robot competition held annually in the spring of each year. NASAs Marshall Space Flight Center, Education Programs Department, awarded a grant to Lee High School, the sole engineering magnet school in Huntsville, Alabama. MSFC awarded the grant in hopes of fulfilling its goal of giving back invaluable resources to its community and engineers, as well as educating tomorrow's work force in the high-tech area of science and technology. Marshall engineers, Lee High School students and teachers, and a host of other volunteers and parents officially initiated this robot design process and competitive strategic game plan. The FIRST Robotics Competition is a national engineering contest, which immerses high school students in the exciting world of science and engineering. Teaming with engineers from government agencies, businesses, and universities enables the students to learn about the engineering profession. The students and engineers have six weeks to work together to brainstorm, design, procure, construct, and test their robot. The team then competes in a spirited, 'no-holds barred' tournament, complete with referees, other FIRST-designed robots, cheerleaders, and time clocks. The partnerships developed between schools, government agencies, businesses, and universities provide an exchange of resources and talent that build cooperation and expose students to new and rewarding career options. The result is a fun, exciting, and stimulating environment in which all participants discover the important connections between classroom experiences and real-world applications. This paper will highlight the story, engineering development, and evolutionary design of Xtraktor, the rookie robot, a manufacturing

  20. Mathematical SETI Statistics, Signal Processing, Space Missions

    CERN Document Server

    Maccone, Claudio

    2012-01-01

    This book introduces the Statistical Drake Equation where, from a simple product of seven positive numbers, the Drake Equation is turned into the product of seven positive random variables. The mathematical consequences of this transformation are demonstrated and it is proven that the new random variable N for the number of communicating civilizations in the Galaxy must follow the lognormal probability distribution when the number of factors in the Drake equation is allowed to increase at will. Mathematical SETI also studies the proposed FOCAL (Fast Outgoing Cyclopean Astronomical Lens) space mission to the nearest Sun Focal Sphere at 550 AU and describes its consequences for future interstellar precursor missions and truly interstellar missions. In addition the author shows how SETI signal processing may be dramatically improved by use of the Karhunen-Loève Transform (KLT) rather than Fast Fourier Transform (FFT). Finally, he describes the efforts made to persuade the United Nations to make the central part...

  1. Red Dragon drill missions to Mars

    Science.gov (United States)

    Heldmann, Jennifer L.; Stoker, Carol R.; Gonzales, Andrew; McKay, Christopher P.; Davila, Alfonso; Glass, Brian J.; Lemke, Larry L.; Paulsen, Gale; Willson, David; Zacny, Kris

    2017-12-01

    We present the concept of using a variant of a Space Exploration Technologies Corporation (SpaceX) Dragon space capsule as a low-cost, large-capacity, near-term, Mars lander (dubbed ;Red Dragon;) for scientific and human precursor missions. SpaceX initially designed the Dragon capsule for flight near Earth, and Dragon has successfully flown many times to low-Earth orbit (LEO) and successfully returned the Dragon spacecraft to Earth. Here we present capsule hardware modifications that are required to enable flight to Mars and operations on the martian surface. We discuss the use of the Dragon system to support NASA Discovery class missions to Mars and focus in particular on Dragon's applications for drilling missions. We find that a Red Dragon platform is well suited for missions capable of drilling deeper on Mars (at least 2 m) than has been accomplished to date due to its ability to land in a powered controlled mode, accommodate a long drill string, and provide payload space for sample processing and analysis. We show that a Red Dragon drill lander could conduct surface missions at three possible targets including the ice-cemented ground at the Phoenix landing site (68 °N), the subsurface ice discovered near the Viking 2 (49 °N) site by fresh impact craters, and the dark sedimentary subsurface material at the Curiosity site (4.5 °S).

  2. Conceptual definition of a 50-100 kWe NEP system for planetary science missions

    Science.gov (United States)

    Friedlander, Alan

    1993-01-01

    The Phase 1 objective of this project is to assess the applicability of a common Nuclear Electric Propulsion (NEP) flight system of the 50-100 kWe power class to meet the advanced transportation requirements of a suite of planetary science (robotic) missions, accounting for differences in mission-specific payloads and delivery requirements. The candidate missions are as follows: (1) Comet Nucleus Sample Return; (2) Multiple Mainbelt Asteroid Rendezvous; (3) Jupiter Grand Tour (Galilean satellites and magnetosphere); (4) Uranus Orbiter/Probe (atmospheric entry and landers); (5) Neptune Orbiter/Probe (atmospheric entry and landers); and (6) Pluto-Charon Orbiter/Lander. The discussion is presented in vugraph form.

  3. Colias: An Autonomous Micro Robot for Swarm Robotic Applications

    Directory of Open Access Journals (Sweden)

    Farshad Arvin

    2014-07-01

    Full Text Available Robotic swarms that take inspiration from nature are becoming a fascinating topic for multi-robot researchers. The aim is to control a large number of simple robots in order to solve common complex tasks. Due to the hardware complexities and cost of robot platforms, current research in swarm robotics is mostly performed by simulation software. The simulation of large numbers of these robots in robotic swarm applications is extremely complex and often inaccurate due to the poor modelling of external conditions. In this paper, we present the design of a low-cost, open-platform, autonomous micro-robot (Colias for robotic swarm applications. Colias employs a circular platform with a diameter of 4 cm. It has a maximum speed of 35 cm/s which enables it to be used in swarm scenarios very quickly over large arenas. Long-range infrared modules with an adjustable output power allow the robot to communicate with its direct neighbours at a range of 0.5 cm to 2 m. Colias has been designed as a complete platform with supporting software development tools for robotics education and research. It has been tested in both individual and swarm scenarios, and the observed results demonstrate its feasibility for use as a micro-sized mobile robot and as a low-cost platform for robot swarm applications.

  4. Development of miniaturized instrumentation for Planetary Exploration and its application to the Mars MetNet Precursor Mission

    Science.gov (United States)

    Guerrero, Hector

    2010-05-01

    In this communication is presented the current development of some miniaturized instruments developed for Lander and Rovers for Planetary exploration. In particular, we present a magnetometer with resolution below 10 nT and mass in the range of 45 g; a sun irradiance spectral sensor with 10 bands (UV-VIS-near IR) and a mass in the range of 75 g. These are being developed for the Finnish, Russian and Spanish MetNet Mars Precursor Mission, to be launched in 2011 within the Phobos Grunt (Sample Return). The magnetometer (at present at EQM level) has two triaxial magnetometers (based on commercial AMR technologies) that operate in gradiometer configuration. Moreover has inside the box there a triaxial accelerometer to get the gravitational orientation of the magnetometer after its deployment. This unit is being designed to operate under the Mars severe conditions (at night) without any thermal conditioning. The sun irradiance spectral irradiance sensor is composed by individual silicon photodiodes with interference filters on each, and collimators to prevent wavelength shifts due to oblique incidence. In order allow discrimination between direct and diffuse ambient light, the photodiodes are deployed on the top and lateral sides of this unit. The instrument is being optimized for deep UV detection, dust optical depth and Phobos transits. The accuracy for detecting some atmospheric gases traces is under study. Besides, INTA is developing optical wireless link technologies modules for operating on Mars at distances over 1 m, to minimize harness, reduce weight and improve Assembly Integration and Test (AIT) tasks. Actual emitter/receiver modules are below 10 g allowing data transmission rates over 1 Mbps.

  5. Adaptive Resource Estimation and Visualization for Planning Robotic Missions, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — NASA's future human exploration missions will include remotely operated rovers performing surface exploration and science, as well as free-flyers to reduce the need...

  6. Adaptive Resource Estimation and Visualization for Planning Robotic Missions, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — NASA's future human exploration missions will include remotely operated rovers performing surface exploration and science, as well as free-flyers to reduce the need...

  7. The Stellar Imager (SI)"Vision Mission"

    Science.gov (United States)

    Carpenter, Ken; Danchi, W.; Leitner, J.; Liu, A.; Lyon, R.; Mazzuca, L.; Moe, R.; Chenette, D.; Karovska, M.; Allen, R.

    2004-01-01

    The Stellar Imager (SI) is a "Vision" mission in the Sun-Earth Connection (SEC) Roadmap, conceived for the purpose of understanding the effects of stellar magnetic fields, the dynamos that generate them, and the internal structure and dynamics of the stars in which they exist. The ultimate goal is to achieve the best possible forecasting of solar/stellar magnetic activity and its impact on life in the Universe. The science goals of SI require an ultra-high angular resolution, at ultraviolet wavelengths, on the order of 100 micro-arcsec and thus baselines on the order of 0.5 km. These requirements call for a large, multi-spacecraft (less than 20) imaging interferometer, utilizing precision formation flying in a stable environment, such as in a Lissajous orbit around the Sun-Earth L2 point. SI's resolution will make it an invaluable resource for many other areas of astrophysics, including studies of AGN s, supernovae, cataclysmic variables, young stellar objects, QSO's, and stellar black holes. ongoing mission concept and technology development studies for SI. These studies are designed to refine the mission requirements for the science goals, define a Design Reference Mission, perform trade studies of selected major technical and architectural issues, improve the existing technology roadmap, and explore the details of deployment and operations, as well as the possible roles of astronauts and/or robots in construction and servicing of the facility.

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

    Science.gov (United States)

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

    2015-05-01

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

  9. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

    This book gives descriptions of micro robot about conception of robots and micro robot, match rules of conference of micro robots, search methods of mazes, and future and prospect of robots. It also explains making and design of 8 beat robot like making technique, software, sensor board circuit, and stepping motor catalog, speedy 3, Mr. Black and Mr. White, making and design of 16 beat robot, such as micro robot artist, Jerry 2 and magic art of shortening distances algorithm of robot simulation.

  10. Animation of Panorama of Phoenix's Solar Panel and Robotic Arm

    Science.gov (United States)

    2008-01-01

    [figure removed for brevity, see original site] Click on image for animation This is an animation of panorama images of NASA's Phoenix Mars Lander's solar panel and the lander's Robotic Arm with a sample in the scoop. The image was taken just before the sample was delivered to the Optical Microscope. The images making up this animation were taken by the lander's Surface Stereo Imager looking west during Phoenix's Sol 16 (June 10, 2008), or the 16th Martian day after landing. This view is a part of the 'mission success' panorama that will show the whole landing site in color. The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

  11. In-Space Propulsion Technologies for Robotic Exploration of the Solar System

    Science.gov (United States)

    Johnson, Les; Meyer, Rae Ann; Frame, Kyle

    2006-01-01

    Supporting NASA's Science Mission Directorate, the In-Space Propulsion Technology Program is developing the next generation of space propulsion technologies for robotic, deep-space exploration. Recent technological advancements and demonstrations of key, high-payoff propulsion technologies have been achieved and will be described. Technologies under development and test include aerocapture, solar electric propulsion, solar sail propulsion, and advanced chemical propulsion.

  12. A Mission Concept to Study Multigenerational Mammalian Reproduction in Partial Gravity

    Science.gov (United States)

    Rodgers, Erica M.; Simon, Matthew A.; Chai, Patrick R.; Neilan, James H.; Stillwagen, Fred H.; Williams, Phillip A.; Lewis, Weston

    2016-01-01

    A team at NASA Langley Research Center conducted a study during which a conceptual space mission was designed. In this study, rodents are used as human analogs to gather biological and systems data in a relevant environment applicable to future settlements on Mars. The mission concept uniquely addresses the combined effects of long-durations (one-year or greater), autonomous and robotic operations, and biological responses to partial gravity with an emphasis on reproduction. The objectives of this study were to 1) understand challenges associated with designing an artificial gravity habitat that supports the reproduction and maturation of a large animal colony, 2) identify mission architectures and operational concepts to transport and maintain such a facility, and 3) identify fundamental science considerations for mammalian reproduction studies to inform vehicle design. A model demonstration unit was developed to visualize and test certain design concepts that resulted from these considerations. Three versions of this demonstration unit were built over the course of the study, each taking into account lessons learned from the previous version. This paper presents the updated baseline mission and spacecraft design concepts to achieve these objectives, with a specific emphasis on updates since publication in previous works. Analyses of the integrated system trades among the elements which make up the conceptual vehicle are described to address overall feasibility and identify potential integrated design opportunities. The latest iteration of the habitat robotics design and a conceptual design example for autonomous care of crew and systems are also presented. Finally, the conclusion of this conceptual design study, necessary future analyses to enable such a facility, and comments upon other applications of a similar exploration-focused research facilities are addressed.

  13. Modelling of industrial robot in LabView Robotics

    Science.gov (United States)

    Banas, W.; Cwikła, G.; Foit, K.; Gwiazda, A.; Monica, Z.; Sekala, A.

    2017-08-01

    Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. It’s enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined.

  14. Towards Sociable Robots

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

    This thesis studies aspects of self-sufficient energy (energy autonomy) for truly autonomous robots and towards sociable robots. Over sixty years of history of robotics through three developmental ages containing single robot, multi-robot systems, and social (sociable) robots, the main objective...... of roboticists mostly focuses on how to make a robotic system function autonomously and further, socially. However, such approaches mostly emphasize behavioural autonomy, rather than energy autonomy which is the key factor for not only any living machine, but for life on the earth. Consequently, self......-sufficient energy is one of the challenges for not only single robot or multi-robot systems, but also social and sociable robots. This thesis is to deal with energy autonomy for multi-robot systems through energy sharing (trophallaxis) in which each robot is equipped with two capabilities: self-refueling energy...

  15. Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

    Energy Technology Data Exchange (ETDEWEB)

    Van den Brandt, M. [Office for Science and Technology, Embassy of the Kingdom of the Netherlands, Washington (United States)

    2009-09-15

    This brief article addresses the EATR robot (Energetically Autonomous Tactical Robot) that was developed by Cyclone Power and uses biomass as primary source of energy for propulsion. [Dutch] Een kort artikel over de door Cyclone Power ontwikkelde EATR-robot (Energetically Autonomous Tactical Robot) die voor de voortdrijving biomassa gebruikt als primaire energiebron.

  16. Robot Futures

    DEFF Research Database (Denmark)

    Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... is a useful testbed for developing and evaluating what makes robots expressive; it is also a useful platform for designing robot behaviors and dialogue that result in believable characters. Therefore theatre is a valuable testbed for studying human-robot interaction (HRI). We investigate how audiences...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  17. Soft Robotics Week

    CERN Document Server

    Rossiter, Jonathan; Iida, Fumiya; Cianchetti, Matteo; Margheri, Laura

    2017-01-01

    This book offers a comprehensive, timely snapshot of current research, technologies and applications of soft robotics. The different chapters, written by international experts across multiple fields of soft robotics, cover innovative systems and technologies for soft robot legged locomotion, soft robot manipulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots, flying soft robots, soft robotics in surgery, as well as methods for their modeling and control. Based on the results of the second edition of the Soft Robotics Week, held on April 25 – 30, 2016, in Livorno, Italy, the book reports on the major research lines and novel technologies presented and discussed during the event.

  18. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    OpenAIRE

    Lyder, Andreas

    2010-01-01

    Robots are important tools in our everyday life. Both in industry and at the consumer level they serve the purpose of increasing our scope and extending our capabilities. Modular robots take the next step, allowing us to easily create and build various robots from a set of modules. If a problem arises, a new robot can be assembled rapidly from the existing modules, in contrast to conventional robots, which require a time consuming and expensive development process. In this thesis we define a ...

  19. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

  20. Ionospheric earthquake precursors

    International Nuclear Information System (INIS)

    Bulachenko, A.L.; Oraevskij, V.N.; Pokhotelov, O.A.; Sorokin, V.N.; Strakhov, V.N.; Chmyrev, V.M.

    1996-01-01

    Results of experimental study on ionospheric earthquake precursors, program development on processes in the earthquake focus and physical mechanisms of formation of various type precursors are considered. Composition of experimental cosmic system for earthquake precursors monitoring is determined. 36 refs., 5 figs

  1. Advanced Technologies for Robotic Exploration Leading to Human Exploration: Results from the SpaceOps 2015 Workshop

    Science.gov (United States)

    Lupisella, Mark L.; Mueller, Thomas

    2016-01-01

    This paper will provide a summary and analysis of the SpaceOps 2015 Workshop all-day session on "Advanced Technologies for Robotic Exploration, Leading to Human Exploration", held at Fucino Space Center, Italy on June 12th, 2015. The session was primarily intended to explore how robotic missions and robotics technologies more generally can help lead to human exploration missions. The session included a wide range of presentations that were roughly grouped into (1) broader background, conceptual, and high-level operations concepts presentations such as the International Space Exploration Coordination Group Roadmap, followed by (2) more detailed narrower presentations such as rover autonomy and communications. The broader presentations helped to provide context and specific technical hooks, and helped lay a foundation for the narrower presentations on more specific challenges and technologies, as well as for the discussion that followed. The discussion that followed the presentations touched on key questions, themes, actions and potential international collaboration opportunities. Some of the themes that were touched on were (1) multi-agent systems, (2) decentralized command and control, (3) autonomy, (4) low-latency teleoperations, (5) science operations, (6) communications, (7) technology pull vs. technology push, and (8) the roles and challenges of operations in early human architecture and mission concept formulation. A number of potential action items resulted from the workshop session, including: (1) using CCSDS as a further collaboration mechanism for human mission operations, (2) making further contact with subject matter experts, (3) initiating informal collaborative efforts to allow for rapid and efficient implementation, and (4) exploring how SpaceOps can support collaboration and information exchange with human exploration efforts. This paper will summarize the session and provide an overview of the above subjects as they emerged from the SpaceOps 2015

  2. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

    This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  3. Force-feedback tele operation of industrial robots a cost effective solution for decontamination of nuclear plants

    International Nuclear Information System (INIS)

    Desbats, P.; Andriot, C.; Gicquel, P.; Viallesoubranne, J.P.; Souche, C.

