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At least 253 records · Page 14

An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments

A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Furthermore, a solution to the problem of inverse dynamics for the mobile robot is given. Simulation results verify the value of the proposed strategy.

Kyriakopoulos, K. J.↗

Motion planning of mobile multi-limb robotic systems subject to force and friction constraints

A method is presented to generate motions for a class of multilimb robotic systems enabling them to apply large static forces over large ranges of motion without saturating actuator effort limits, system-environment friction constraints, kinematic joint limits, or geometric workspace obstacles. The approach, termed the force-workspace (FW) approach, maps these constraints into the system C-space to form constraint obstacles using a recursive subdivision process. To generate motions along which actuator efforts can be specified without violating system constraints, paths are planned that avoid these constraint obstacles. The method permits the shape of the paths to be controlled using any configuration-dependent performance criterion. The FW approach was applied to a proposed three-limb planar climbing robot whose task is to climb upwards between two vertical walls by pushing outwards to generate frictional support. Motions were planned automatically within the system FW, enabling it to lift itself upwards using two limbs at a time, and a gait was planned to enable it to switch limbs and climb continuously.

Madhani, Akhil↗

A parallel implementation of a multisensor feature-based range-estimation method

There are many proposed vision based methods to perform obstacle detection and avoidance for autonomous or semi-autonomous vehicles. All methods, however, will require very high processing rates to achieve real time performance. A system capable of supporting autonomous helicopter navigation will need to extract obstacle information from imagery at rates varying from ten frames per second to thirty or more frames per second depending on the vehicle speed. Such a system will need to sustain billions of operations per second. To reach such high processing rates using current technology, a parallel implementation of the obstacle detection/ranging method is required. This paper describes an efficient and flexible parallel implementation of a multisensor feature-based range-estimation algorithm, targeted for helicopter flight, realized on both a distributed-memory and shared-memory parallel computer.

Suorsa, Raymond E.↗

Compressible flow about symmetrical Joukowski profiles

The method of Poggi is employed for the determination of the effects of compressibility upon the flow past an obstacle. A general expression for the velocity increment due to compressibility is obtained. The general result holds whatever the shape of the obstacle; but, in order to obtain the complete solution, it is necessary to know a certain Fourier expansion of the square of the velocity of flow past the obstacle. An application is made to the case flow of a symmetrical Joukowski profile with a sharp trailing edge, fixed in a stream of an arbitrary angle of attack and with the circulation determined by the Kutta condition. The results are obtained in a closed form and are exact insofar as the second approximation to the compressible flow is concerned, the first approximation being the result for the corresponding incompressible flow. Formulas for lift and moment analogous to the Blasius formulas in incompressible flow are developed and are applied to thin symmetrical Joukowski profiles for small angles of attack.

Kaplan, Carl↗

Path planning for robotic truss assembly

A new Potential Fields approach to the robotic path planning problem is proposed and implemented. Our approach, which is based on one originally proposed by Munger, computes an incremental joint vector based upon attraction to a goal and repulsion from obstacles. By repetitively adding and computing these 'steps', it is hoped (but not guaranteed) that the robot will reach its goal. An attractive force exerted by the goal is found by solving for the the minimum norm solution to the linear Jacobian equation. A repulsive force between obstacles and the robot's links is used to avoid collisions. Its magnitude is inversely proportional to the distance. Together, these forces make the goal the global minimum potential point, but local minima can stop the robot from ever reaching that point. Our approach improves on a basic, potential field paradigm developed by Munger by using an active, adaptive field - what we will call a 'flexible' potential field. Active fields are stronger when objects move towards one another and weaker when they move apart. An adaptive field's strength is individually tailored to be just strong enough to avoid any collision. In addition to the local planner, a global planning algorithm helps the planner to avoid local field minima by providing subgoals. These subgoals are based on the obstacles which caused the local planner to fail. A best-first search algorithm A* is used for graph search.

Sanderson, Arthur C.↗

Multiple-camera/motion stereoscopy for range estimation in helicopter flight

Aiding the pilot to improve safety and reduce pilot workload by detecting obstacles and planning obstacle-free flight paths during low-altitude helicopter flight is desirable. Computer vision techniques provide an attractive method of obstacle detection and range estimation for objects within a large field of view ahead of the helicopter. Previous research has had considerable success by using an image sequence from a single moving camera to solving this problem. The major limitations of single camera approaches are that no range information can be obtained near the instantaneous direction of motion or in the absence of motion. These limitations can be overcome through the use of multiple cameras. This paper presents a hybrid motion/stereo algorithm which allows range refinement through recursive range estimation while avoiding loss of range information in the direction of travel. A feature-based approach is used to track objects between image frames. An extended Kalman filter combines knowledge of the camera motion and measurements of a feature's image location to recursively estimate the feature's range and to predict its location in future images. Performance of the algorithm will be illustrated using an image sequence, motion information, and independent range measurements from a low-altitude helicopter flight experiment.

