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NASA NTRS1991

On the role of exchange of power and information signals in control and stability of the human-robot interaction

A human's ability to perform physical tasks is limited, not only by his intelligence, but by his physical strength. If, in an appropriate environment, a machine's mechanical power is closely integrated with a human arm's mechanical power under the control of the human intellect, the resulting system will be superior to a loosely integrated combination of a human and a fully automated robot. Therefore, we must develop a fundamental solution to the problem of 'extending' human mechanical power. The work presented here defines 'extenders' as a class of robot manipulators worn by humans to increase human mechanical strength, while the wearer's intellect remains the central control system for manipulating the extender. The human, in physical contact with the extender, exchanges power and information signals with the extender. The aim is to determine the fundamental building blocks of an intelligent controller, a controller which allows interaction between humans and a broad class of computer-controlled machines via simultaneous exchange of both power and information signals. The prevalent trend in automation has been to physically separate the human from the machine so the human must always send information signals via an intermediary device (e.g., joystick, pushbutton, light switch). Extenders, however are perfect examples of self-powered machines that are built and controlled for the optimal exchange of power and information signals with humans. The human wearing the extender is in physical contact with the machine, so power transfer is unavoidable and information signals from the human help to control the machine. Commands are transferred to the extender via the contact forces and the EMG signals between the wearer and the extender. The extender augments human motor ability without accepting any explicit commands: it accepts the EMG signals and the contact force between the person's arm and the extender, and the extender 'translates' them into a desired position. In this unique configuration, mechanical power transfer between the human and the extender occurs because the human is pushing against the extender. The extender transfers to the human's hand, in feedback fashion, a scaled-down version of the actual external load which the extender is manipulating. This natural feedback force on the human's hand allows him to 'feel' a modified version of the external forces on the extender. The information signals from the human (e.g., EMG signals) to the computer reflect human cognitive ability, and the power transfer between the human and the machine (e.g., physical interaction) reflects human physical ability. Thus the information transfer to the machine augments cognitive ability, and the power transfer augments motor ability. These two actions are coupled through the human cognitive/motor dynamic behavior. The goal is to derive the control rules for a class of computer-controlled machines that augment human physical and cognitive abilities in certain manipulative tasks.

Kazerooni, H.↗

NASA NTRS2006

NASA's Lunar Robotic Architecture Study

This report documents the findings and analysis of a 60-day agency-wide Lunar Robotic Architecture Study (LRAS) conducted by the National Aeronautics and Space Administration (NASA). Work on this study began in January 2006. Its purpose was to: Define a lunar robotics architecture by addressing the following issues: 1) Do we need robotic missions at all? If so, why and under what conditions? 2) How would they be accomplished and at what cost? Are they within budget? 3) What are the minimum requirements? What is the minimum mission set? 4) Integrate these elements together to show a viable robotic architecture. 5) Establish a strategic framework for a lunar robotics program. The LRAS Final Report presents analysis and recommendations concerning potential approaches related to NASA s implementation of the President's Vision for Space Exploration. Project and contract requirements will likely be derived in part from the LRAS analysis and recommendations contained herein, but these do not represent a set of project or contract requirements and are not binding on the U.S. Government unless and until they are formally and expressly adopted as such. Details of any recommendations offered by the LRAS Final Report will be translated into implementation requirements. Moreover, the report represents the assessments and projects of the report s authors at the time it was prepared; it is anticipated that the concepts in this report will be analyzed further and refined. By the time some of the activities addressed in this report are implemented, certain assumptions on which the report s conclusions are based will likely evolve as a result of this analysis. Accordingly, NASA, and any entity under contract with NASA, should not use the information in this report for final project direction. Since the conclusion of this study, there have been various changes to the Agency's current portfolio of lunar robotic precursor activities. First, the Robotic Lunar Exploration Program (RLEP) has been renamed the Lunar Precursor and Robotic Program (LPRP). On May 17, 2006, the Lunar Reconnaissance Orbiter (LRO) was confirmed to enter its implementation phase. Last, a new low-cost secondary payload known as the Lunar Crater Observation and Sensing Satellite (LCROSS) was co-manifested to launch with LRO in 2008. These changes are consistent with the conclusions and recommendations of this study, but came too late to be specifically reflected in this report.

Mulville, Daniel R.↗

NASA NTRS2016

COBALT: A GN&C Payload for Testing ALHAT Capabilities in Closed-Loop Terrestrial Rocket Flights

The COBALT (CoOperative Blending of Autonomous Landing Technology) payload is being developed within NASA as a risk reduction activity to mature, integrate and test ALHAT (Autonomous precision Landing and Hazard Avoidance Technology) systems targeted for infusion into near-term robotic and future human space flight missions. The initial COBALT payload instantiation is integrating the third-generation ALHAT Navigation Doppler Lidar (NDL) sensor, for ultra high-precision velocity plus range measurements, with the passive-optical Lander Vision System (LVS) that provides Terrain Relative Navigation (TRN) global-position estimates. The COBALT payload will be integrated onboard a rocket-propulsive terrestrial testbed and will provide precise navigation estimates and guidance planning during two flight test campaigns in 2017 (one open-loop and closed- loop). The NDL is targeting performance capabilities desired for future Mars and Moon Entry, Descent and Landing (EDL). The LVS is already baselined for TRN on the Mars 2020 robotic lander mission. The COBALT platform will provide NASA with a new risk-reduction capability to test integrated EDL Guidance, Navigation and Control (GN&C) components in closed-loop flight demonstrations prior to the actual mission EDL.