    1998-01-01

    Decontamination and maintenance in hot cells are some new emerging applications of industrial robots in the nuclear fuel cycle plants. Industrial robots are low cost, accurate and reliable manipulator arms which are used in manufacturing industries usually. Thanks to the recent evolution of robotics technologies, some industrial robots may be adapted to nuclear environment. These robots are transportable, sealed and can be decontaminated, and they may be 'hardened' up to a level of irradiation dose sufficient for operation in low and medium irradiating/contaminating environments. Although industrial robots are usually programmed to perform specific and repetitive tasks, they may be remotely tele-operated by human operators as well. This allows industrial robots to perform usual tele-manipulation tasks encountered in the nuclear plants and more. The paper presents the computer based tele-operation control system TAO2000 TM , developed by the Tele-operation and Robotics Service of CEA, which has been applied to the RX90 TM industrial robot from ST-UBLI company. This robot has been selected in order to perform various maintenance and decontamination tasks in COGEMA plants. TAO2000 provides the overall tele-robotic and robotic functions necessary to perform any remote tele-operation application in hostile environment: force-feedback master-slave control; computer- assisted tele-operation of mechanical processes; trajectory programming as well as various robotics functions; graphical modelling of working environment and simulation; automatic path planning with obstacle avoidance; man-machine interface for tasks programming and mission execution. Experimental results reported in the paper demonstrate the feasibility of force-feedback master-slave control of standard industrial robots. Finally, the design of new, cost effective. tele-operation systems based on industrial robots may be intended for nuclear plants maintenance. (author)

  4. Towards Autonomous Operations of the Robonaut 2 Humanoid Robotic Testbed

    Science.gov (United States)

    Badger, Julia; Nguyen, Vienny; Mehling, Joshua; Hambuchen, Kimberly; Diftler, Myron; Luna, Ryan; Baker, William; Joyce, Charles

    2016-01-01

    The Robonaut project has been conducting research in robotics technology on board the International Space Station (ISS) since 2012. Recently, the original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors, as shown in Figure 1. While Robonaut 2 (R2) has been working through checkout exercises on orbit following the upgrade, technology development on the ground has continued to advance. Through the Active Reduced Gravity Offload System (ARGOS), the Robonaut team has been able to develop technologies that will enable full operation of the robotic testbed on orbit using similar robots located at the Johnson Space Center. Once these technologies have been vetted in this way, they will be implemented and tested on the R2 unit on board the ISS. The goal of this work is to create a fully-featured robotics research platform on board the ISS to increase the technology readiness level of technologies that will aid in future exploration missions. Technology development has thus far followed two main paths, autonomous climbing and efficient tool manipulation. Central to both technologies has been the incorporation of a human robotic interaction paradigm that involves the visualization of sensory and pre-planned command data with models of the robot and its environment. Figure 2 shows screenshots of these interactive tools, built in rviz, that are used to develop and implement these technologies on R2. Robonaut 2 is designed to move along the handrails and seat track around the US lab inside the ISS. This is difficult for many reasons, namely the environment is cluttered and constrained, the robot has many degrees of freedom (DOF) it can utilize for climbing, and remote commanding for precision tasks such as grasping handrails is time-consuming and difficult. Because of this, it is important to develop the technologies needed to allow the robot to reach operator-specified positions as

  5. Exploiting Child-Robot Aesthetic Interaction for a Social Robot

    OpenAIRE

    Lee, Jae-Joon; Kim, Dae-Won; Kang, Bo-Yeong

    2012-01-01

    A social robot interacts and communicates with humans by using the embodied knowledge gained from interactions with its social environment. In recent years, emotion has emerged as a popular concept for designing social robots. Several studies on social robots reported an increase in robot sociability through emotional imitative interactions between the robot and humans. In this paper conventional emotional interactions are extended by exploiting the aesthetic theories that the sociability of ...

  6. ASI's space automation and robotics programs: The second step

    Science.gov (United States)

    Dipippo, Simonetta

    1994-01-01

    The strategic decisions taken by ASI in the last few years in building up the overall A&R program, represent the technological drivers for other applications (i.e., internal automation of the Columbus Orbital Facility in the ESA Manned Space program, applications to mobile robots both in space and non-space environments, etc...). In this context, the main area of application now emerging is the scientific missions domain. Due to the broad range of applications of the developed technologies, both in the in-orbit servicing and maintenance of space structures and scientific missions, ASI foresaw the need to have a common technological development path, mainly focusing on: (1) control; (2) manipulation; (3) on-board computing; (4) sensors; and (5) teleoperation. Before entering into new applications in the scientific missions field, a brief overview of the status of the SPIDER related projects is given, underlining also the possible new applications for the LEO/GEO space structures.

  7. Astrobiology and habitability studies in preparation for future Mars missions: trends from investigating minerals, organics and biota

    NARCIS (Netherlands)

    Ehrenfreund, P.; Roling, W.F.M.; Thiel, C.S.; Quin, R.; Septhon, M.A.; Stoker, C.; Kotler, M.; Oliveira Lebre Direito, M.S.; Martins, Z.; Orzechowska, G.; Kidd, R.D.; van Sluis, C.A.; Foing, H.

    2011-01-01

    Several robotic exploration missions will travel to Mars during this decade to investigate habitability and the possible presence of life. Field research at Mars analogue sites such as desert environments can provide important constraints for instrument calibration, landing site strategies and

  8. Astrobiology and habitability studies in preparation for future Mars missions : Trends from investigating minerals, organics and biota

    NARCIS (Netherlands)

    Ehrenfreund, P.; Röling, W.F.M.; Thiel, C.S.; Quinn, R.; Sephton, M.A.; Stoker, C.; Kotler, J.M.; Direito, S.O.L.; Martins, Z.; Orzechowska, G.E.; Kidd, R.D.; Van Sluis, C.A.; Foing, B.H.

    2011-01-01

    Several robotic exploration missions will travel to Mars during this decade to investigate habitability and the possible presence of life. Field research at Mars analogue sites such as desert environments can provide important constraints for instrument calibration, landing site strategies and

  9. Evolutionary robotics

    Indian Academy of Sciences (India)

    In evolutionary robotics, a suitable robot control system is developed automatically through evolution due to the interactions between the robot and its environment. It is a complicated task, as the robot and the environment constitute a highly dynamical system. Several methods have been tried by various investigators to ...

  10. University Research Program in Robotics - "Technologies for Micro-Electrical-Mechanical Systems in directed Stockpile Work (DSW) Radiation and Campaigns", Final Technical Annual Report, Project Period 9/1/06 - 8/31/07

    Energy Technology Data Exchange (ETDEWEB)

    James S. Tulenko; Carl D. Crane

    2007-12-13

    The University Research Program in Robotics (URPR) is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities in robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

  11. Trailblazing Medicine Sustaining Explorers During Interplanetary Missions

    CERN Document Server

    Seedhouse, Erik

    2011-01-01

    To prepare for the day when astronauts leave low-Earth orbit for long-duration exploration missions, space medicine experts must develop a thorough understanding of the effects of microgravity on the human body, as well as ways of mitigating them. To gain a complete understanding of the effects of space on the human body and to create tools and technologies required for successful exploration, space medicince will become an increasingly collaborative discipline incorporating the skills of physicians, biomedical scientists, engineers, and mission planners. Trailblazing Medicine examines the future of space medicine in relation to human space exploration; describes what is necessary to keep a crew alive in space, including the use of surgical robots, surface-based telemedicine, and remote emergency care; discusses bioethical problems such as euthanasia, sex, and precautionary surgery; investigates the medical challenges faced by interplanetary astronauts; details the process of human hibernation.

  12. Human spaceflight and an asteroid redirect mission: Why?

    Science.gov (United States)

    Burchell, M. J.

    2014-08-01

    The planning of human spaceflight programmes is an exercise in careful rationing of a scarce and expensive resource. Current NASA plans are to develop the new capability for human-rated launch into space to replace the Space Transportation System (STS), more commonly known as the Space Shuttle, combined with a heavy lift capability, and followed by an eventual Mars mission. As an intermediate step towards Mars, NASA proposes to venture beyond Low Earth Orbit to cis-lunar space to visit a small asteroid which will be captured and moved to lunar orbit by a separate robotic mission. The rationale for this and how to garner support from the scientific community for such an asteroid mission are discussed. Key points that emerge are that a programme usually has greater legitimacy when it emerges from public debate, mostly via a Presidential Commission, a report by the National Research Council or a Decadal Review of science goals etc. Also, human spaceflight missions need to have support from a wide range of interested communities. Accordingly, an outline scientific case for a human visit to an asteroid is made. Further, it is argued here that the scientific interest in an asteroid mission needs to be included early in the planning stages, so that the appropriate capabilities (here the need for drilling cores and carrying equipment to, and returning samples from, the asteroid) can be included.

  13. Comparative Analysis of Lightweight Robotic Wheeled and Tracked Vehicle

    OpenAIRE

    Johnson, Christopher Patrick

    2012-01-01

    This study focuses on conducting a benchmarking analysis for light wheeled and tracked robotic vehicles. Vehicle mobility has long been a key aspect of research for many organizations. According to the Department of Defense vehicle mobility is defined as, "the overall capacity to move from place to place while retaining its ability to perform its primary mission"[1]. Until recently this definition has been applied exclusively to large scale wheeled and tracked vehicles. With new development l...

  14. A robotic system for automation of logistics functions on the Space Station

    Science.gov (United States)

    Martin, J. C.; Purves, R. B.; Hosier, R. N.; Krein, B. A.

    1988-01-01

    Spacecraft inventory management is currently performed by the crew and as systems become more complex, increased crew time will be required to perform routine logistics activities. If future spacecraft are to function effectively as research labs and production facilities, the efficient use of crew time as a limited resource for performing mission functions must be employed. The use of automation and robotics technology, such as automated warehouse and materials handling functions, can free the crew from many logistics tasks and provide more efficient use of crew time. Design criteria for a Space Station Automated Logistics Inventory Management System is focused on through the design and demonstration of a mobile two armed terrestrial robot. The system functionally represents a 0 gravity automated inventory management system and the problems associated with operating in such an environment. Features of the system include automated storage and retrieval, item recognition, two armed robotic manipulation, and software control of all inventory item transitions and queries.

  15. Context recognition and situation assessment in autonomous mobile robots

    Science.gov (United States)

    Yavnai, Arie

    1993-05-01

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

  16. A Centaur Reconnaissance Mission: a NASA JPL Planetary Science Summer Seminar mission design experience

    Science.gov (United States)

    Chou, L.; Howell, S. M.; Bhattaru, S.; Blalock, J. J.; Bouchard, M.; Brueshaber, S.; Cusson, S.; Eggl, S.; Jawin, E.; Marcus, M.; Miller, K.; Rizzo, M.; Smith, H. B.; Steakley, K.; Thomas, N. H.; Thompson, M.; Trent, K.; Ugelow, M.; Budney, C. J.; Mitchell, K. L.

    2017-12-01

    The NASA Planetary Science Summer Seminar (PSSS), sponsored by the Jet Propulsion Laboratory (JPL), offers advanced graduate students and recent doctoral graduates the unique opportunity to develop a robotic planetary exploration mission that answers NASA's Science Mission Directorate's Announcement of Opportunity for the New Frontiers Program. Preceded by a series of 10 weekly webinars, the seminar is an intensive one-week exercise at JPL, where students work directly with JPL's project design team "TeamX" on the process behind developing mission concepts through concurrent engineering, project design sessions, instrument selection, science traceability matrix development, and risks and cost management. The 2017 NASA PSSS team included 18 participants from various U.S. institutions with a diverse background in science and engineering. We proposed a Centaur Reconnaissance Mission, named CAMILLA, designed to investigate the geologic state, surface evolution, composition, and ring systems through a flyby and impact of Chariklo. Centaurs are defined as minor planets with semi-major axis that lies between Jupiter and Neptune's orbit. Chariklo is both the largest Centaur and the only known minor planet with rings. CAMILLA was designed to address high priority cross-cutting themes defined in National Research Council's Vision and Voyages for Planetary Science in the Decade 2013-2022. At the end of the seminar, a final presentation was given by the participants to a review board of JPL scientists and engineers as well as NASA headquarters executives. The feedback received on the strengths and weaknesses of our proposal provided a rich and valuable learning experience in how to design a successful NASA planetary exploration mission and generate a successful New Frontiers proposal. The NASA PSSS is an educational experience that trains the next generation of NASA's planetary explorers by bridging the gap between scientists and engineers, allowing for participants to learn

  17. ROBOT LITERACY AN APPROACH FOR SHARING SOCIETY WITH INTELLIGENT ROBOTS

    Directory of Open Access Journals (Sweden)

    Hidetsugu Suto

    2013-12-01

    Full Text Available A novel concept of media education called “robot literacy” is proposed. Here, robot literacy refers to the means of forming an appropriate relationship with intelligent robots. It can be considered a kind of media literacy. People who were born after the Internet age can be considered “digital natives” who have new morals and values and behave differently than previous generations in Internet societies. This can cause various problems among different generations. Thus, the necessity of media literacy education is increasing. Internet technologies, as well as robotics technologies are growing rapidly, and people who are born after the “home robot age,” whom the author calls “robot natives,” will be expected to have a certain degree of “robot literacy.” In this paper, the concept of robot literacy is defined and an approach to robot literacy education is discussed.

  18. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically

  19. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

    Full Text Available Cloud robotics is a rapidly evolving field that allows robots to offload computation-intensive and storage-intensive jobs into the cloud. Robots are limited in terms of computational capacity, memory and storage. Cloud provides unlimited computation power, memory, storage and especially collaboration opportunity. Cloud-enabled robots are divided into two categories as standalone and networked robots. This article surveys cloud robotic platforms, standalone and networked robotic works such as grasping, simultaneous localization and mapping (SLAM and monitoring.

  20. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

    Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept of a distribu......Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept...... to be changed, related to multirobot control and human-robot interaction control from virtual to physical representation. The proposed system is valuable for bringing a vast number of issues into education – such as parallel programming, distribution, communication protocols, master dependency, connectivity...

  1. Phoenix Robotic Arm's Workspace After 90 Sols

    Science.gov (United States)

    2008-01-01

    During the first 90 Martian days, or sols, after its May 25, 2008, landing on an arctic plain of Mars, NASA's Phoenix Mars Lander dug several trenches in the workspace reachable with the lander's robotic arm. The lander's Surface Stereo Imager camera recorded this view of the workspace on Sol 90, early afternoon local Mars time (overnight Aug. 25 to Aug. 26, 2008). The shadow of the the camera itself, atop its mast, is just left of the center of the image and roughly a third of a meter (one foot) wide. The workspace is on the north side of the lander. The trench just to the right of center is called 'Neverland.' The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

  2. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

    This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

  3. Robots de servicio

    Directory of Open Access Journals (Sweden)

    Rafael Aracil

    2008-04-01

    Full Text Available Resumen: El término Robots de Servicio apareció a finales de los años 80 como una necesidad de desarrollar máquinas y sistemas capaces de trabajar en entornos diferentes a los fabriles. Los Robots de Servicio tenían que poder trabajar en entornos noestructurados, en condiciones ambientales cambiantes y con una estrecha interacción con los humanos. En 1995 fue creado por la IEEE Robotics and Automation Society, el Technical Committee on Service Robots, y este comité definió en el año 2000 las áreas de aplicación de los Robots de Servicios, que se pueden dividir en dos grandes grupos: 1 sectores productivos no manufactureros tales como edificación, agricultura, naval, minería, medicina, etc. y 2 sectores de servicios propiamente dichos: asistencia personal, limpieza, vigilancia, educación, entretenimiento, etc. En este trabajo se hace una breve revisión de los principales conceptos y aplicaciones de los robots de servicio. Palabras clave: Robots de servicio, robots autónomos, robots de exteriores, robots de educación y entretenimiento, robots caminantes y escaladores, robots humanoides

  4. Filigree Robotics

    DEFF Research Database (Denmark)

    Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben

    2016-01-01

    Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture.......Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....