Smith, Phillip N.↗

A methodology for the generation of the 2-D map from unknown navigation environment by traveling a short distance

A technique for generation of a 2-D space map by traveling a short distance is described. The space to be mapped can be classified as: (1) space without obstacles, (2) space with stationary obstacles, and (3) space with moving obstacles. This paper presents the methodology used to generate a 2-D map of an unknown navigation space. The ability to minimize the redundancy during traveling and maximize the confidence function for generation of the map are advantages of this technique.

Bourbakis, N.↗

The MITy micro-rover: Sensing, control, and operation

The sensory, control, and operation systems of the 'MITy' Mars micro-rover are discussed. It is shown that the customized sun tracker and laser rangefinder provide internal, autonomous dead reckoning and hazard detection in unstructured environments. The micro-rover consists of three articulated platforms with sensing, processing and payload subsystems connected by a dual spring suspension system. A reactive obstacle avoidance routine makes intelligent use of robot-centered laser information to maneuver through cluttered environments. The hazard sensors include a rangefinder, inclinometers, proximity sensors and collision sensors. A 486/66 laptop computer runs the graphical user interface and programming environment. A graphical window displays robot telemetry in real time and a small TV/VCR is used for real time supervisory control. Guidance, navigation, and control routines work in conjunction with the mapping and obstacle avoidance functions to provide heading and speed commands that maneuver the robot around obstacles and towards the target.

Malafeew, Eric↗

Automated path planning of the Payload Inspection and Processing System

The Payload Changeout Room Inspection and Processing System (PIPS) is a highly redundant manipulator intended for performing tasks in the crowded and sensitive environment of the Space Shuttle Orbiter payload bay. Its dexterity will be exploited to maneuver the end effector in a workspace populated with obstacles. A method is described by which the end effector of a highly redundant manipulator is directed toward a target via a Lyapunov stability function. A cost function is constructed which represents the distance from the manipulator links to obstacles. Obstacles are avoided by causing the vector of joint parameters to move orthogonally to the gradient of the workspace cost function. A C language program implements the algorithm to generate a joint history. The resulting motion is graphically displayed using the Interactive Graphical Robot Instruction Program (IGRIP) produced by Deneb Robotics. The graphical simulation has the potential to be a useful tool in path planning for the PIPS in the Shuttle Payload Bay environment.

Byers, Robert M.↗

Determining the standoff distance of the bow shock: Mach number dependence and use of models

We explore the factors that determine the bow shock standoff distance. These factors include the parameters of the solar wind, as well as the size and shape of the obstacle. In this report we develop a semiempirical Mach number relation for the bow shock standoff distance in order to take into account the shock's behavior at low Mach numbers. This is done by determining which properties of the shock are most important in controlling the standoff distance and using this knowledge to modify the current Mach number relation. While the present relation has proven useful at higher Mach numbers, it has lacked effectiveness at the low Mach number limit. We also analyze the bow shock dependence upon the size and shape of the obstacle, noting that it is most appropriate to compare the standoff distance of the bow shock to the radius of curvature of the obstacle, as opposed to the distance from the focus of the object to the nose. Last, we focus our attention on the use of bow shock models in determining the standoff distance. We note that the physical behavior of the shock must correctly be taken into account, specifically the behavior as a function of solar wind dynamic pressure; otherwise, erroneous results can be obtained for the bow shock standoff distance.

Farris, M. H.↗

Optical Potential Field Mapping System

The present invention relates to an optical system for creating a potential field map of a bounded two dimensional region containing a goal location and an arbitrary number of obstacles. The potential field mapping system has an imaging device and a processor. Two image writing modes are used by the imaging device, electron deposition and electron depletion. Patterns written in electron deposition mode appear black and expand. Patterns written in electron depletion mode are sharp and appear white. The generated image represents a robot's workspace. The imaging device under processor control then writes a goal location in the work-space using the electron deposition mode. The black image of the goal expands in the workspace. The processor stores the generated images, and uses them to generate a feedback pattern. The feedback pattern is written in the workspace by the imaging device in the electron deposition mode to enhance the expansion of the original goal pattern. After the feedback pattern is written, an obstacle pattern is written by the imaging device in the electron depletion mode to represent the obstacles in the robot's workspace. The processor compares a stored image to a previously stored image to determine a change therebetween. When no change occurs, the processor averages the stored images to produce the potential field map.