Carson, John M., III↗

NASA NTRS1991

Intelligent systems technology infrastructure for integrated systems

Significant advances have occurred during the last decade in intelligent systems technologies (a.k.a. knowledge-based systems, KBS) including research, feasibility demonstrations, and technology implementations in operational environments. Evaluation and simulation data obtained to date in real-time operational environments suggest that cost-effective utilization of intelligent systems technologies can be realized for Automated Rendezvous and Capture applications. The successful implementation of these technologies involve a complex system infrastructure integrating the requirements of transportation, vehicle checkout and health management, and communication systems without compromise to systems reliability and performance. The resources that must be invoked to accomplish these tasks include remote ground operations and control, built-in system fault management and control, and intelligent robotics. To ensure long-term evolution and integration of new validated technologies over the lifetime of the vehicle, system interfaces must also be addressed and integrated into the overall system interface requirements. An approach for defining and evaluating the system infrastructures including the testbed currently being used to support the on-going evaluations for the evolutionary Space Station Freedom Data Management System is presented and discussed. Intelligent system technologies discussed include artificial intelligence (real-time replanning and scheduling), high performance computational elements (parallel processors, photonic processors, and neural networks), real-time fault management and control, and system software development tools for rapid prototyping capabilities.

Lum, Henry, Jr.↗

NASA NTRS1990

Optimum structural design of robotic manipulators with fiber reinforced composite materials

High-speed robotic arms with advanced structural characteristics can be fabricated from optimally tailored fiber reinforced composites. An integrated design methodology is presented for the optimal structural synthesis of composite robotic manipulators. Optimum configurations of ply angles and ply thicknesses are predicted for maximum structural end-effector stiffness and maximum end-effector load carrying capacity, without altering the geometric dimensions of the links. Multiple posture finite element-based static performance criteria are implemented. A new finite element has been developed for the modeling of tubular composite links. Unique features are the inclusion of shear effects and coupling between stretching and flexure. Numerical solutions are obtained via an efficient optimization algorithm. Applications to an existing SCARA-class manipulator illustrate the effectiveness of the method and demonstrate the dramatic influence of the multi-postural design criteria on the optimal design. For a filament wound structure using a high strength carbon fiber in a thermoplastic matrix, the resultant optimum ply configurations have increased the specific stiffness and specific load capacity by factors of 1.5 and 16, respectively, in comparison to identically sized aluminum links.

Saravanos, D. A.↗

NASA NTRS2016

Liquid Oxygen/Liquid Methane Integrated Power and Propulsion

The proposed paper will cover ongoing work at the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) on integrated power and propulsion for advanced human exploration. Specifically, it will present findings of the integrated design, testing, and operational challenges of a liquid oxygen / liquid methane (LOx/LCH4) propulsion brassboard and Solid Oxide Fuel Cell (SOFC) system. Human-Mars architectures point to an oxygen-methane economy utilizing common commodities, scavenged from the planetary atmosphere and soil via In-Situ Resource Utilization (ISRU), and common commodities across sub-systems. Due to the enormous mass gear-ratio required for human exploration beyond low-earth orbit, (for every 1 kg of payload landed on Mars, 226 kg will be required on Earth) increasing commonality between spacecraft subsystems such as power and propulsion can result in tremendous launch mass and volume savings. Historically, propulsion and fuel cell power subsystems have had little interaction outside of the generation (fuel cell) and consumption (propulsion) of electrical power. This was largely due to a mismatch in preferred commodities (hypergolics for propulsion; oxygen & hydrogen for fuel cells). Although this stove-piped approach benefits from simplicity in the design process, it means each subsystem has its own tanks, pressurization system, fluid feed system, etc. increasing overall spacecraft mass and volume. A liquid oxygen / liquid methane commodities architecture across propulsion and power subsystems would enable the use of common tankage and associated pressurization and commodity delivery hardware for both. Furthermore, a spacecraft utilizing integrated power and propulsion could use propellant residuals - propellant which could not be expelled from the tank near depletion due to hydrodynamic considerations caused by large flow demands of a rocket engine - to generate power after all propulsive maneuvers are complete thus utilizing previously wasted mass. Such is the case for human and robotic planetary landers. Although many potential benefits through integrated power & propulsion exist, integrated operations have yet to be successfully demonstrated and many challenges have already been identified the most obvious of which is the large temperature gradient. SOFC chemistry is exothermic with operating temperatures in excess of 1,000 K; however, any shared commodities will be undoubtedly stored at cryogenic temperatures (90-112 K) for mass efficiency reasons. Spacecraft packaging will drive these two subsystems in close proximity thus heat leak into the commodity tankage must be minimized and/or mitigated. Furthermore, commodities must be gasified prior to consumption by the SOFC. Excess heat generated by the SOFC could be used to perform this phase change; however, this has yet to be demonstrated. A further identified challenge is the ability of the SOFC to handle the sudden power spikes created by the propulsion system. A power accumulator (battery) will likely be necessary to handle these sudden demands while the SOFC thermally adjusts. JSC's current SOFC test system consists of a 1 kW fuel cell designed by Delphi. The fuel cell is currently undergoing characterization testing at the NASA JSC Energy Systems Test Area (ESTA) after which a Steam Methane Reformer (SMR) will be integrated and the combined system tested in closed-loop. The propulsion brassboard is approximately the size of what could be flown on a sounding rocket. It consists of one 100 lbf thrust "main" engine developed for NASA by Aerojet and two 10 lbf thrusters to simulate a reaction control system developed at NASA JSC. This system is also under development and initial testing at ESTA. After initial testing, combined testing will occur which will provide data on the fuel cell's ability to sufficiently handle the power spikes created by the propulsion system. These two systems will also be modeled using General-Use Nodal Network Solver (GUNNS) software. Once anchored with test data, this model will be used to extrapolate onto other firing profiles and used to size the power accumulator.