  5. Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

    Energy Technology Data Exchange (ETDEWEB)

    Maehata, K.; Mori, N. [Kayaba Industry Co. Ltd., Tokyo (Japan)

    1999-05-15

    Concerning a hydraulic bilateral construction robot, its system constitution, structures and functions of important components, and the results of some tests are explained, and the researches conducted at Gifu University are described. The construction robot in this report is a servo controlled system of a version developed from the mini-shovel now available in the market. It is equipped, in addition to an electrohydraulic servo control system, with various sensors for detecting the robot attitude, vibration, and load state, and with a camera for visualizing the surrounding landscape. It is also provided with a bilateral joy stick which is a remote control actuator capable of working sensation feedback and with a rocking unit that creates robot movements of rolling, pitching, and heaving. The construction robot discussed here, with output increased and response faster thanks to the employment of a hydraulic driving system for the aim of building a robot system superior in performance to the conventional model designed primarily for heavy duty, proves after tests to be a highly sophisticated remotely controlled robot control system. (NEDO)

  6. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

    Robotics education courses are rapidly spreading throughout the nation's colleges and universities. Engineering schools are offering robotics courses as part of their mechanical or manufacturing engineering degree program. Two year colleges are developing an Associate Degree in robotics. In addition to regular courses, colleges are offering seminars in robotics and related fields. These seminars draw excellent participation at costs running up to $200 per day for each participant. The last one drew 275 people from Texas to Virginia. Seminars are also offered by trade associations, private consulting firms, and robot vendors. IBM, for example, has the Robotic Assembly Institute in Boca Raton and charges about $1,000 per week for course. This is basically for owners of IBM robots. Education (and training) can be as short as one day or as long as two years. Here is the educational pattern that is developing now

  7. Human space flight and future major space astrophysics missions: servicing and assembly

    Science.gov (United States)

    Thronson, Harley; Peterson, Bradley M.; Greenhouse, Matthew; MacEwen, Howard; Mukherjee, Rudranarayan; Polidan, Ronald; Reed, Benjamin; Siegler, Nicholas; Smith, Hsiao

    2017-09-01

    Some concepts for candidate future "flagship" space observatories approach the payload limits of the largest launch vehicles planned for the next few decades, specifically in the available volume in the vehicle fairing. This indicates that an alternative to autonomous self-deployment similar to that of the James Webb Space Telescope will eventually be required. Moreover, even before this size limit is reached, there will be significant motivation to service, repair, and upgrade in-space missions of all sizes, whether to extend the life of expensive facilities or to replace outworn or obsolete onboard systems as was demonstrated so effectively by the Hubble Space Telescope program. In parallel with these challenges to future major space astronomy missions, the capabilities of in-space robotic systems and the goals for human space flight in the 2020s and 2030s offer opportunities for achieving the most exciting science goals of the early 21st Century. In this paper, we summarize the history of concepts for human operations beyond the immediate vicinity of the Earth, the importance of very large apertures for scientific discovery, and current capabilities and future developments in robot- and astronaut-enabled servicing and assembly.

  8. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

    This paper considers art-based research practice in robotics through a discussion of our course and relevant research projects in autonomous art. The undergraduate course integrates basic concepts of computer science, robotic art, live performance and aesthetic theory. Through practice...... in robotics research (such as aesthetics, culture and perception), we believe robot aesthetics is an important area for research in contemporary aesthetics....

  9. NASA Intelligent Systems Project: Results, Accomplishments and Impact on Science Missions

    Science.gov (United States)

    Coughlan, Joseph C.

    2005-01-01

    The Intelligent Systems Project was responsible for much of NASA's programmatic investment in artificial intelligence and advanced information technologies. IS has completed three major project milestones which demonstrated increased capabilities in autonomy, human centered computing, and intelligent data understanding. Autonomy involves the ability of a robot to place an instrument on a remote surface with a single command cycle. Human centered computing supported a collaborative, mission centric data and planning system for the Mars Exploration Rovers and data understanding has produced key components of a terrestrial satellite observation system with automated modeling and data analysis capabilities. This paper summarizes the technology demonstrations and metrics which quantify and summarize these new technologies which are now available for future Nasa missions.

  10. Robots: l'embarras de richesses [:survey of robots available

    International Nuclear Information System (INIS)

    Meieran, H.; Brittain, K.; Sturkey, R.

    1989-01-01

    A survey of robots available for use in the nuclear industry is presented. Two new categories of mobile robots have been introduced since the last survey (April 1987): pipe crawlers and underwater robots. The number of robots available has risen to double what it was two years ago and four times what it was in 1986. (U.K.)

  11. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

    Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.

  12. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID

    2009-11-17

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

  13. Initial Validation of Robotic Operations for In-Space Assembly of a Large Solar Electric Propulsion Transport Vehicle

    Science.gov (United States)

    Komendera, Erik E.; Dorsey, John T.

    2017-01-01

    Developing a capability for the assembly of large space structures has the potential to increase the capabilities and performance of future space missions and spacecraft while reducing their cost. One such application is a megawatt-class solar electric propulsion (SEP) tug, representing a critical transportation ability for the NASA lunar, Mars, and solar system exploration missions. A series of robotic assembly experiments were recently completed at Langley Research Center (LaRC) that demonstrate most of the assembly steps for the SEP tug concept. The assembly experiments used a core set of robotic capabilities: long-reach manipulation and dexterous manipulation. This paper describes cross-cutting capabilities and technologies for in-space assembly (ISA), applies the ISA approach to a SEP tug, describes the design and development of two assembly demonstration concepts, and summarizes results of two sets of assembly experiments that validate the SEP tug assembly steps.

  14. Intelligent Unmanned Vehicle Systems Suitable For Individual or Cooperative Missions

    Energy Technology Data Exchange (ETDEWEB)

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

    2007-04-01

    The Department of Energy’s Idaho National Laboratory (INL) has been researching autonomous unmanned vehicle systems for the past several 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 vehicle 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.

  15. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  16. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  17. Space astronomy for the mid-21st century: Robotically maintained space telescopes

    Science.gov (United States)

    Schartel, N.

    2012-04-01

    The historical development of ground based astronomical telescopes leads us to expect that space-based astronomical telescopes will need to be operational for many decades. The exchange of scientific instruments in space will be a prerequisite for the long lasting scientific success of such missions. Operationally, the possibility to repair or replace key spacecraft components in space will be mandatory. We argue that these requirements can be fulfilled with robotic missions and see the development of the required engineering as the main challenge. Ground based operations, scientifically and technically, will require a low operational budget of the running costs. These can be achieved through enhanced autonomy of the spacecraft and mission independent concepts for the support of the software. This concept can be applied to areas where the mirror capabilities do not constrain the lifetime of the mission. Online material is available at the CDS via http://cdsarc.u-strasbg.fr/cgi-bin/qcat?J/AN/333/209

  18. Ulysses, the end of an extraordinary mission

    Science.gov (United States)

    2008-06-01

    Ulysses, a pioneering ESA/NASA mission, was launched in October 1990 to explore uncharted territories - the regions above and below the Sun’s poles - and study our star’s sphere of influence, or heliosphere, in the four dimensions of space and time. Originally designed for a lifetime of five years, the mission has surpassed all expectations. The reams of data Ulysses has returned have forever changed the way scientists view the Sun and its effect on the space surrounding it. Media representatives interested in attending the press conference are invited to register using the attached form. Those not able to attend will have the opportunity to follow the press conference using the following phone number: +33 1 56785733 (listening-mode only). The programme of the event is as follows: The Ulysses Legacy Press Conference 12 June 2008, 15:30, Room 137, ESA Headquarters, 8-10 rue Mario-Nikis, Paris Event programme 15:30 Welcome, by David Southwood, ESA Director of Science and Robotic Exploration (with a joint ESA/NASA statement) 15:40 Ulysses: a modern-day Odyssey, by Richard Marsden, ESA Ulysses Project Scientist and Mission Manager 15:50 The Ulysses scientific legacy: Inside the heliosphere, by Richard Marsden,ESA Ulysses Project Scientist and Mission Manager 16:00 The Ulysses scientific legacy: Outside the heliosphere, by Ed Smith, NASA Ulysses Project Scientist 16:10 Ulysses, the over-achiever: challenges and successes of a 17-year-old mission, by Nigel Angold, ESA Ulysses Mission Operations Manager 16:20 Questions and Answers, Panelists: David Southwood, Richard Marsden, Ed Smith, Nigel Angold and Ed Massey (NASA Ulysses Project Manager) 16:40 Interview opportunities 17:30 End of event

  19. Neuro-robotics from brain machine interfaces to rehabilitation robotics

    CERN Document Server

    Artemiadis

    2014-01-01

    Neuro-robotics is one of the most multidisciplinary fields of the last decades, fusing information and knowledge from neuroscience, engineering and computer science. This book focuses on the results from the strategic alliance between Neuroscience and Robotics that help the scientific community to better understand the brain as well as design robotic devices and algorithms for interfacing humans and robots. The first part of the book introduces the idea of neuro-robotics, by presenting state-of-the-art bio-inspired devices. The second part of the book focuses on human-machine interfaces for pe

  20. Development of a Deep-Penetrating, Compact Geothermal Heat Flow System for Robotic Lunar Geophysical Missions

    Science.gov (United States)

    Nagihara, Seiichi; Zacny, Kris; Hedlund, Magnus; Taylor, Patrick T.

    2012-01-01

    Geothermal heat flow measurements are a high priority for the future lunar geophysical network missions recommended by the latest Decadal Survey of the National Academy. Geothermal heat flow is obtained as a product of two separate measurements of geothermal gradient and thermal conductivity of the regolith/soil interval penetrated by the instrument. The Apollo 15 and 17 astronauts deployed their heat flow probes down to 1.4-m and 2.3-m depths, respectively, using a rotary-percussive drill. However, recent studies show that the heat flow instrument for a lunar mission should be capable of excavating a 3-m deep hole to avoid the effect of potential long-term changes of the surface thermal environment. For a future robotic geophysical mission, a system that utilizes a rotary/percussive drill would far exceed the limited payload and power capacities of the lander/rover. Therefore, we are currently developing a more compact heat flow system that is capable of 3-m penetration. Because the grains of lunar regolith are cohesive and densely packed, the previously proposed lightweight, internal hammering systems (the so-called moles ) are not likely to achieve the desired deep penetration. The excavation system for our new heat flow instrumentation utilizes a stem which winds out of a pneumatically driven reel and pushes its conical tip into the regolith. Simultaneously, gas jets, emitted from the cone tip, loosen and blow away the soil. Lab tests have demonstrated that this proboscis system has much greater excavation capability than a mole-based heat flow system, while it weighs about the same. Thermal sensors are attached along the stem and at the tip of the penetrating cone. Thermal conductivity is measured at the cone tip with a short (1- to 1.5-cm long) needle sensor containing a resistance temperature detector (RTD) and a heater wire. When it is inserted into the soil, the heater is activated. Thermal conductivity of the soil is obtained from the rate of temperature

  1. Cloud Robotics Model

    OpenAIRE

    Mester, Gyula

    2015-01-01

    Cloud Robotics was born from the merger of service robotics and cloud technologies. It allows robots to benefit from the powerful computational, storage, and communications resources of modern data centres. Cloud robotics allows robots to take advantage of the rapid increase in data transfer rates to offload tasks without hard real time requirements. Cloud Robotics has rapidly gained momentum with initiatives by companies such as Google, Willow Garage and Gostai as well as more than a dozen a...

  2. Space Robotics Challenge

    Data.gov (United States)

    National Aeronautics and Space Administration — The Space Robotics Challenge seeks to infuse robot autonomy from the best and brightest research groups in the robotics community into NASA robots for future...

  3. Are Sex Robots as Bad as Killing Robots

    OpenAIRE

    Richardson, Kathleen

    2016-01-01

    In 2015 the Campaign Against Sex Robots was launched to draw attention to the technological production of new kinds of objects: sex robots of women and children. The campaign was launched shortly after the Future of Life Institute published an online petition: “Autonomous Weapons: An Open Letter From AI and Robotics Researchers” which was signed by leading luminaries in the field of AI and Robotics. In response to the Campaign, an academic at Oxford University opened an ethics thread “Are sex...

  4. The NASA In-Space Propulsion Technology Project, Products, and Mission Applicability

    Science.gov (United States)

    Anderson, David J.; Pencil, Eric; Liou, Larry; Dankanich, John; Munk, Michelle M.; Kremic, Tibor

    2009-01-01

    The In-Space Propulsion Technology (ISPT) Project, funded by NASA s Science Mission Directorate (SMD), is continuing to invest in propulsion technologies that will enable or enhance NASA robotic science missions. This overview provides development status, near-term mission benefits, applicability, and availability of in-space propulsion technologies in the areas of aerocapture, electric propulsion, advanced chemical thrusters, and systems analysis tools. Aerocapture investments improved: guidance, navigation, and control models of blunt-body rigid aeroshells; atmospheric models for Earth, Titan, Mars, and Venus; and models for aerothermal effects. Investments in electric propulsion technologies focused on completing NASA s Evolutionary Xenon Thruster (NEXT) ion propulsion system, a 0.6 to 7 kW throttle-able gridded ion system. The project is also concluding its High Voltage Hall Accelerator (HiVHAC) mid-term product specifically designed for a low-cost electric propulsion option. The primary chemical propulsion investment is on the high-temperature Advanced Material Bipropellant Rocket (AMBR) engine providing higher performance for lower cost. The project is also delivering products to assist technology infusion and quantify mission applicability and benefits through mission analysis and tools. In-space propulsion technologies are applicable, and potentially enabling for flagship destinations currently under evaluation, as well as having broad applicability to future Discovery and New Frontiers mission solicitations.

  5. Affordable Exploration of Mars: Recommendations from a Community Workshop on Sustainable Initial Human Missions

    Science.gov (United States)

    Thronson, Harley; Carberry, Chris; Cassady, R. J.; Cooke, Doug; Hopkins, Joshua; Perino, Maria A.; Kirkpatrick, Jim; Raftery, Michael; Westenberg, Artemis; Zucker, Richard

    2013-01-01

    There is a growing consensus that within two decades initial human missions to Mars are affordable under plausible budget assumptions and with sustained international participation. In response to this idea, a distinguished group of experts from the Mars exploration stakeholder communities attended the "Affording Mars" workshop at George Washington University in December, 2013. Participants reviewed and discussed scenarios for affordable and sustainable human and robotic exploration of Mars, the role of the International Space Station over the coming decade as the essential early step toward humans to Mars, possible "bridge" missions in the 2020s, key capabilities required for affordable initial missions, international partnerships, and a usable definition of affordability and sustainability. We report here the findings, observations, and recommendations that were agreed to at that workshop.

  6. NASA's Planetary Science Missions and Participations

    Science.gov (United States)

    Daou, Doris; Green, James L.

    2017-04-01

    NASA's Planetary Science Division (PSD) and space agencies around the world are collaborating on an extensive array of missions exploring our solar system. Planetary science missions are conducted by some of the most sophisticated robots ever built. International collaboration is an essential part of what we do. NASA has always encouraged international participation on our missions both strategic (ie: Mars 2020) and competitive (ie: Discovery and New Frontiers) and other Space Agencies have reciprocated and invited NASA investigators to participate in their missions. NASA PSD has partnerships with virtually every major space agency. For example, NASA has had a long and very fruitful collaboration with ESA. ESA has been involved in the Cassini mission and, currently, NASA funded scientists are involved in the Rosetta mission (3 full instruments, part of another), BepiColombo mission (1 instrument in the Italian Space Agency's instrument suite), and the Jupiter Icy Moon Explorer mission (1 instrument and parts of two others). In concert with ESA's Mars missions NASA has an instrument on the Mars Express mission, the orbit-ground communications package on the Trace Gas Orbiter (launched in March 2016) and part of the DLR/Mars Organic Molecule Analyzer instruments going onboard the ExoMars Rover (to be launched in 2018). NASA's Planetary Science Division has continuously provided its U.S. planetary science community with opportunities to include international participation on NASA missions too. For example, NASA's Discovery and New Frontiers Programs provide U.S. scientists the opportunity to assemble international teams and design exciting, focused planetary science investigations that would deepen the knowledge of our Solar System. The PSD put out an international call for instruments on the Mars 2020 mission. This procurement led to the selection of Spain and Norway scientist leading two instruments and French scientists providing a significant portion of another

  7. Multi-robot control interface

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

    2011-12-06

    Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes a multi-robot common window comprised of information received from each of the plurality of robots.

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

    Science.gov (United States)

    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.

  9. Modelling and Scheduling Autonomous Mobile Robot for a Real-World Industrial Application

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa; Bøgh, Simon

    2013-01-01

    proposes an approach composing of: a mobile robot system design (“Little Helper”), an appropriate and comprehensive industrial application (multiple-part feeding tasks), an implementation concept for industrial environments (the bartender concept), and a real-time heuristics integrated into Mission...... from the real-time heuristics. The results also demonstrated that the proposed real-time heuristics has capability of finding the best schedule in online production mode....

  10. Discrete event command and control for networked teams with multiple missions

    Science.gov (United States)

    Lewis, Frank L.; Hudas, Greg R.; Pang, Chee Khiang; Middleton, Matthew B.; McMurrough, Christopher

    2009-05-01

    During mission execution in military applications, the TRADOC Pamphlet 525-66 Battle Command and Battle Space Awareness capabilities prescribe expectations that networked teams will perform in a reliable manner under changing mission requirements, varying resource availability and reliability, and resource faults. In this paper, a Command and Control (C2) structure is presented that allows for computer-aided execution of the networked team decision-making process, control of force resources, shared resource dispatching, and adaptability to change based on battlefield conditions. A mathematically justified networked computing environment is provided called the Discrete Event Control (DEC) Framework. DEC has the ability to provide the logical connectivity among all team participants including mission planners, field commanders, war-fighters, and robotic platforms. The proposed data management tools are developed and demonstrated on a simulation study and an implementation on a distributed wireless sensor network. The results show that the tasks of multiple missions are correctly sequenced in real-time, and that shared resources are suitably assigned to competing tasks under dynamically changing conditions without conflicts and bottlenecks.

  11. Space robotics--DLR's telerobotic concepts, lightweight arms and articulated hands.

    Science.gov (United States)

    Hirzinger, G; Brunner, B; Landzettel, K; Sporer, N; Butterfass, J; Schedl, M

    2003-01-01

    The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of "mechatronic" ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the space station.

  12. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

    This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.

  13. FPGA for Robotic Applications: from Android/Humanoid Robots to Artificial Men

    Directory of Open Access Journals (Sweden)

    Tole Sutikno

    2011-12-01

    Full Text Available Researches on home robots have been increasing enormously. There has always existed a continuous research effort on problems of anthropomorphic robots which is now called humanoid robots. Currently, robotics has evolved to the point that different branches have reached a remarkable level of maturity, that neural network and fuzzy logic are the main artificial intelligence as intelligent control on the robotics. Despite all this progress, while aiming at accomplishing work-tasks originally charged only to humans, robotic science has perhaps quite naturally turned into the attempt to create artificial men. It is true that artificial men or android humanoid robots open certainly very broad prospects. This “robot” may be viewed as a personal helper, and it will be called a home-robot, or personal robot. This is main reason why the two special sections are issued in the TELKOMNIKA sequentially.