Reid, Max B.↗

Space Mechanisms Technology Workshop Proceedings

Over the years, NASA has experienced a number of troublesome mechanism anomalies. Because of this, the NASA Office of Safety and Mission Assurance initiated a workshop to evaluate the current space mechanism state-of-the-art and to determine the obstacles that will have to be met in order to achieve NASA's future missions goals. Seventy experts in the field attended the workshop. The experts identified current and perceived future space mechanisms obstacles. For each obstacle, the participants identified technology deficiencies, the current state-of-the-art, and applicable NASA, DOD, and industry missions. In addition, the participants at the workshop looked at technology needs for current missions, technology needs for future missions, what new technology is needed to improve the reliability of mechanisms, what can be done to improve technology development and the dissemination of information, and what do we do next.

Fusaro, Robert L.↗

Infusing Software Assurance Research Techniques into Use

Research in the software engineering community continues to lead to new development techniques that encompass processes, methods and tools. However, a number of obstacles impede their infusion into software development practices. These are the recurring obstacles common to many forms of research. Practitioners cannot readily identify the emerging techniques that may benefit them, and cannot afford to risk time and effort evaluating and trying one out while there remains uncertainty about whether it will work for them. Researchers cannot readily identify the practitioners whose problems would be amenable to their techniques, and, lacking feedback from practical applications, are hard-pressed to gauge the where and in what ways to evolve their techniques to make them more likely to be successful. This paper describes an ongoing effort conducted by a software engineering research infusion team established by NASA s Software Engineering Initiative to overcome these obstacles. .

Pressburger, Thomas↗

The NASA Software Research Infusion Initiative: Successful Technology Transfer for Software Assurance

New processes, methods and tools are constantly appearing in the field of software engineering. Many of these augur great potential in improving software development processes, resulting in higher quality software with greater levels of assurance. However, there are a number of obstacles that impede their infusion into software development practices. These are the recurring obstacles common to many forms of research. Practitioners cannot readily identify the emerging techniques that may most benefit them, and cannot afford to risk time and effort in evaluating and experimenting with them while there is still uncertainty about whether they will have payoff in this particular context. Similarly, researchers cannot readily identify those practitioners whose problems would be amenable to their techniques and lack the feedback from practical applications necessary to help them to evolve their techniques to make them more likely to be successful. This paper describes an ongoing effort conducted by a software engineering research infusion team, and the NASA Research Infusion Initiative, established by NASA s Software Engineering Initiative, to overcome these obstacles.

Hinchey, Michael G.↗

Foliage discrimination using a rotating ladar

We present a real time algorithm that detects foliage using range from a rotating laser. Objects not classified as foliage are conservatively labeled as non-driving obstacles. In contrast to related work that uses range statistics to classify objects, we exploit the expected localities and continuities of an obstacle, in both space and time. Also, instead of attempting to find a single accurate discriminating factor for every ladar return, we hypothesize the class of some few returns and then spread the confidence (and classification) to other returns using the locality constraints. The Urbie robot is presently using this algorithm to descriminate drivable grass from obstacles during outdoor autonomous navigation tasks.

Autonomous navigation range robots↗

Assessment of Postflight Locomotor Performance Utilizing a Test of Functional Mobility: Strategic and Adaptive Responses