  14. Teaching Joint-Level Robot Programming with a New Robotics Software Tool

    Directory of Open Access Journals (Sweden)

    Fernando Gonzalez

    2017-12-01

    Full Text Available With the rising popularity of robotics in our modern world there is an increase in the number of engineering programs that offer the basic Introduction to Robotics course. This common introductory robotics course generally covers the fundamental theory of robotics including robot kinematics, dynamics, differential movements, trajectory planning and basic computer vision algorithms commonly used in the field of robotics. Joint programming, the task of writing a program that directly controls the robot’s joint motors, is an activity that involves robot kinematics, dynamics, and trajectory planning. In this paper, we introduce a new educational robotics tool developed for teaching joint programming. The tool allows the student to write a program in a modified C language that controls the movement of the arm by controlling the velocity of each joint motor. This is a very important activity in the robotics course and leads the student to gain knowledge of how to build a robotic arm controller. Sample assignments are presented for different levels of difficulty.

  15. Advanced concept for a crewed mission to the martian moons

    Science.gov (United States)

    Conte, Davide; Di Carlo, Marilena; Budzyń, Dorota; Burgoyne, Hayden; Fries, Dan; Grulich, Maria; Heizmann, Sören; Jethani, Henna; Lapôtre, Mathieu; Roos, Tobias; Castillo, Encarnación Serrano; Schermann, Marcel; Vieceli, Rhiannon; Wilson, Lee; Wynard, Christopher

    2017-10-01

    This paper presents the conceptual design of the IMaGInE (Innovative Mars Global International Exploration) Mission. The mission's objectives are to deliver a crew of four astronauts to the surface of Deimos and perform a robotic exploration mission to Phobos. Over the course of the 343 day mission during the years 2031 and 2032, the crew will perform surface excursions, technology demonstrations, In Situ Resource Utilization (ISRU) of the Martian moons, as well as site reconnaissance for future human exploration of Mars. This mission design makes use of an innovative hybrid propulsion concept (chemical and electric) to deliver a relatively low-mass reusable crewed spacecraft (approximately 100 mt) to cis-martian space. The crew makes use of torpor which minimizes launch payload mass. Green technologies are proposed as a stepping stone towards minimum environmental impact space access. The usage of beamed energy to power a grid of decentralized science stations is introduced, allowing for large scale characterization of the Martian environment. The low-thrust outbound and inbound trajectories are computed through the use of a direct method and a multiple shooting algorithm that considers various thrust and coast sequences to arrive at the final body with zero relative velocity. It is shown that the entire mission is rooted within the current NASA technology roadmap, ongoing scientific investments and feasible with an extrapolated NASA Budget. The presented mission won the 2016 Revolutionary Aerospace Systems Concepts - Academic Linkage (RASC-AL) competition.

  16. Timing of Multimodal Robot Behaviors during Human-Robot Collaboration

    DEFF Research Database (Denmark)

    Jensen, Lars Christian; Fischer, Kerstin; Suvei, Stefan-Daniel

    2017-01-01

    In this paper, we address issues of timing between robot behaviors in multimodal human-robot interaction. In particular, we study what effects sequential order and simultaneity of robot arm and body movement and verbal behavior have on the fluency of interactions. In a study with the Care-O-bot, ...... output plays a special role because participants carry their expectations from human verbal interaction into the interactions with robots....

  17. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

    Full Text Available This problem was to calculate the path a robot would take to navigate an obstacle field and get to its goal. Three obstacles were given as negative potential fields which the robot avoided, and a goal was given a positive potential field that attracted the robot. The robot decided each step based on its distance, angle, and influence from every object. After each step, the robot recalculated and determined its next step until it reached its goal. The robot's calculations and steps were simulated with Microsoft Excel.

  18. Accessing Information on the Mars Exploration Rovers Mission

    Science.gov (United States)

    Walton, J. D.; Schreiner, J. A.

    2005-12-01

    In January 2004, the Mars Exploration Rovers (MER) mission successfully deployed two robotic geologists - Spirit and Opportunity - to opposite sides of the red planet. Onboard each rover is an array of cameras and scientific instruments that send data back to Earth, where ground-based systems process and store the information. During the height of the mission, a team of about 250 scientists and engineers worked around the clock to analyze the collected data, determine a strategy and activities for the next day and then carefully compose the command sequences that would instruct the rovers in how to perform their tasks. The scientists and engineers had to work closely together to balance the science objectives with the engineering constraints so that the mission achieved its goals safely and quickly. To accomplish this coordinated effort, they adhered to a tightly orchestrated schedule of meetings and processes. To keep on time, it was critical that all team members were aware of what was happening, knew how much time they had to complete their tasks, and could easily access the information they need to do their jobs. Computer scientists and software engineers at NASA Ames Research Center worked closely with the mission managers at the Jet Propulsion Laboratory (JPL) to create applications that support the mission. One such application, the Collaborative Information Portal (CIP), helps mission personnel perform their daily tasks, whether they work inside mission control or the science areas at JPL, or in their homes, schools, or offices. With a three-tiered, service-oriented architecture (SOA) - client, middleware, and data repository - built using Java and commercial software, CIP provides secure access to mission schedules and to data and images transmitted from the Mars rovers. This services-based approach proved highly effective for building distributed, flexible applications, and is forming the basis for the design of future mission software systems. Almost two

  19. Active space debris removal—A preliminary mission analysis and design

    Science.gov (United States)

    Castronuovo, Marco M.

    2011-11-01

    The active removal of five to ten large objects per year from the low Earth orbit (LEO) region is the only way to prevent the debris collisions from cascading. Among the three orbital regions near the Earth where most catastrophic collisions are predicted to occur, the one corresponding to a sun-synchronous condition is considered the most relevant. Forty-one large rocket bodies orbiting in this belt have been identified as the priority targets for removal. As part of a more comprehensive system engineering solution, a space mission dedicated to the de-orbiting of five rocket bodies per year from this orbital regime has been designed. The selected concept of operations envisages the launch of a satellite carrying a number of de-orbiting devices, such as solid propellant kits. The satellite performs a rendezvous with an identified object and mates with it by means of a robotic arm. A de-orbiting device is attached to the object by means of a second robotic arm, the object is released and the device is activated. The spacecraft travels then to the next target. The present paper shows that an active debris removal mission capable of de-orbiting 35 large objects in 7 years is technically feasible, and the resulting propellant mass budget is compatible with many existing platforms.

  20. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

    Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial that both the research and industrial communities work together to establish a strong evidence-base for healthcare robotics, and surmount likely adoption barriers. This article presents a broad contextualization of robots in healthcare by identifying key sta...

  1. Xenon Acquisition Strategies for High-Power Electric Propulsion NASA Missions

    Science.gov (United States)

    Herman, Daniel A.; Unfried, Kenneth G.

    2015-01-01

    Solar electric propulsion (SEP) has been used for station-keeping of geostationary communications satellites since the 1980s. Solar electric propulsion has also benefitted from success on NASA Science Missions such as Deep Space One and Dawn. The xenon propellant loads for these applications have been in the 100s of kilograms range. Recent studies performed for NASA's Human Exploration and Operations Mission Directorate (HEOMD) have demonstrated that SEP is critically enabling for both near-term and future exploration architectures. The high payoff for both human and science exploration missions and technology investment from NASA's Space Technology Mission Directorate (STMD) are providing the necessary convergence and impetus for a 30-kilowatt-class SEP mission. Multiple 30-50- kilowatt Solar Electric Propulsion Technology Demonstration Mission (SEP TDM) concepts have been developed based on the maturing electric propulsion and solar array technologies by STMD with recent efforts focusing on an Asteroid Redirect Robotic Mission (ARRM). Xenon is the optimal propellant for the existing state-of-the-art electric propulsion systems considering efficiency, storability, and contamination potential. NASA mission concepts developed and those proposed by contracted efforts for the 30-kilowatt-class demonstration have a range of xenon propellant loads from 100s of kilograms up to 10,000 kilograms. This paper examines the status of the xenon industry worldwide, including historical xenon supply and pricing. The paper will provide updated information on the xenon market relative to previous papers that discussed xenon production relative to NASA mission needs. The paper will discuss the various approaches for acquiring on the order of 10 metric tons of xenon propellant to support potential near-term NASA missions. Finally, the paper will discuss acquisitions strategies for larger NASA missions requiring 100s of metric tons of xenon will be discussed.

  2. RIPE [robot independent programming environment]: A robot independent programming environment

    International Nuclear Information System (INIS)

    Miller, D.J.; Lennox, R.C.

    1990-01-01

    Remote manual operations in radiation environments are typically performed very slowly. Sensor-based computer-controlled robots hold great promise for increasing the speed and safety of remote operations; however, the programming of robotic systems has proven to be expensive and difficult. Generalized approaches to robot programming that reuse available software modules and employ programming languages which are independent of the specific robotic and sensory devices being used are needed to speed software development and increase overall system reliability. This paper discusses the robot independent programming environment (RIPE) developed at Sandia National Laboratories (SNL). The RIPE is an object-oriented approach to robot system architectures; it is a software environment that facilitates rapid design and implementation of complex robot systems for diverse applications. An architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models applications using software objects. These objects are designed to support model-based automated programming of robotic and machining devices, real-time sensor-based control, error handling, and robust communication

  3. Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots.

    Science.gov (United States)

    Vujovic, Vuk; Rosendo, Andre; Brodbeck, Luzius; Iida, Fumiya

    2017-01-01

    Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we introduce an evolutionary-developmental (evo-devo) experiment with real-world robots. It allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world. To test diverse robot morphologies, robot legs of variable shapes were generated during the evolutionary process and autonomously built using additive fabrication. We present two cases with evo-devo experiments and one with evolution, and we hypothesize that the addition of a developmental stage can be used within robotics to improve performance. Moreover, our results show that a nonlinear system-environment interaction exists, which explains the nontrivial locomotion patterns observed. In the future, robots will be present in our daily lives, and this work introduces for the first time physical robots that evolve and grow while interacting with the environment.

  4. Recent advances in robotics

    International Nuclear Information System (INIS)

    Beni, G.; Hackwood, S.

    1984-01-01

    Featuring 10 contributions, this volume offers a state-of-the-art report on robotic science and technology. It covers robots in modern industry, robotic control to help the disabled, kinematics and dynamics, six-legged walking robots, a vector analysis of robot manipulators, tactile sensing in robots, and more

  5. Propulsive maneuver design for the Mars Exploration Rover mission

    Science.gov (United States)

    Potts, Christopher L.; Kangas, Julie A.; Raofi, Behzad

    2006-01-01

    Starting from approximately 150 candidate Martian landing sites, two distinct sites have been selected for further investigation by sophisticated rovers. The two rovers, named 'Spirit' and 'Opportunity', begin the surface mission respectively to Gusec Crater and Meridiani Planum in January 2004. the rovers are essentially robotic geologists, sent on a mission to research for evidence in the rocks and soil pertaining to the historical presence of water and the ability to possibly sustain life. Before this scientific search can commence, precise trajectory targeting and control is necessary to achieve the entry requirements for the selected landing sites within the constraints of the flight system. The maneuver design challenge is to meet or exceed these requirements while maintaining the necessary design flexibility to accommodate additional project concerns. Opportunities to improve performance and reduce risk based on trajectory control characteristics are also evaluated.

  6. Model Based Mission Assurance: Emerging Opportunities for Robotic Systems

    Science.gov (United States)

    Evans, John W.; DiVenti, Tony

    2016-01-01

    The emergence of Model Based Systems Engineering (MBSE) in a Model Based Engineering framework has created new opportunities to improve effectiveness and efficiencies across the assurance functions. The MBSE environment supports not only system architecture development, but provides for support of Systems Safety, Reliability and Risk Analysis concurrently in the same framework. Linking to detailed design will further improve assurance capabilities to support failures avoidance and mitigation in flight systems. This also is leading new assurance functions including model assurance and management of uncertainty in the modeling environment. Further, the assurance cases, a structured hierarchal argument or model, are emerging as a basis for supporting a comprehensive viewpoint in which to support Model Based Mission Assurance (MBMA).

  7. Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner

    Directory of Open Access Journals (Sweden)

    Jesús Morales

    2009-01-01

    Full Text Available Due to its simplicity and efficiency, the pure-pursuit path tracking method has been widely employed for planned navigation of nonholonomic ground vehicles. In this paper, we investigate the application of this technique for reactive tracking of paths that are implicitly defined by perceived environmental features. Goal points are obtained through an efficient interpretation of range data from an onboard 2D laser scanner to follow persons, corridors, and walls. Moreover, this formulation allows that a robotic mission can be composed of a combination of different types of path segments. These techniques have been successfully tested in the tracked mobile robot Auriga-α in an indoor environment.

  8. CE-4 Mission and Future Journey to Lunar

    Science.gov (United States)

    Zou, Yongliao; Wang, Qin; Liu, Xiaoqun

    2016-07-01

    Chang'E-4 mission, being undertaken by phase two of China Lunar Exploration Program, represents China's first attempt to explore farside of lunar surface. Its probe includes a lander, a rover and a telecommunication relay which is scheduled to launch in around 2018. The scientific objectives of CE-4 mission will be implemented to investigate the lunar regional geological characteristics of landing and roving area, and also will make the first radio-astronomy measurements from the most radio-quiet region of near-earth space. The rover will opreate for at least 3 months, the lander for half a year, and the relay for no less than 3 years. Its scinetific instruments includes Cameras, infrared imaging spectrometer, Penetrating Radar onboard the rover in which is the same as the paylads on board the CE-3 rover, and a Dust-analyzer, a Temperature-instrument and a Wide Band Low Frequency Digital Radio Astronomical Station will be installed on board the lander. Our scientific goals of the future lunar exploration will aim at the lunar geology, resources and surface environments. A series of exploraion missions such as robotic exploration and non-manned lunar scientific station is proposed in this paper.

  9. Put Your Robot In, Put Your Robot Out: Sequencing through Programming Robots in Early Childhood

    Science.gov (United States)

    Kazakoff, Elizabeth R.; Bers, Marina Umaschi

    2014-01-01

    This article examines the impact of programming robots on sequencing ability in early childhood. Thirty-four children (ages 4.5-6.5 years) participated in computer programming activities with a developmentally appropriate tool, CHERP, specifically designed to program a robot's behaviors. The children learned to build and program robots over three…

  10. Dynamics and control of robotic spacecrafts for the transportation of flexible elements

    International Nuclear Information System (INIS)

    Wen, Hao; Chen, Ti; Yu, Bensong; Jin, Dongping

    2016-01-01

    The technology of robotic spacecrafts has been identified as one of the most appealing solutions to the on-orbit construction of large space structures in future space missions. As a prerequisite of a successful on-orbit construction, it is needed to use small autonomous spacecrafts for the transportation of flexible elements. To this end, the paper presents an energy-based scheme to control a couple of robotic spacecrafts carrying a flexible slender structure to its desired position. The flexible structure is modelled as a long beam based on the formulation of absolute nodal coordinates to account for the geometrical nonlinearity due to large displacement. Meanwhile, the robotic spacecrafts are actuated on their rigid-body degrees of freedom and modelled as two rigid bodies attached to the flexible beam. The energy-based controller is designed using the technique of energy shaping and damping injection such that translational and rotational maneuvers can be achieved with the suppression of the flexible vibrations of the beam. Finally, numerical case studies are performed to demonstrate the proposed schemes. (paper)

  11. A survey on inspecting structures using robotic systems

    Directory of Open Access Journals (Sweden)

    Randa Almadhoun

    2016-11-01

    Full Text Available Advancements in robotics and autonomous systems are being deployed nowadays in many application domains such as search and rescue, industrial automation, domestic services and healthcare. These systems are developed to tackle tasks in some of the most challenging, labour intensive and dangerous environments. Inspecting structures (e.g. bridges, buildings, ships, wind turbines and aircrafts is considered a hard task for humans to perform and of critical importance since missing any details could affect the structure’s performance and integrity. Additionally, structure inspection is time and resource intensive and should be performed as efficiently and accurately as possible. Inspecting various structures has been reported in the literature using different robotic platforms to: inspect difficult to reach areas and detect various types of faults and anomalies. Typically, inspection missions involve performing three main tasks: coverage path planning, shape, model or surface reconstruction and the actual inspection of the structure. Coverage path planning ensures the generation of an optimized path that guarantees the complete coverage of the structure of interest in order to gather highly accurate information to be used for shape/model reconstruction. This article aims to provide an overview of the recent work and breakthroughs in the field of coverage path planning and model reconstruction, with focus on 3D reconstruction, for the purpose of robotic inspection.

  12. Speech-Based Robotic Control for Dismounted Soldiers: Evaluation of Visual Display Options

    Science.gov (United States)

    2014-05-01

    expected to reduce mission completion times by enhancing the operator’s ability to multitask . For example, the operator could drive the SUGV with the...Individual Differences in Human-Robot Interaction in a Military Multitasking Environment. Journal of Cognitive Engineering and Decision Making 2011, 5...Bugajska, M.; Schultz, A.; Trafton, J.; Blisard, S.; Skubic, M. Finding the FOO: A Pilot Study for a Multimodal Interface; ADA434963; U.S. Navy Center

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

    Science.gov (United States)

    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.

  14. Human Robot Interaction for Hybrid Collision Avoidance System for Indoor Mobile Robots

    Directory of Open Access Journals (Sweden)

    Mazen Ghandour

    2017-06-01

    Full Text Available In this paper, a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction is realized. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success of the robots in implementing their tasks, especially when the robots navigate in crowded and dynamic environments, which include humans. Traditional collision avoidance methods deal with the human as a dynamic obstacle, without taking into consideration that the human will also try to avoid the robot, and this causes the people and the robot to get confused, especially in crowded social places such as restaurants, hospitals, and laboratories. To avoid such scenarios, a reactive-supervised collision avoidance system for mobile robots based on human-robot interaction is implemented. In this method, both the robot and the human will collaborate in generating the collision avoidance via interaction. The person will notify the robot about the avoidance direction via interaction, and the robot will search for the optimal collision-free path on the selected direction. In case that no people interacted with the robot, it will select the navigation path autonomously and select the path that is closest to the goal location. The humans will interact with the robot using gesture recognition and Kinect sensor. To build the gesture recognition system, two models were used to classify these gestures, the first model is Back-Propagation Neural Network (BPNN, and the second model is Support Vector Machine (SVM. Furthermore, a novel collision avoidance system for avoiding the obstacles is implemented and integrated with the HRI system. The system is tested on H20 robot from DrRobot Company (Canada and a set of experiments were implemented to report the performance of the system in interacting with the human and avoiding

  15. In-Space Propulsion Technology Products for NASA's Future Science and Exploration Missions

    Science.gov (United States)

    Anderson, David J.; Pencil, Eric; Peterson, Todd; Dankanich, John; Munk, Michelle M.

    2011-01-01

    Since 2001, the In-Space Propulsion Technology (ISPT) project has been developing and delivering in-space propulsion technologies that will enable or enhance NASA robotic science missions. These in-space propulsion technologies are applicable, and potentially enabling, for future NASA flagship and sample return missions currently being considered, as well as having broad applicability to future competed mission solicitations. The high-temperature Advanced Material Bipropellant Rocket (AMBR) engine providing higher performance for lower cost was completed in 2009. Two other ISPT technologies are nearing completion of their technology development phase: 1) NASA's Evolutionary Xenon Thruster (NEXT) ion propulsion system, a 0.6-7 kW throttle-able gridded ion system; and 2) Aerocapture technology development with investments in a family of thermal protection system (TPS) materials and structures; guidance, navigation, and control (GN&C) models of blunt-body rigid aeroshells; aerothermal effect models: and atmospheric models for Earth, Titan, Mars and Venus. This paper provides status of the technology development, applicability, and availability of in-space propulsion technologies that have recently completed their technology development and will be ready for infusion into NASA s Discovery, New Frontiers, Science Mission Directorate (SMD) Flagship, and Exploration technology demonstration missions

  16. Robots and lattice automata

    CERN Document Server

    Adamatzky, Andrew

    2015-01-01

    The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of autonomous Robots. Automata and robots share the same notional meaning. Automata (originated from the latinization of the Greek word “αυτόματον”) as self-operating autonomous machines invented from ancient years can be easily considered the first steps of robotic-like efforts. Automata are mathematical models of Robots and also they are integral parts of robotic control systems. A Lattice Automaton is a regular array or a collective of finite state machines, or automata. The Automata update their states by the same rules depending on states of their immediate neighbours. In the context of this book, Lattice Automata are used in developing modular reconfigurable robotic systems, path planning and map exploration for robots, as robot controllers, synchronisation of robot collectives, robot vision, parallel robotic actuators. All chapters are...

  17. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

    Almost all industrial robots use internal sensors such as shaft encoders which measure rotary position, or tachometers which measure velocity, to control their motions. Most controllers also provide interface capabilities so that signals from conveyors, machine tools, and the robot itself may be used to accomplish a task. However, advanced external sensors, such as visual sensors, can provide a much greater degree of adaptability for robot control as well as add automatic inspection capabilities to the industrial robot. Visual and other sensors are now being used in fundamental operations such as material processing with immediate inspection, material handling with adaption, arc welding, and complex assembly tasks. A new industry of robot vision has emerged. The application of these systems is an area of great potential

  18. Dynamics and control of robot for capturing objects in space

    Science.gov (United States)

    Huang, Panfeng

    Space robots are expected to perform intricate tasks in future space services, such as satellite maintenance, refueling, and replacing the orbital replacement unit (ORU). To realize these missions, the capturing operation may not be avoided. Such operations will encounter some challenges because space robots have some unique characteristics unfound on ground-based robots, such as, dynamic singularities, dynamic coupling between manipulator and space base, limited energy supply and working without a fixed base, and so on. In addition, since contacts and impacts may not be avoided during capturing operation. Therefore, dynamics and control problems of space robot for capturing objects are significant research topics if the robots are to be deployed for the space services. A typical servicing operation mainly includes three phases: capturing the object, berthing and docking the object, then repairing the target. Therefore, this thesis will focus on resolving some challenging problems during capturing the object, berthing and docking, and so on. In this thesis, I study and analyze the dynamics and control problems of space robot for capturing objects. This work has potential impact in space robotic applications. I first study the contact and impact dynamics of space robot and objects. I specifically focus on analyzing the impact dynamics and mapping the relationship of influence and speed. Then, I develop the fundamental theory for planning the minimum-collision based trajectory of space robot and designing the configuration of space robot at the moment of capture. To compensate for the attitude of the space base during the capturing approach operation, a new balance control concept which can effectively balance the attitude of the space base using the dynamic couplings is developed. The developed balance control concept helps to understand of the nature of space dynamic coupling, and can be readily applied to compensate or minimize the disturbance to the space base

  19. Multi-Locomotion Robotic Systems New Concepts of Bio-inspired Robotics

    CERN Document Server

    Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

    2012-01-01

    Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as...

  20. Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities †

    Directory of Open Access Journals (Sweden)

    Filippo Sanfilippo

    2017-03-01

    Full Text Available In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that other robots and humans are unable to access. In order to carry out such tasks, snake robots must have a high degree of awareness of their surroundings (i.e., perception-driven locomotion and be capable of efficient obstacle exploitation (i.e., obstacle-aided locomotion to gain propulsion. These aspects are pivotal in order to realise the large variety of possible snake robot applications in real-life operations such as fire-fighting, industrial inspection, search-and-rescue, and more. In this paper, we survey and discuss the state of the art, challenges, and possibilities of perception-driven obstacle-aided locomotion for snake robots. To this end, different levels of autonomy are identified for snake robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, we present a step-wise approach on how to increment snake robot abilities within guidance, navigation, and control in order to target the different levels of autonomy. Pertinent to snake robots, we focus on current strategies for snake robot locomotion in the presence of obstacles. Moreover, we put obstacle-aided locomotion into the context of perception and mapping. Finally, we present an overview of relevant key technologies and methods within environment perception, mapping, and representation that constitute important aspects of perception-driven obstacle-aided locomotion.

  1. Vital role of nuclear data in space missions

    International Nuclear Information System (INIS)

    Tripathi, R.K.

    2008-01-01

    Nasa has a new vision for space exploration in the 21. Century encompassing a broad range of human and robotic missions including missions to Moon, Mars and beyond. Exposure from the hazards of severe space radiation in deep space long duration missions is a critical design driver. Thus, protection from the hazards of severe space radiation is of paramount importance for the new vision. Accurate risk assessments critically depend on the accuracy of the input information about the interaction of ions with materials, electronics and tissues. We have discussed some of the state-of-the-art cross sections database at Nasa and have demonstrated the role nuclear interaction plays in space missions. The impact of the cross sections on space missions has been shown by the assessment of dose exposure on Moon surface behind a number of materials with increasing hydrogen contents known to be a better radiation shielding material. In addition we have examined an approach to introduce reliability based design methods into shield evaluation and optimization procedure as a means to assess and control the uncertainties in shield design. Applications to Lunar missions for short and long-term duration display a large impact on the design outcome and the choice of the materials. For short duration missions all the examined materials have similar performance. However, for career astronauts who are exposed to longer duration space radiation over the period of time the choice of material plays a very critical role. Computational procedures based on deterministic solution of the Boltzmann equation are well suited for such procedures allowing optimization processes to be implemented, evaluation of biologically important rare events,and rapid analysis of possible shield optimization outcomes resulting from the biological model uncertainty parameter space

  2. Robot Wars: US Empire and geopolitics in the robotic age

    Science.gov (United States)

    Shaw, Ian GR

    2017-01-01

    How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots – driven by leaps in artificial intelligence and swarming – are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence – revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy. PMID:29081605

  3. Supervision and atuomatic control of robotics systems in nuclear environments

    International Nuclear Information System (INIS)

    Benner, J.; Leinemann, K.

    1992-01-01

    The paper describes new developments in controlling remote handling systems for nuclear applications. The main emphasis is to use robotic equipment and methods for reaching a high degree of system autonomy. A remote handling workstation concept is described, supporting various stages of mission planning and supervision by means of suited geometrical, procedural and functional models. The presented control system enables easy switching between semi-autonomous and manual task execution and sensor data integration. Some experimental results of a prototypic implementation are also described

  4. Supervision and automatic control of robotic systems in nuclear environments

    International Nuclear Information System (INIS)

    Benner, J.; Leinemann, K.

    1992-01-01

    This paper describes new developments in controlling remote handling systems for nuclear applications. The main emphasis is to use robotic equipment and methods for reaching a high degree of system autonomy. A remote handling workstation concept is described, supporting various stages of mission planning and supervision by means of suited geometrical, procedural and functional models. The presented control system enables easy switching between semi-autonomous and manual task execution and sensor data integration. Some experimental results of a prototypic implementation are also described

  5. Robotic vision system for random bin picking with dual-arm robots

    Directory of Open Access Journals (Sweden)

    Kang Sangseung

    2016-01-01

    Full Text Available Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.

  6. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

    In this concept paper we trace the contours and define a new approach to robotic systems, composed of interactive robotic modules which are somehow worn on the body. We label such a field as Modular Robotic Wearable (MRW). We describe how, by using modular robotics for creating wearable....... Finally, by focusing on the intersection of the combination modular robotic systems, wearability, and bodymind we attempt to explore the theoretical characteristics of such approach and exploit the possible playware application fields....

  7. Industrial Robots.

    Science.gov (United States)

    Reed, Dean; Harden, Thomas K.

    Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

  8. View graph presentations of the sixth DOE industry/university/lab forum on robotics for environmental restoration and waste management

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-10-01

    The mission of the Robotics Technology Development Program involves the following: develop robotic systems where justified by safety, cost, and/or efficiency arguments; integrate the best talent from National Labs, industry, and universities in focused teams addressing complex-wide problems; and involve customers in the identification and development of needs driven technologies. This presentation focuses on five areas. They are: radioactive tank waste remediation (Richland); mixed waste characterization, treatment, and disposal (Idaho Falls); decontamination and decommissioning (Morgantown); landfill stabilization (Savannah River); and contaminant plumes containment and remediation (Savannah River).

  9. View graph presentations of the sixth DOE industry/university/lab forum on robotics for environmental restoration and waste management

    International Nuclear Information System (INIS)

    1995-10-01

    The mission of the Robotics Technology Development Program involves the following: develop robotic systems where justified by safety, cost, and/or efficiency arguments; integrate the best talent from National Labs, industry, and universities in focused teams addressing complex-wide problems; and involve customers in the identification and development of needs driven technologies. This presentation focuses on five areas. They are: radioactive tank waste remediation (Richland); mixed waste characterization, treatment, and disposal (Idaho Falls); decontamination and decommissioning (Morgantown); landfill stabilization (Savannah River); and contaminant plumes containment and remediation (Savannah River)

  10. Concepts of Operations for Asteroid Rendezvous Missions Focused on Resources Utilization

    Science.gov (United States)

    Mueller, Robert P.; Sibille, Laurent; Sanders, Gerald B.; Jones, Christopher A.

    2014-01-01

    Several asteroids are the targets of international robotic space missions currently manifested or in the planning stage. This global interest reflects a need to study these celestial bodies for the scientific information they provide about our solar system, and to better understand how to mitigate the collision threats some of them pose to Earth. Another important objective of these missions is providing assessments of the potential resources that asteroids could provide to future space architectures. In this paper, we examine a series of possible mission operations focused on advancing both our knowledge of the types of asteroids suited for different forms of resource extraction, and the capabilities required to extract those resources for mission enhancing and enabling uses such as radiation protection, propulsion, life support, shelter and manufacturing. An evolutionary development and demonstration approach is recommended within the framework of a larger campaign that prepares for the first landings of humans on Mars. As is the case for terrestrial mining, the development and demonstration approach progresses from resource prospecting (understanding the resource, and mapping the 'ore body'), mining/extraction feasibility and product assessment, pilot operations, to full in-situ resource utilization (ISRU). Opportunities to gather specific knowledge for ISRU via resource prospecting during science missions to asteroids are also examined to maximize the pace of development of needed ISRU capabilities and technologies for deep space missions.

  11. Trajectory Design Considerations for Exploration Mission 1

    Science.gov (United States)

    Dawn, Timothy F.; Gutkowski, Jeffrey P.; Batcha, Amelia L.; Williams, Jacob; Pedrotty, Samuel M.

    2018-01-01

    Exploration Mission 1 (EM-1) will be the first mission to send an uncrewed Orion Multi-Purpose Crew Vehicle (MPCV) to cislunar space in the fall of 2019. EM-1 was originally conceived as a lunar free-return mission, but was later changed to a Distant Retrograde Orbit (DRO) mission as a precursor to the Asteroid Redirect Mission. To understand the required mission performance (i.e., propellant requirement), a series of trajectory optimization runs was conducted using JSC's Copernicus spacecraft trajectory optimization tool. In order for the runs to be done in a timely manner, it was necessary to employ a parallelization approach on a computing cluster using a new trajectory scan tool written in Python. Details of the scan tool are provided and how it is used to perform the scans and post-process the results. Initially, a scan of daily due east launched EM-1 DRO missions in 2018 was made. Valid mission opportunities are ones that do not exceed the useable propellant available to perform the required burns. The initial scan data showed the propellant and delta-V performance patterns for each launch period. As questions were raised from different subsystems (e.g., power, thermal, communications, flight operations, etc.), the mission parameters or data that were of interest to them were added to the scan output data file. The additional data includes: (1) local launch and landing times in relation to sunrise and sunset, (2) length of eclipse periods during the in-space portion of the mission, (3) Earth line of sight from cislunar space, (4) Deep Space Network field of view looking towards cislunar space, and (5) variation of the downrange distance from Earth entry interface to splashdown. Mission design trades can also be performed based on the information that the additional data shows. For example, if the landing is in darkness, but the recovery operations team desires a landing in daylight, then an analysis is performed to determine how to change the mission design

  12. Social Robots

    DEFF Research Database (Denmark)

    Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us as indiv......Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us...... as individuals seems to be limited by our technical limitations and phantasy alone. This collection contributes to the field of social robotics by exploring its boundaries from a philosophically informed standpoint. It constructively outlines central potentials and challenges and thereby also provides a stable...

  13. Non-manufacturing applications of robotics

    International Nuclear Information System (INIS)

    Dauchez, P.

    2000-12-01

    This book presents the different non-manufacturing sectors of activity where robotics can have useful or necessary applications: underwater robotics, agriculture robotics, road work robotics, nuclear robotics, medical-surgery robotics, aids to disabled people, entertainment robotics. Service robotics has been voluntarily excluded because this developing sector is not mature yet. (J.S.)

  14. Beijing Lunar Declaration 2010: B) Technology and Resources; Infrastructures and Human Aspects; Moon, Space and Society

    Science.gov (United States)

    Arvidson, R.; Foing, B. H.; Plescial, J.; Cohen, B.; Blamont, J. E.

    2010-01-01

    We report on the Beijing Lunar Declaration endorsed by the delegates of the Global Lunar Conference/11th ILEWG Conference on Exploration and Utilisation of the Moon, held at Beijing on 30 May- 3 June 2010. Specifically we focus on Part B:Technologies and resources; Infrastructures and human aspects; Moon, Space, Society and Young Explorers. We recommend continued and enhanced development and implementation of sessions about lunar exploration, manned and robotic, at key scientific and engineering meetings. A number of robotic missions to the Moon are now undertaken independently by various nations, with a degree of exchange of information and coordination. That should increase towards real cooperation, still allowing areas of competition for keeping the process active, cost-effective and faster. - Lunar landers, pressurized lunar rover projects as presented from Europe, Asia and America are important steps that can create opportunities for international collaboration, within a coordinated village of robotic precursors and assistants to crew missions. - We have to think about development, modernization of existing navigation capabilities, and provision of lunar positioning, navigation and data relay assets to support future robotic and human exploration. New concepts and new methods for transportation have attracted much attention and are of great potential.

  15. Planetary protection issues linked to human missions to Mars

    Science.gov (United States)

    Debus, A.

    According to United Nations Treaties and handled presently by the Committee of Space Research COSPAR the exploration of the Solar System has to comply with planetary protection requirements The goal of planetary protection is to protect celestial bodies from terrestrial contamination and also to protect the Earth environment from an eventual biocontamination carried by return samples or by space systems returning to the Earth Mars is presently one of the main target at exobiology point of view and a lot of missions are operating on travel or scheduled for its exploration Some of them include payload dedicated to the search of life or traces of life and one of the goals of these missions is also to prepare sample return missions with the ultimate objective to walk on Mars Robotic missions to Mars have to comply with planetary protection specifications well known presently and planetary protection programs are implemented with a very good reliability taking into account an experience of 40 years now For sample return missions a set of stringent requirements have been approved by the COSPAR and technical challenges have now to be won in order to preserve Earth biosphere from an eventual contamination risk Sending astronauts on Mars will gather all these constraints added with the human dimension of the mission The fact that the astronauts are huge contamination sources for Mars and that they are also potential carrier of a contamination risk back to Earth add also ethical considerations to be considered For the preparation of a such

  16. Potential of future operational missions sentinel 4 and 5 for atmospheric monitoring and science (CAMELOT).

    Science.gov (United States)

    Levelt, P. F.; Veefkind, J. P.