Space flight induces adaptive modification in sensorimotor function, allowing crewmembers to operate in the unique microgravity environment. This adaptive state, however, is inappropriate for a terrestrial environment. During a re-adaptation period upon their return to Earth, crewmembers experience alterations in sensorimotor function, causing various disturbances in perception, spatial orientation, posture, gait, and eye-head coordination. Following long duration space flight, sensorimotor dysfunction would prevent or extend the time required to make an emergency egress from the vehicle; compromising crew safety and mission objectives. We are investigating two types of motor learning that may interact with each other and influence a crewmember's ability to re-adapt to Earth's gravity environment. In strategic learning, crewmembers make rapid modifications in their motor control strategy emphasizing error reduction. This type of learning may be critical during the first minutes and hours after landing. In adaptive learning, long-term plastic transformations occur, involving morphological changes and synaptic modification. In recent literature these two behavioral components have been associated with separate brain structures that control the execution of motor strategies: the strategic component was linked to the posterior parietal cortex and the adaptive component was linked to the cerebellum (Pisella, et al. 2004). The goal of this paper was to demonstrate the relative contributions of the strategic and adaptive components to the re-adaptation process in locomotor control after long duration space flight missions on the International Space Station (ISS). The Functional Mobility Test (FMT) was developed to assess crewmember s ability to ambulate postflight from an operational and functional perspective. Sixteen crewmembers were tested preflight (3 sessions) and postflight (days 1, 2, 4, 7, 25) following a long duration space flight (approx 6 months) on the ISS. We have further analyzed the FMT data to characterize strategic and adaptive components during the postflight readaptation period. Crewmembers walked at a preferred pace through an obstacle course set up on a base of 10 cm thick medium density foam (Sunmate Foam, Dynamic Systems, Inc., Leicester, NC). The 6.0m X 4.0m course consisted of several pylons made of foam; a Styrofoam barrier 46.0cm high that crewmembers stepped over; and a portal constructed of two Styrofoam blocks, each 31cm high, with a horizontal bar covered by foam and suspended from the ceiling which was adjusted to the height of the crewmember s shoulder. The portal required crewmembers to bend at the waist and step over a barrier simultaneously. All obstacles were lightweight, soft and easily knocked over. Crewmembers were instructed to walk through the course as quickly and as safely as possible without touching any of the objects on the course. This task was performed three times in the clockwise direction and three times in the counterclockwise direction that was randomly chosen. The dependent measures for each trial were: time to complete the course (seconds) and the number of obstacles touched or knocked down. For each crewmember, the time to complete each FMT trial from postflight days 1, 2, 4, 7 and 25 were further analyzed. A single logarithmic curve using a least squares calculation was fit through these data to produce a single comprehensive curve (macro). This macro curve composed of data spanning 25 days, illustrates the re-adaptive learning function over the longer time scale term. Additionally, logarithmic curves were fit to the 6 data trials within each individual post flight test day to produce 5 separate daily curves. These micro curves, produced from data obtained over the course of minutes, illustrates the strategic learning function exhibited over a relative shorter time scale. The macro curve for all subjects exhibited adaptive motor learning patterns over the 25 day period. Howev, 9/16 crewmembers exhibited significant strategic motor learning patterns in their micro curves, as defined by m > 1 in the equation of the line y=m*LN(x) +b. These data indicate that postflight recovery in locomotor function involves both strategic and adaptive mechanisms. Future countermeasures will be designed to enhance both recovery processes.

Warren, L. E.↗

Reactive, Safe Navigation for Lunar and Planetary Robots

When humans return to the moon, Astronauts will be accompanied by robotic helpers. Enabling robots to safely operate near astronauts on the lunar surface has the potential to significantly improve the efficiency of crew surface operations. Safely operating robots in close proximity to astronauts on the lunar surface requires reactive obstacle avoidance capabilities not available on existing planetary robots. In this paper we present work on safe, reactive navigation using a stereo based high-speed terrain analysis and obstacle avoidance system. Advances in the design of the algorithms allow it to run terrain analysis and obstacle avoidance algorithms at full frame rate (30Hz) on off the shelf hardware. The results of this analysis are fed into a fast, reactive path selection module, enforcing the safety of the chosen actions. The key components of the system are discussed and test results are presented.

Utz, Hans↗

Mapping Nearby Terrain in 3D by Use of a Grid of Laser Spots

A proposed optoelectronic system, to be mounted aboard an exploratory robotic vehicle, would be used to generate a three-dimensional (3D) map of nearby terrain and obstacles for purposes of navigating the vehicle across the terrain and avoiding the obstacles. The difference between this system and the other systems would lie in the details of implementation. In this system, the illumination would be provided by a laser. The beam from the laser would pass through a two-dimensional diffraction grating, which would divide the beam into multiple beams propagating in different, fixed, known directions. These beams would form a grid of bright spots on the nearby terrain and obstacles. The centroid of each bright spot in the image would be computed. For each such spot, the combination of (1) the centroid, (2) the known direction of the light beam that produced the spot, and (3) the known baseline would constitute sufficient information for calculating the 3D position of the spot.

Padgett, Curtis↗