    2010-05-01

    Dedicated atmospheric chemistry observations from space have been made for over 30 years now, starting with the SBUV and TOMS measurements of the ozone layer. Since then huge progress has been made, improving the accuracy of the measurements, extending the amount of constituents, and by sensing not only the stratosphere, but the last five to ten years also the troposphere. The potential to operational monitor the atmosphere, following the meteorological community, came within reach. At the same time, the importance for society of regular operational environmental measurements, related to the ozone layer, air quality and climate change, became apparent, amongst others resulting in the EU initiative Global Monitoring for Environment and Security (GMES) In order to prepare the operational missions in the context of the GMES, ESA took the initiative to further study the user requirements for the Sentinel 4 and 5 (precursor) missions. The Sentinel 4 and 5 (precursor) missions are dedicated operational missions to monitor the atmospheric composition in the 2013-2020 timeframe and onward. The user requirements for the sentinel missions focus on monitoring the atmosphere from an environmental point of view (ozone layer, air quality and climate). ESA's CAMELOT (Composition of the Atmospheric Mission concEpts and SentineL Observation Techniques) study is the follow-on study to ESA's CAPACITY study finished in 2005. The general objective of the CAMELOT study is to further contribute to the definition of the air quality and climate protocol monitoring parts of the GMES Sentinel 4 and 5 missions. CAMELOT consists of a large European consortium formed by 9 European institutes (KNMI (lead), RAL, U.Leicester, SRON, FMI, BIRA-IASB, CNR-IFAC,NOVELTIS and RIU-U.Koeln). In the presentation an overview will give a short overview of the CAMELOT study, including some specific results for combined retrievals, cloud statistics for different orbit geometries and retrievals for several orbit

  17. Game Changing: NASA's Space Launch System and Science Mission Design

    Science.gov (United States)

    Creech, Stephen D.

    2013-01-01

    NASA s Marshall Space Flight Center (MSFC) is directing efforts to build the Space Launch System (SLS), a heavy-lift rocket that will carry the Orion Multi-Purpose Crew Vehicle (MPCV) and other important payloads far beyond Earth orbit (BEO). Its evolvable architecture will allow NASA to begin with Moon fly-bys and then go on to transport humans or robots to distant places such as asteroids and Mars. Designed to simplify spacecraft complexity, the SLS rocket will provide improved mass margins and radiation mitigation, and reduced mission durations. These capabilities offer attractive advantages for ambitious missions such as a Mars sample return, by reducing infrastructure requirements, cost, and schedule. For example, if an evolved expendable launch vehicle (EELV) were used for a proposed mission to investigate the Saturn system, a complicated trajectory would be required - with several gravity-assist planetary fly-bys - to achieve the necessary outbound velocity. The SLS rocket, using significantly higher C3 energies, can more quickly and effectively take the mission directly to its destination, reducing trip time and cost. As this paper will report, the SLS rocket will launch payloads of unprecedented mass and volume, such as "monolithic" telescopes and in-space infrastructure. Thanks to its ability to co-manifest large payloads, it also can accomplish complex missions in fewer launches. Future analyses will include reviews of alternate mission concepts and detailed evaluations of SLS figures of merit, helping the new rocket revolutionize science mission planning and design for years to come.

  18. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

  19. Scaling Robotic Displays: Displays and Techniques for Dismounted Movement with Robots

    Science.gov (United States)

    2010-04-01

    you are performing the low crawl 4.25 5.00 Drive the robot while you are negotiating the hill 6.00 5.00 Drive the robot while you are climbing the... stairs 4.67 5.00 Drive the robot while you are walking 5.70 5.27 HMD It was fairly doable. 1 When you’re looking through the lens, it’s not...Scaling Robotic Displays: Displays and Techniques for Dismounted Movement with Robots by Elizabeth S. Redden, Rodger A. Pettitt

  20. Human-Robot Interaction

    Science.gov (United States)

    Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

    2015-01-01

    Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera

  1. SAFER vehicle inspection: a multimodal robotic sensing platform

    Science.gov (United States)

    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.

  2. A Mission Concept: Re-Entry Hopper-Aero-Space-Craft System on-Mars (REARM-Mars)

    Science.gov (United States)

    Davoodi, Faranak

    2013-01-01

    Future missions to Mars that would need a sophisticated lander, hopper, or rover could benefit from the REARM Architecture. The mission concept REARM Architecture is designed to provide unprecedented capabilities for future Mars exploration missions, including human exploration and possible sample-return missions, as a reusable lander, ascend/descend vehicle, refuelable hopper, multiple-location sample-return collector, laboratory, and a cargo system for assets and humans. These could all be possible by adding just a single customized Re-Entry-Hopper-Aero-Space-Craft System, called REARM-spacecraft, and a docking station at the Martian orbit, called REARM-dock. REARM could dramatically decrease the time and the expense required to launch new exploratory missions on Mars by making them less dependent on Earth and by reusing the assets already designed, built, and sent to Mars. REARM would introduce a new class of Mars exploration missions, which could explore much larger expanses of Mars in a much faster fashion and with much more sophisticated lab instruments. The proposed REARM architecture consists of the following subsystems: REARM-dock, REARM-spacecraft, sky-crane, secure-attached-compartment, sample-return container, agile rover, scalable orbital lab, and on-the-road robotic handymen.

  3. Next generation light robotic

    DEFF Research Database (Denmark)

    Villangca, Mark Jayson; Palima, Darwin; Banas, Andrew Rafael

    2017-01-01

    -assisted surgery imbibes surgeons with superhuman abilities and gives the expression “surgical precision” a whole new meaning. Still in its infancy, much remains to be done to improve human-robot collaboration both in realizing robots that can operate safely with humans and in training personnel that can work......Conventional robotics provides machines and robots that can replace and surpass human performance in repetitive, difficult, and even dangerous tasks at industrial assembly lines, hazardous environments, or even at remote planets. A new class of robotic systems no longer aims to replace humans...... with so-called automatons but, rather, to create robots that can work alongside human operators. These new robots are intended to collaborate with humans—extending their abilities—from assisting workers on the factory floor to rehabilitating patients in their homes. In medical robotics, robot...

  4. Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

    Directory of Open Access Journals (Sweden)

    Kristel Knaepen

    Full Text Available In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support. Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

  5. Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

    Science.gov (United States)

    Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

    2015-01-01

    In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

  6. Roles and Self-Reconfigurable Robots

    DEFF Research Database (Denmark)

    Dvinge, Nicolai; Schultz, Ulrik Pagh; Christensen, David Johan

    2007-01-01

    A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape......., significantly simplifying the task of programming self-reconfigurable robots. Our language fully supports programming the ATRON self-reconfigurable robot, and has been used to implement several controllers running both on the physical modules and in simulation.......A self-reconfigurable robot is a robotic device that can change its own shape. Self-reconfigurable robots are commonly built from multiple identical modules that can manipulate each other to change the shape of the robot. The robot can also perform tasks such as locomotion without changing shape....... Programming a modular, self-reconfigurable robot is however a complicated task: the robot is essentially a real-time, distributed embedded system, where control and communication paths often are tightly coupled to the current physical configuration of the robot. To facilitate the task of programming modular...

  7. Robot Teachers

    DEFF Research Database (Denmark)

    Nørgård, Rikke Toft; Ess, Charles Melvin; Bhroin, Niamh Ni

    The world's first robot teacher, Saya, was introduced to a classroom in Japan in 2009. Saya, had the appearance of a young female teacher. She could express six basic emotions, take the register and shout orders like 'be quiet' (The Guardian, 2009). Since 2009, humanoid robot technologies have...... developed. It is now suggested that robot teachers may become regular features in educational settings, and may even 'take over' from human teachers in ten to fifteen years (cf. Amundsen, 2017 online; Gohd, 2017 online). Designed to look and act like a particular kind of human; robot teachers mediate human...... existence and roles, while also aiming to support education through sophisticated, automated, human-like interaction. Our paper explores the design and existential implications of ARTIE, a robot teacher at Oxford Brookes University (2017, online). Drawing on an initial empirical exploration we propose...

  8. Accelerating Robot Development through Integral Analysis of Human-Robot Interaction

    NARCIS (Netherlands)

    Kooijmans, T.; Kanda, T.; Bartneck, C.; Ishiguro, H.; Hagita, N.

    2007-01-01

    The development of interactive robots is a complicated process, involving a plethora of psychological, technical, and contextual influences. To design a robot capable of operating "intelligently" in everyday situations, one needs a profound understanding of human-robot interaction (HRI). We propose

  9. Micro Robotics Lab

    Data.gov (United States)

    Federal Laboratory Consortium — Our research is focused on the challenges of engineering robotic systems down to sub-millimeter size scales. We work both on small mobile robots (robotic insects for...

  10. Robot fish bio-inspired fishlike underwater robots

    CERN Document Server

    Li, Zheng; Youcef-Toumi, Kamal; Alvarado, Pablo

    2015-01-01

    This book provides a comprehensive coverage on robot fish including design, modeling and optimization, control, autonomous control and applications. It gathers contributions by the leading researchers in the area. Readers will find the book very useful for designing and building robot fish, not only in theory but also in practice. Moreover, the book discusses various important issues for future research and development, including design methodology, control methodology, and autonomous control strategy. This book is intended for researchers and graduate students in the fields of robotics, ocean engineering and related areas.

  11. Robotics in endoscopy.

    Science.gov (United States)

    Klibansky, David; Rothstein, Richard I

    2012-09-01

    The increasing complexity of intralumenal and emerging translumenal endoscopic procedures has created an opportunity to apply robotics in endoscopy. Computer-assisted or direct-drive robotic technology allows the triangulation of flexible tools through telemanipulation. The creation of new flexible operative platforms, along with other emerging technology such as nanobots and steerable capsules, can be transformational for endoscopic procedures. In this review, we cover some background information on the use of robotics in surgery and endoscopy, and review the emerging literature on platforms, capsules, and mini-robotic units. The development of techniques in advanced intralumenal endoscopy (endoscopic mucosal resection and endoscopic submucosal dissection) and translumenal endoscopic procedures (NOTES) has generated a number of novel platforms, flexible tools, and devices that can apply robotic principles to endoscopy. The development of a fully flexible endoscopic surgical toolkit will enable increasingly advanced procedures to be performed through natural orifices. The application of platforms and new flexible tools to the areas of advanced endoscopy and NOTES heralds the opportunity to employ useful robotic technology. Following the examples of the utility of robotics from the field of laparoscopic surgery, we can anticipate the emerging role of robotic technology in endoscopy.

  12. Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot

    Directory of Open Access Journals (Sweden)

    Addythia Saphala

    2015-10-01

    Full Text Available Robotic Operation System (ROS is an im- portant platform to develop robot applications. One area of applications is for development of a Human Follower Transporter Robot (HFTR, which  can  be  considered  as a custom mobile robot utilizing differential driver steering method and equipped with Kinect sensor. This study discusses the development of the robot navigation system by implementing Simultaneous Localization and Mapping (SLAM.

  13. Control system design for robotic underground storage tank inspection systems

    International Nuclear Information System (INIS)

    Kiebel, G.R.

    1994-09-01

    Control and data acquisition systems for robotic inspection and surveillance systems used in nuclear waste applications must be capable, versatile, and adaptable to changing conditions. The nuclear waste remediation application is dynamic -- requirements change as public policy is constantly re-examined and refocused, and as technology in this area advances. Control and data acquisition systems must adapt to these changing conditions and be able to accommodate future missions, both predictable and unexpected. This paper describes the control and data acquisition system for the Light Duty Utility Arm (LDUA) System that is being developed for remote surveillance and inspection of underground storage tanks at the Hanford Site and other US Department of Energy (DOE) sites. It is a high-performance system which has been designed for future growth. The priority mission at the Hanford site is to retrieve the waste generated by 50 years of production from its present storage and process it for final disposal. The LDUA will help to gather information about the waste and the tanks it is stored in to better plan and execute the cleanup mission

  14. Synthesis of Sol-Gel Precursors for Ceramics from Lunar and Martian Soil Simulars

    Science.gov (United States)

    Sibille, L.; Gavira-Gallardo, J. A.; Hourlier-Bahloul, D.

    2004-01-01

    Recent NASA mission plans for the human exploration of our Solar System has set new priorities for research and development of technologies necessary to enable a long-term human presence on the Moon and Mars. The recovery and processing of metals and oxides from mineral sources on other planets is under study to enable use of ceramics, glasses and metals by explorer outposts. We report initial results on the production of sol-gel precursors for ceramic products using mineral resources available in martian or lunar soil. The presence of SO2, TiO2, and Al2O3 in both martian (44 wt.% SiO2, 1 wt.% TiO2, 7 wt.% Al2O3) and lunar (48 wt.% SiO2, 1.5 wt.% TiO2, 16 wt.% Al2O3) soils and the recent developments in chemical processes to solubilize silicates using organic reagents and relatively little energy indicate that such an endeavor is possible. In order to eliminate the risks involved in the use of hydrofluoric acid to dissolve silicates, two distinct chemical routes are investigated to obtain soluble silicon oxide precursors from lunar and martian soil simulars. Clear solutions of sol-gel precursors have been obtained by dissolution of silica from lunar soil similar JSC-1 in basic ethylene glycol (C2H4(OH)2) solutions to form silicon glycolates. Similarly, sol-gel solutions produced from martian soil simulars reveal higher contents of iron oxides. Characterization of the precursor molecules and efforts to further concentrate and hydrolyze the products to obtain gel materials will be presented for evaluation as ceramic precursors.

  15. Synthesis of Sol-Gel Precursors for Ceramics from Lunar and Martian Soil Simulars

    Science.gov (United States)

    Sibille, L.; Gavira-Gallardo, J. A.; Hourlier-Bahloul, D.

    2003-01-01

    Recent NASA mission plans for the human exploration of our Solar System has set new priorities for research and development of technologies necessary to enable a long-term human presence on the Moon and Mars. The recovery and processing of metals and oxides from mineral sources on other planets is under study to enable use of ceramics, glasses and metals by explorer outposts. We report initial results on the production of sol-gel precursors for ceramic products using mineral resources available in martian or lunar soil. The presence of SiO2, TiO2, and Al2O3 in both martian (44 wt.% SiO2, 1 wt.% TiO2,7 wt.% Al2O3) and lunar (48 wt.% SiO2, 1.5 wt.% TiO2, 16 wt.% Al2O3) soils and the recent developments in chemical processes to solubilize silicates using organic reagents and relatively little energy indicate that such an endeavor is possible. In order to eliminate the risks involved in the use of hydrofluoric acid to dissolve silicates, two distinct chemical routes are investigated to obtain soluble silicon oxide precursors from lunar and martian soil simulars. Clear solutions of sol-gel precursors have been obtained by dissolution of silica from lunar soil simular in basic ethylene glycol (C2H4(OH)2) solutions to form silicon glycolates. Similarly, sol-gel solutions produced from martian soil simulars reveal higher contents of iron oxides. The elemental composition and structure of the precursor molecules were characterized. Further concentration and hydrolysis of the products was performed to obtain gel materials for evaluation as ceramic precursors.

  16. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav; Hrbáček, J.; Ripel, T.; Ondroušek, V.; Hrbáček, R.; Schreiber, P.

    2012-01-01

    Roč. 18, 5/6 (2012), s. 307-322 ISSN 1802-1484 Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot * human - robot interface * localization Subject RIV: JD - Computer Applications, Robot ics

  17. Enhancing Hubble's vision service missions that expanded our view of the universe

    CERN Document Server

    Shayler, David J

    2016-01-01

    After a 20-year struggle to place a large, sophisticated optical telescope in orbit the Hubble Space Telescope was finally launched in 1990, though its primary mirror was soon found to be flawed. A dramatic mission in 1993 installed corrective optics so that the intended science program could finally begin. Those events are related in a companion to this book, The Hubble Space Telescope: From Concept to Success.   Enhancing Hubble’s Vision: Service Missions That Expanded Our View of the Universe tells the story of the four missions between 1997 and 2009 that repaired, serviced and upgraded the instruments on the telescope to maintain its state-of-the-art capabilities. It draws on first hand interviews with those closely involved in the project. The spacewalking skills and experiences gained from maintaining and upgrading Hubble had direct application to the construction of the International Space Station and help with its maintenance. These skills can be applied to future human and robotic satellite servic...

  18. Robotic surgery update.

    Science.gov (United States)

    Jacobsen, G; Elli, F; Horgan, S

    2004-08-01

    Minimally invasive surgical techniques have revolutionized the field of surgery. Telesurgical manipulators (robots) and new information technologies strive to improve upon currently available minimally invasive techniques and create new possibilities. A retrospective review of all robotic cases at a single academic medical center from August 2000 until November 2002 was conducted. A comprehensive literature evaluation on robotic surgical technology was also performed. Robotic technology is safely and effectively being applied at our institution. Robotic and information technologies have improved upon minimally invasive surgical techniques and created new opportunities not attainable in open surgery. Robotic technology offers many benefits over traditional minimal access techniques and has been proven safe and effective. Further research is needed to better define the optimal application of this technology. Credentialing and educational requirements also need to be delineated.

  19. Robot-laser system

    International Nuclear Information System (INIS)

    Akeel, H.A.

    1987-01-01

    A robot-laser system is described for providing a laser beam at a desired location, the system comprising: a laser beam source; a robot including a plurality of movable parts including a hollow robot arm having a central axis along which the laser source directs the laser beam; at least one mirror for reflecting the laser beam from the source to the desired location, the mirror being mounted within the robot arm to move therewith and relative thereto to about a transverse axis that extends angularly to the central axis of the robot arm; and an automatic programmable control system for automatically moving the mirror about the transverse axis relative to and in synchronization with movement of the robot arm to thereby direct the laser beam to the desired location as the arm is moved

  20. Precursors prior to type IIn supernova explosions are common: Precursor rates, properties, and correlations

    Energy Technology Data Exchange (ETDEWEB)

    Ofek, Eran O.; Steinbok, Aviram; Arcavi, Iair; Gal-Yam, Avishay; Tal, David; Ben-Ami, Sagi; Yaron, Ofer [Benoziyo Center for Astrophysics, Weizmann Institute of Science, 76100 Rehovot (Israel); Sullivan, Mark [School of Physics and Astronomy, University of Southampton, Southampton SO17 1BJ (United Kingdom); Shaviv, Nir J. [Racah Institute of Physics, The Hebrew University, 91904 Jerusalem (Israel); Kulkarni, Shrinivas R. [Cahill Center for Astronomy and Astrophysics, California Institute of Technology, Pasadena, CA 91125 (United States); Nugent, Peter E. [Lawrence Berkeley National Laboratory, 1 Cyclotron Road, Berkeley, CA 94720 (United States); Kasliwal, Mansi M. [Observatories of the Carnegie Institution for Science, 813 Santa Barbara Street, Pasadena, CA 91101 (United States); Cenko, S. Bradley [Astrophysics Science Division, NASA/Goddard Space Flight Center, Mail Code 661, Greenbelt, MD 20771 (United States); Laher, Russ; Surace, Jason [Spitzer Science Center, California Institute of Technology, M/S 314-6, Pasadena, CA 91125 (United States); Bloom, Joshua S.; Filippenko, Alexei V. [Department of Astronomy, University of California, Berkeley, CA 94720-3411 (United States); Silverman, Jeffrey M. [Department of Astronomy, University of Texas, Austin, TX 78712 (United States)

    2014-07-10

    There is a growing number of Type IIn supernovae (SNe) which present an outburst prior to their presumably final explosion. These precursors may affect the SN display, and are likely related to poorly charted phenomena in the final stages of stellar evolution. By coadding Palomar Transient Factory (PTF) images taken prior to the explosion, here we present a search for precursors in a sample of 16 Type IIn SNe. We find five SNe IIn that likely have at least one possible precursor event (PTF 10bjb, SN 2010mc, PTF 10weh, SN 2011ht, and PTF 12cxj), three of which are reported here for the first time. For each SN we calculate the control time. We find that precursor events among SNe IIn are common: at the one-sided 99% confidence level, >50% of SNe IIn have at least one pre-explosion outburst that is brighter than 3 × 10{sup 7} L{sub ☉} taking place up to 1/3 yr prior to the SN explosion. The average rate of such precursor events during the year prior to the SN explosion is likely ≳ 1 yr{sup –1}, and fainter precursors are possibly even more common. Ignoring the two weakest precursors in our sample, the precursors rate we find is still on the order of one per year. We also find possible correlations between the integrated luminosity of the precursor and the SN total radiated energy, peak luminosity, and rise time. These correlations are expected if the precursors are mass-ejection events, and the early-time light curve of these SNe is powered by interaction of the SN shock and ejecta with optically thick circumstellar material.

  1. Effects of Robot Facial Characteristics and Gender in Persuasive Human-Robot Interaction

    Directory of Open Access Journals (Sweden)

    Aimi S. Ghazali

    2018-06-01

    Full Text Available The growing interest in social robotics makes it relevant to examine the potential of robots as persuasive agents and, more specifically, to examine how robot characteristics influence the way people experience such interactions and comply with the persuasive attempts by robots. The purpose of this research is to identify how the (ostensible gender and the facial characteristics of a robot influence the extent to which people trust it and the psychological reactance they experience from its persuasive attempts. This paper reports a laboratory study where SociBot™, a robot capable of displaying different faces and dynamic social cues, delivered persuasive messages to participants while playing a game. In-game choice behavior was logged, and trust and reactance toward the advisor were measured using questionnaires. Results show that a robotic advisor with upturned eyebrows and lips (features that people tend to trust more in humans is more persuasive, evokes more trust, and less psychological reactance compared to one displaying eyebrows pointing down and lips curled downwards at the edges (facial characteristics typically not trusted in humans. Gender of the robot did not affect trust, but participants experienced higher psychological reactance when interacting with a robot of the opposite gender. Remarkably, mediation analysis showed that liking of the robot fully mediates the influence of facial characteristics on trusting beliefs and psychological reactance. Also, psychological reactance was a strong and reliable predictor of trusting beliefs but not of trusting behavior. These results suggest robots that are intended to influence human behavior should be designed to have facial characteristics we trust in humans and could be personalized to have the same gender as the user. Furthermore, personalization and adaptation techniques designed to make people like the robot more may help ensure they will also trust the robot.

  2. Applications of Intelligent Tutoring Systems to Human-Robotic Exploration of Mars

    Science.gov (United States)

    Clancey, William J.

    2004-01-01

    Space missions with small crews extending over several years with time-delay preventing normal conversations with people on earth will raise many challenges for training. Of special interest are possible three-year missions to Mars, requiring refresher instruction and learning new skills based on unexpected problems with machines and environmental conditions. For example, the crew will be required to monitor and repair more complex life support systems for air and water recycling than we even know how to build today. Highly educated astronauts, often with several doctorate degrees, require a very different mode of interaction than we have developed for school children or even typical college students. Explanation methods may need to differ-using analogies and techniques from different domains-depending on whether the astronaut is an astrophysicist, a pilot, or a geologist.Virtual reality (e.g., for Hubble repair missions) and "integrated" simulations (involving role-playing and emphasizing failure scenarios) are the most common advanced forms of instruction used in space flight today. The emphasis is on collaborative, embodied interaction with the same workstations and tools used in practice (e.g., a cockpit simulator). Otherwise, computerized instructional technology used by NASA is not model-based or tutorial in nature. This discussion will review some of the key instructional methods used at NASA over the past two decades and consider why ITS methods have not been exploited. Some of the problems and opportunities for training for Mars missions are examined, including how using robots in exploration activities will help but raise new training problems. These ideas will be illustrated with examples from the BrahmsVE system in which a browser- based virtual reality display with avatars allows interacting with a distributed multiagent system, in which agents can be people, robots, or software programs. Using BrahmsVE may provide a way for astronauts to interact with

  3. Robotic seeding

    DEFF Research Database (Denmark)

    Pedersen, Søren Marcus; Fountas, Spyros; Sørensen, Claus Aage Grøn

    2017-01-01

    Agricultural robotics has received attention for approximately 20 years, but today there are only a few examples of the application of robots in agricultural practice. The lack of uptake may be (at least partly) because in many cases there is either no compelling economic benefit......, or there is a benefit but it is not recognized. The aim of this chapter is to quantify the economic benefits from the application of agricultural robots under a specific condition where such a benefit is assumed to exist, namely the case of early seeding and re-seeding in sugar beet. With some predefined assumptions...... with regard to speed, capacity and seed mapping, we found that among these two technical systems both early seeding with a small robot and re-seeding using a robot for a smaller part of the field appear to be financially viable solutions in sugar beet production....

  4. First results from the Mojave Volatiles Prospector (MVP) Field Campaign, a Lunar Polar Rover Mission Analog

    Science.gov (United States)

    Heldmann, J. L.; Colaprete, A.; Cook, A.; Deans, M. C.; Elphic, R. C.; Lim, D. S. S.; Skok, J. R.

    2014-12-01

    The Mojave Volatiles Prospector (MVP) project is a science-driven field program with the goal to produce critical knowledge for conducting robotic exploration of the Moon. MVP will feed science, payload, and operational lessons learned to the development of a real-time, short-duration lunar polar volatiles prospecting mission. MVP achieves these goals through a simulated lunar rover mission to investigate the composition and distribution of surface and subsurface volatiles in a natural and a priori unknown environment within the Mojave Desert, improving our understanding of how to find, characterize, and access volatiles on the Moon. The MVP field site is the Mojave Desert, selected for its low, naturally occurring water abundance. The Mojave typically has on the order of 2-6% water, making it a suitable lunar analog for this field test. MVP uses the Near Infrared and Visible Spectrometer Subsystem (NIRVSS), Neutron Spectrometer Subsystem (NSS), and a downward facing GroundCam camera on the KREX-2 rover to investigate the relationship between the distribution of volatiles and soil crust variation. Through this investigation, we mature robotic in situ instruments and concepts of instrument operations, improve ground software tools for real time science, and carry out publishable research on the water cycle and its connection to geomorphology and mineralogy in desert environments. A lunar polar rover mission is unlike prior space missions and requires a new concept of operations. The rover must navigate 3-5 km of terrain and examine multiple sites in in just ~6 days. Operational decisions must be made in real time, requiring constant situational awareness, data analysis and rapid turnaround decision support tools. This presentation will focus on the first science results and operational architecture findings from the MVP field deployment relevant to a lunar polar rover mission.

  5. An Adaptive Robot Game

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg; Svenstrup, Mikael; Dalgaard, Lars

    2010-01-01

    The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal is to im......The goal of this paper is to describe an adaptive robot game, which motivates elderly people to do a regular amount of physical exercise while playing. One of the advantages of robot based games is that the initiative to play can be taken autonomously by the robot. In this case, the goal...... is to improve the mental and physical state of the user by playing a physical game with the robot. Ideally, a robot game should be simple to learn but difficult to master, providing an appropriate degree of challenge for players with different skills. In order to achieve that, the robot should be able to adapt...

  6. Facilitating Programming of Vision-Equipped Robots through Robotic Skills and Projection Mapping

    DEFF Research Database (Denmark)

    Andersen, Rasmus Skovgaard

    The field of collaborative industrial robots is currently developing fast both in the industry and in the scientific community. Companies such as Rethink Robotics and Universal Robots are redefining the concept of an industrial robot and entire new markets and use cases are becoming relevant for ...

  7. Evolution of robotic arms.

    Science.gov (United States)

    Moran, Michael E

    2007-01-01

    The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

  8. Research on the man in the loop control system of the robot arm based on gesture control

    Science.gov (United States)

    Xiao, Lifeng; Peng, Jinbao

    2017-03-01

    The Man in the loop control system of the robot arm based on gesture control research complex real-world environment, which requires the operator to continuously control and adjust the remote manipulator, as the background, completes the specific mission human in the loop entire system as the research object. This paper puts forward a kind of robot arm control system of Man in the loop based on gesture control, by robot arm control system based on gesture control and Virtual reality scene feedback to enhance immersion and integration of operator, to make operator really become a part of the whole control loop. This paper expounds how to construct a man in the loop control system of the robot arm based on gesture control. The system is a complex system of human computer cooperative control, but also people in the loop control problem areas. The new system solves the problems that the traditional method has no immersion feeling and the operation lever is unnatural, the adjustment time is long, and the data glove mode wears uncomfortable and the price is expensive.

  9. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

    Illustrates original and ambitious mechanical designs and techniques for the development of new robot prototypes Includes numerous figures, tables and flow charts Discusses relevant applications in robotics fields such as humanoid robots, robotic hands, mobile robots, parallel manipulators and human-centred robots

  10. Design and Implementation of Fire Extinguisher Robot with Robotic Arm

    Directory of Open Access Journals (Sweden)

    Memon Abdul Waris

    2018-01-01

    Full Text Available Robot is a device, which performs human task or behave like a human-being. It needs expertise skills and complex programming to design. For designing a fire fighter robot, many sensors and motors were used. User firstly send robot to an affected area, to get live image of the field with the help of mobile camera via Wi-Fi using IP camera application to laptop. If any signs of fire shown in image, user direct robot in that particular direction for confirmation. Fire sensor and temperature sensor detects and measures the reading, after confirmation robot sprinkle water on affected field. During extinguish process if any obstacle comes in between the prototype and the affected area the ultrasonic sensor detects the obstacle, in response the robotic arm moves to pick and place that obstacle to another location for clearing the path. Meanwhile if any poisonous gas is present, the gas sensor detects and indicates by making alarm.

  11. The Tactile Ethics of Soft Robotics: Designing Wisely for Human-Robot Interaction.

    Science.gov (United States)

    Arnold, Thomas; Scheutz, Matthias

    2017-06-01

    Soft robots promise an exciting design trajectory in the field of robotics and human-robot interaction (HRI), promising more adaptive, resilient movement within environments as well as a safer, more sensitive interface for the objects or agents the robot encounters. In particular, tactile HRI is a critical dimension for designers to consider, especially given the onrush of assistive and companion robots into our society. In this article, we propose to surface an important set of ethical challenges for the field of soft robotics to meet. Tactile HRI strongly suggests that soft-bodied robots balance tactile engagement against emotional manipulation, model intimacy on the bonding with a tool not with a person, and deflect users from personally and socially destructive behavior the soft bodies and surfaces could normally entice.

  12. Robotics and remote systems developments and applications, FY96. Revision 1

    International Nuclear Information System (INIS)

    Lewis, W.I. III; Teese, G.D.

    1996-10-01

    The purpose of this report is to document the contributions that the Savannah River Technology Center (SRTC) has made during Fiscal Year 1996 in the Robotics and Remote Systems Technology arena. The contributions originated from the Applied Science and Engineering Technology (ASET) Department's Equipment Engineering Section (EES). Activities and deliverables for the Savannah River Site's (SRS) main operating divisions as well as contributions to new mission activities, other Department of Energy (DOE) sites and programs, intellectual property development and professional societies are described

  13. Robot-assisted general surgery.

    Science.gov (United States)

    Hazey, Jeffrey W; Melvin, W Scott

    2004-06-01

    With the initiation of laparoscopic techniques in general surgery, we have seen a significant expansion of minimally invasive techniques in the last 16 years. More recently, robotic-assisted laparoscopy has moved into the general surgeon's armamentarium to address some of the shortcomings of laparoscopic surgery. AESOP (Computer Motion, Goleta, CA) addressed the issue of visualization as a robotic camera holder. With the introduction of the ZEUS robotic surgical system (Computer Motion), the ability to remotely operate laparoscopic instruments became a reality. US Food and Drug Administration approval in July 2000 of the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, CA) further defined the ability of a robotic-assist device to address limitations in laparoscopy. This includes a significant improvement in instrument dexterity, dampening of natural hand tremors, three-dimensional visualization, ergonomics, and camera stability. As experience with robotic technology increased and its applications to advanced laparoscopic procedures have become more understood, more procedures have been performed with robotic assistance. Numerous studies have shown equivalent or improved patient outcomes when robotic-assist devices are used. Initially, robotic-assisted laparoscopic cholecystectomy was deemed safe, and now robotics has been shown to be safe in foregut procedures, including Nissen fundoplication, Heller myotomy, gastric banding procedures, and Roux-en-Y gastric bypass. These techniques have been extrapolated to solid-organ procedures (splenectomy, adrenalectomy, and pancreatic surgery) as well as robotic-assisted laparoscopic colectomy. In this chapter, we review the evolution of robotic technology and its applications in general surgical procedures.

  14. Biological Technologies for Life Beyond Low Earth Orbit (BT4LBLEO): Study Introductions and Synopsis

    Science.gov (United States)

    Hines, John W.

    2011-01-01

    The study will address the following mission concerns: -Extended human presence in the environments of deep space as well as the Moon and Mars will require a solid biological understanding of the integrated effects of diminished gravity, enhanced radiation, and transit- and destination-specific variables from the sub-cellular to the whole organism level. -Biological and associated technologies for biological and robotic precursor missions to realize future objectives for space colonization. -Surfaces, gravity levels, radiation environments, and atmospheres of these nearest neighbors are radically different in chemical and geological make-up from those on our home planet, and all of these contributory effects must be considered.

  15. Grasping in Robotics

    CERN Document Server

    2013-01-01

    Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture).   The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and hum...

  16. Designing Emotionally Expressive Robots

    DEFF Research Database (Denmark)

    Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

    2017-01-01

    Socially assistive agents, be it virtual avatars or robots, need to engage in social interactions with humans and express their internal emotional states, goals, and desires. In this work, we conducted a comparative study to investigate how humans perceive emotional cues expressed by humanoid...... robots through five communication modalities (face, head, body, voice, locomotion) and examined whether the degree of a robot's human-like embodiment affects this perception. In an online survey, we asked people to identify emotions communicated by Pepper -a highly human-like robot and Hobbit – a robot...... for robots....

  17. Fundamentals of soft robot locomotion.

    Science.gov (United States)

    Calisti, M; Picardi, G; Laschi, C

    2017-05-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).

  18. Advancing the Strategic Messages Affecting Robot Trust Effect: The Dynamic of User- and Robot-Generated Content on Human-Robot Trust and Interaction Outcomes.

    Science.gov (United States)

    Liang, Yuhua Jake; Lee, Seungcheol Austin

    2016-09-01

    Human-robot interaction (HRI) will soon transform and shift the communication landscape such that people exchange messages with robots. However, successful HRI requires people to trust robots, and, in turn, the trust affects the interaction. Although prior research has examined the determinants of human-robot trust (HRT) during HRI, no research has examined the messages that people received before interacting with robots and their effect on HRT. We conceptualize these messages as SMART (Strategic Messages Affecting Robot Trust). Moreover, we posit that SMART can ultimately affect actual HRI outcomes (i.e., robot evaluations, robot credibility, participant mood) by affording the persuasive influences from user-generated content (UGC) on participatory Web sites. In Study 1, participants were assigned to one of two conditions (UGC/control) in an original experiment of HRT. Compared with the control (descriptive information only), results showed that UGC moderated the correlation between HRT and interaction outcomes in a positive direction (average Δr = +0.39) for robots as media and robots as tools. In Study 2, we explored the effect of robot-generated content but did not find similar moderation effects. These findings point to an important empirical potential to employ SMART in future robot deployment.

  19. Next-generation robotic surgery--from the aspect of surgical robots developed by industry.

    Science.gov (United States)

    Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto

    2015-02-01

    At present, much of the research conducted worldwide focuses on extending the ability of surgical robots. One approach is to extend robotic dexterity. For instance, accessibility and dexterity of the surgical instruments remains the largest issue for reduced port surgery such as single port surgery or natural orifice surgery. To solve this problem, a great deal of research is currently conducted in the field of robotics. Enhancing the surgeon's perception is an approach that uses advanced sensor technology. The real-time data acquired through the robotic system combined with the data stored in the robot (such as the robot's location) provide a major advantage. This paper aims at introducing state-of-the-art products and pre-market products in this technological advancement, namely the robotic challenge in extending dexterity and hopefully providing the path to robotic surgery in the near future.

  20. Humanlike Robots - The Upcoming Revolution in Robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  1. Humanlike robots: the upcoming revolution in robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-08-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  2. Inverse kinematic solution for near-simple robots and its application to robot calibration

    Science.gov (United States)

    Hayati, Samad A.; Roston, Gerald P.

    1986-01-01

    This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.

  3. Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion.

    Science.gov (United States)

    Marras, Stefano; Porfiri, Maurizio

    2012-08-07

    The integration of biomimetic robots in a fish school may enable a better understanding of collective behaviour, offering a new experimental method to test group feedback in response to behavioural modulations of its 'engineered' member. Here, we analyse a robotic fish and individual golden shiners (Notemigonus crysoleucas) swimming together in a water tunnel at different flow velocities. We determine the positional preference of fish with respect to the robot, and we study the flow structure using a digital particle image velocimetry system. We find that biomimetic locomotion is a determinant of fish preference as fish are more attracted towards the robot when its tail is beating rather than when it is statically immersed in the water as a 'dummy'. At specific conditions, the fish hold station behind the robot, which may be due to the hydrodynamic advantage obtained by swimming in the robot's wake. This work makes a compelling case for the need of biomimetic locomotion in promoting robot-animal interactions and it strengthens the hypothesis that biomimetic robots can be used to study and modulate collective animal behaviour.

  4. LISA and its in-flight test precursor SMART-2

    International Nuclear Information System (INIS)

    Vitale, S.; Bender, P.; Brillet, A.; Buchman, S.; Cavalleri, A.; Cerdonio, M.; Cruise, M.; Cutler, C.; Danzmann, K.; Dolesi, R.; Folkner, W.; Gianolio, A.; Jafry, Y.; Hasinger, G.; Heinzel, G.; Hogan, C.; Hueller, M.; Hough, J.; Phinney, S.; Prince, T.; Richstone, D.; Robertson, D.; Rodrigues, M.; Ruediger, A.; Sandford, M.; Schilling, R.; Shoemaker, D.; Schutz, B.; Stebbins, R.; Stubbs, C.; Sumner, T.; Thorne, K.; Tinto, M.; Touboul, P.; Ward, H.; Weber, W.; Winkler, W.

    2002-01-01

    LISA will be the first space-home gravitational wave observatory. It aims to detect gravitational waves in the 0.1 mHz/1 Hz range from sources including galactic binaries, super-massive black-hole binaries, capture of objects by super-massive black-holes and stochastic background. LISA is an ESA approved Cornerstone Mission foreseen as a joint ESA-NASA endeavour to be launched in 2010-11. The principle of operation of LISA is based on laser ranging of test-masses under pure geodesic motion. Achieving pure geodesic motion at the level requested for LISA, 3x10 -15 ms -2 /√Hz at 0.1 mHz, is considered a challenging technological objective. To reduce the risk, both ESA and NASA are pursuing an in-flight test of the relevant technology. The goal of the test is to demonstrate geodetic motion within one order of magnitude from the LISA performance. ESA has given this test as the primary goal of its technology dedicated mission SMART-2 with a launch in 2006. This paper describes the basics of LISA, its key technologies, and its in-flight precursor test on SMART-2

  5. Research Objectives for Human Missions in the Proving Ground of Cis-Lunar Space

    Science.gov (United States)

    Spann, James; Niles, Paul; Eppler, Dean; Kennedy, Kriss; Lewis, Ruthan; Sullivan, Thomas

    2016-07-01

    Introduction: This talk will introduce the preliminary findings in support of NASA's Future Capabilities Team. In support of the ongoing studies conducted by NASA's Future Capabilities Team, we are tasked with collecting re-search objectives for the Proving Ground activities. The objectives could include but are certainly not limited to: demonstrating crew well being and performance over long duration missions, characterizing lunar volatiles, Earth monitoring, near Earth object search and identification, support of a far-side radio telescope, and measuring impact of deep space environment on biological systems. Beginning in as early as 2023, crewed missions beyond low Earth orbit will be enabled by the new capabilities of the SLS and Orion vehicles. This will initiate the "Proving Ground" phase of human exploration with Mars as an ultimate destination. The primary goal of the Proving Ground is to demonstrate the capability of suitably long dura-tion spaceflight without need of continuous support from Earth, i.e. become Earth Independent. A major component of the Proving Ground phase is to conduct research activities aimed at accomplishing major objectives selected from a wide variety of disciplines including but not limited to: Astronomy, Heliophysics, Fun-damental Physics, Planetary Science, Earth Science, Human Systems, Fundamental Space Biology, Microgravity, and In Situ Resource Utilization. Mapping and prioritizing the most important objectives from these disciplines will provide a strong foundation for establishing the architecture to be utilized in the Proving Ground. Possible Architectures: Activities and objectives will be accomplished during the Proving Ground phase using a deep space habitat. This habitat will potentially be accompanied by a power/propulsion bus capable of moving the habitat to accomplish different objectives within cis-lunar space. This architecture can also potentially support stag-ing of robotic and tele-robotic assets as well as

  6. Micro robot bible

    International Nuclear Information System (INIS)

    Yoon, Jin Yeong

    2000-08-01

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  7. Micro robot bible

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jin Yeong

    2000-08-15

    This book deals with micro robot, which tells of summary of robots like entertainment robots and definition of robots, introduction of micro mouse about history, composition and rules, summary of micro controller with its history, appearance and composition, introduction of stepping motor about types, structure, basic characteristics, and driving ways, summary of sensor section, power, understanding of 80C196KC micro controller, basic driving program searching a maze algorithm, smooth turn and making of tracer line.

  8. Robots at Work

    OpenAIRE

    Graetz, Georg; Michaels, Guy

    2015-01-01

    Despite ubiquitous discussions of robots' potential impact, there is almost no systematic empirical evidence on their economic effects. In this paper we analyze for the first time the economic impact of industrial robots, using new data on a panel of industries in 17 countries from 1993-2007. We find that industrial robots increased both labor productivity and value added. Our panel identification is robust to numerous controls, and we find similar results instrumenting increased robot use wi...

  9. Gas Concentration Prediction Based on the Measured Data of a Coal Mine Rescue Robot

    Directory of Open Access Journals (Sweden)

    Xiliang Ma

    2016-01-01

    Full Text Available The coal mine environment is complex and dangerous after gas accident; then a timely and effective rescue and relief work is necessary. Hence prediction of gas concentration in front of coal mine rescue robot is an important significance to ensure that the coal mine rescue robot carries out the exploration and search and rescue mission. In this paper, a gray neural network is proposed to predict the gas concentration 10 meters in front of the coal mine rescue robot based on the gas concentration, temperature, and wind speed of the current position and 1 meter in front. Subsequently the quantum genetic algorithm optimization gray neural network parameters of the gas concentration prediction method are proposed to get more accurate prediction of the gas concentration in the roadway. Experimental results show that a gray neural network optimized by the quantum genetic algorithm is more accurate for predicting the gas concentration. The overall prediction error is 9.12%, and the largest forecasting error is 11.36%; compared with gray neural network, the gas concentration prediction error increases by 55.23%. This means that the proposed method can better allow the coal mine rescue robot to accurately predict the gas concentration in the coal mine roadway.

  10. To Err Is Robot: How Humans Assess and Act toward an Erroneous Social Robot

    Directory of Open Access Journals (Sweden)

    Nicole Mirnig

    2017-05-01

    Full Text Available We conducted a user study for which we purposefully programmed faulty behavior into a robot’s routine. It was our aim to explore if participants rate the faulty robot different from an error-free robot and which reactions people show in interaction with a faulty robot. The study was based on our previous research on robot errors where we detected typical error situations and the resulting social signals of our participants during social human–robot interaction. In contrast to our previous work, where we studied video material in which robot errors occurred unintentionally, in the herein reported user study, we purposefully elicited robot errors to further explore the human interaction partners’ social signals following a robot error. Our participants interacted with a human-like NAO, and the robot either performed faulty or free from error. First, the robot asked the participants a set of predefined questions and then it asked them to complete a couple of LEGO building tasks. After the interaction, we asked the participants to rate the robot’s anthropomorphism, likability, and perceived intelligence. We also interviewed the participants on their opinion about the interaction. Additionally, we video-coded the social signals the participants showed during their interaction with the robot as well as the answers they provided the robot with. Our results show that participants liked the faulty robot significantly better than the robot that interacted flawlessly. We did not find significant differences in people’s ratings of the robot’s anthropomorphism and perceived intelligence. The qualitative data confirmed the questionnaire results in showing that although the participants recognized the robot’s mistakes, they did not necessarily reject the erroneous robot. The annotations of the video data further showed that gaze shifts (e.g., from an object to the robot or vice versa and laughter are typical reactions to unexpected robot behavior

  11. ROILA : RObot Interaction LAnguage

    NARCIS (Netherlands)

    Mubin, O.

    2011-01-01

    The number of robots in our society is increasing rapidly. The number of service robots that interact with everyday people already outnumbers industrial robots. The easiest way to communicate with these service robots, such as Roomba or Nao, would be natural speech. However, the limitations

  12. Evidence for robots.

    Science.gov (United States)

    Shenoy, Ravikiran; Nathwani, Dinesh

    2017-01-01

    Robots have been successfully used in commercial industry and have enabled humans to perform tasks which are repetitive, dangerous and requiring extreme force. Their role has evolved and now includes many aspects of surgery to improve safety and precision. Orthopaedic surgery is largely performed on bones which are rigid immobile structures which can easily be performed by robots with great precision. Robots have been designed for use in orthopaedic surgery including joint arthroplasty and spine surgery. Experimental studies have been published evaluating the role of robots in arthroscopy and trauma surgery. In this article, we will review the incorporation of robots in orthopaedic surgery looking into the evidence in their use. © The Authors, published by EDP Sciences, 2017.

  13. Pathways to space: A mission to foster the next generation of scientists and engineers

    Science.gov (United States)

    Dougherty, Kerrie; Oliver, Carol; Fergusson, Jennifer

    2014-06-01

    The first education project funded under the Australian Government's Australian Space Research Program (ASRP), Pathways to Space was a unique project combining education, science communication research and research in astrobiology and robotics. It drew upon the challenges of space exploration to inspire students to consider study and careers in science and engineering. A multi-faceted program, Pathways to Space provided hands-on opportunities for high school and university students to participate in realistic simulations of a robotic Mars exploration mission for astrobiology. Its development was a collaboration between the Australian Centre for Astrobiology (University of New South Wales), the Australian Centre for Field Robotics (University of Sydney), the Powerhouse Museum and industry partner, Cisco. Focused on students in Years 9-10 (15-16 years of age), this program provided them with the opportunity to engage directly with space engineers and astrobiologists, while carrying out a simulated Mars mission using the digital learning facilities available at the Powerhouse Museum. As a part of their program, the students operated robotic mini-rovers in the Powerhouse Museum's “Mars Yard”, a highly accurate simulation of the Martian surface, where university students also carry out the development and testing of experimental Mars roving vehicles. This aspect of the program has brought real science and engineering research into the public space of the museum. As they undertook the education program, the students participated in a research study aimed at understanding the effectiveness of the project in achieving its key objective - encouraging students to consider space related courses and careers. This paper outlines the development and operation of the Pathways to Space project over its 3-year funding period, during which it met and exceeded all the requirements of its ASRP grant. It will look at the goals of the project, the rationale behind the education and

  14. Message Encryption in Robot Operating System: Collateral Effects of Hardening Mobile Robots

    Directory of Open Access Journals (Sweden)

    Francisco J. Rodríguez-Lera

    2018-03-01

    Full Text Available In human–robot interaction situations, robot sensors collect huge amounts of data from the environment in order to characterize the situation. Some of the gathered data ought to be treated as private, such as medical data (i.e., medication guidelines, personal, and safety information (i.e., images of children, home habits, alarm codes, etc.. However, most robotic software development frameworks are not designed for securely managing this information. This paper analyzes the scenario of hardening one of the most widely used robotic middlewares, Robot Operating System (ROS. The study investigates a robot’s performance when ciphering the messages interchanged between ROS nodes under the publish/subscribe paradigm. In particular, this research focuses on the nodes that manage cameras and LIDAR sensors, which are two of the most extended sensing solutions in mobile robotics, and analyzes the collateral effects on the robot’s achievement under different computing capabilities and encryption algorithms (3DES, AES, and Blowfish to robot performance. The findings present empirical evidence that simple encryption algorithms are lightweight enough to provide cyber-security even in low-powered robots when carefully designed and implemented. Nevertheless, these techniques come with a number of serious drawbacks regarding robot autonomy and performance if they are applied randomly. To avoid these issues, we define a taxonomy that links the type of ROS message, computational units, and the encryption methods. As a result, we present a model to select the optimal options for hardening a mobile robot using ROS.

  15. 1st Iberian Robotics Conference

    CERN Document Server

    Sanfeliu, Alberto; Ferre, Manuel; ROBOT2013; Advances in robotics

    2014-01-01

    This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GT...

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

    Science.gov (United States)

    2017-06-12

    Figure 4. Boeing’s Unmanned Undersea Cargo Vehicle, “Echo Voyager.”22 In the future closed loop automated patient care systems like ACCS could... closed - loop controls, buying just enough time to transport the wounded to the next level of care. Patient abandonment could be solved by using robotic...CASEVAC and medical resupply missions. The DoD should work with the Federal Emergency Management Agency to design CONOPS for using RAS in non-military

  17. The Design and Implementation of a Prototype Surf-Zone Robot for Waterborne Operations

    Science.gov (United States)

    2015-12-01

    Measurement Unit IR Infrared MC Mission Complexity MONTe Mobility over Non-Trivial Terrain MOSART Mobile Surf-zone Amphibious Robot NIST... rubber coating (Plasti-Dip) and a liquid repellent treatment (Rust-Oleum Never Wet–multisurface). An FDM sparse part T5 was coated as depicted in Figure...Coating Process on FDM Part T5 Figure 15. (a) FDM part with two layers of black rubber coating (first coating), (b) FDM part with liquid repelling

  18. Robotic inspection of nuclear waste storage facilities

    International Nuclear Information System (INIS)

    Fulbright, R.; Stephens, L.M.

    1995-01-01

    The University of South Carolina and the Westinghouse Savannah River Company have developed a prototype mobile robot designed to perform autonomous inspection of nuclear waste storage facilities. The Stored Waste Autonomous Mobile Inspector (SWAMI) navigates and inspects rows of nuclear waste storage drums, in isles as narrow as 34 inches with drums stacked three high on each side. SWAMI reads drum barcodes, captures drum images, and monitors floor-level radiation levels. The topics covered in this article reporting on SWAMI include the following: overall system design; typical mission scenario; barcode reader subsystem; video subsystem; radiation monitoring subsystem; position determination subsystem; onboard control system hardware; software development environment; GENISAS, a C++ library; MOSAS, an automatic code generating tool. 10 figs

  19. Springer handbook of robotics

    CERN Document Server

    Khatib, Oussama

    2016-01-01

    The second edition of this handbook provides a state-of-the-art cover view on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition o...

  20. Innovations in robotic surgery.

    Science.gov (United States)

    Gettman, Matthew; Rivera, Marcelino

    2016-05-01

    Developments in robotic surgery have continued to advance care throughout the field of urology. The purpose of this review is to evaluate innovations in robotic surgery over the past 18 months. The release of the da Vinci Xi system heralded an improvement on the Si system with improved docking, the ability to further manipulate robotic arms without clashing, and an autofocus universal endoscope. Robotic simulation continues to evolve with improvements in simulation training design to include augmented reality in robotic surgical education. Robotic-assisted laparoendoscopic single-site surgery continues to evolve with improvements on technique that allow for tackling previously complex pathologic surgical anatomy including urologic oncology and reconstruction. Last, innovations of new surgical platforms with robotic systems to improve surgeon ergonomics and efficiency in ureteral and renal surgery are being applied in the clinical setting. Urologic surgery continues to be at the forefront of the revolution of robotic surgery with advancements in not only existing technology but also creation of entirely novel surgical systems.