Banker, Brian↗

NASA NTRS1990

Intelligent manipulation technique for multi-branch robotic systems

New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system.

Chen, Alexander Y. K.↗

NASA NTRS1990

Hierarchical modelling of mobile, seeing robots

This paper describes the implementation of a hierarchical robot simulation which supports the design of robots with vision and mobility. A seeing robot applies a classification expert system for visual identification of laboratory objects. The visual data acquisition algorithm used by the robot vision system has been developed to exploit multiple viewing distances and perspectives. Several different simulations have been run testing the visual logic in a laboratory environment. Much work remains to integrate the vision system with the rest of the robot system.

Luh, Cheng-Jye↗

NASA NTRS1989

A situated reasoning architecture for space-based repair and replace tasks

Space-based robots need low level control for collision detection and avoidance, short-term load management, fine-grained motion, and other physical tasks. In addition, higher level control is required to focus strategic decision making as missions are assigned and carried out. Reasoning and control must be responsive to ongoing changes in the environment. Research aimed at bridging the gap between high level artificial intelligence (AI) planning techniques and task-level robot programming for telerobotic systems is described. Situated reasoning is incorporated into AI and Robotics systems in order to coordinate a robot's activity within its environment. An integrated system under development in a component maintenance domain is described. It is geared towards replacing worn and/or failed Orbital Replacement Units (ORUs) designed for use aboard NASA's Space Station Freedom based on the collection of components available at a given time. High level control reasons in component space in order to maximize the number operational component-cells over time, while the task-level controls sensors and effectors, detects collisions, and carries out pick and place tasks in physical space. Situated reasoning is used throughout the system to cope with component failures, imperfect information, and unexpected events.

Bloom, Ben↗

NASA NTRS1990

Behavioral networks as a model for intelligent agents

On-going work at NASA Langley Research Center in the development and demonstration of a paradigm called behavioral networks as an architecture for intelligent agents is described. This work focuses on the need to identify a methodology for smoothly integrating the characteristics of low-level robotic behavior, including actuation and sensing, with intelligent activities such as planning, scheduling, and learning. This work assumes that all these needs can be met within a single methodology, and attempts to formalize this methodology in a connectionist architecture called behavioral networks. Behavioral networks are networks of task processes arranged in a task decomposition hierarchy. These processes are connected by both command/feedback data flow, and by the forward and reverse propagation of weights which measure the dynamic utility of actions and beliefs.

Sliwa, Nancy E.↗

NASA NTRS2001

The Need for Optical Means as an Alternative for Electronic Computing

An increasing demand for faster computers is rapidly growing to encounter the fast growing rate of Internet, space communication, and robotic industry. Unfortunately, the Very Large Scale Integration technology is approaching its fundamental limits beyond which the device will be unreliable. Optical interconnections and optical integrated circuits are strongly believed to provide the way out of the extreme limitations imposed on the growth of speed and complexity of nowadays computations by conventional electronics. This paper demonstrates two ultra-fast, all-optical logic gates and a high-density storage medium, which are essential components in building the future optical computer.

Adbeldayem, Hossin↗

NASA NTRS2002

Remote Sensing of Aerosol and their Effect on Climate

Smoke aerosol, pollution or dust affects the distribution of sunlight reaching the Earth. It enhances reflection of sunlight back to space and absorption in the atmosphere. Aerosol particles also affect cloud formation, thickness and formation of precipitation. The concentration of aerosol and their properties vary rapidly, due to the heterogeneity of sources and a short lifetime of about a week. Satellite and ground based network of remote sensing instruments were developed for continues measurement of the global distribution of aerosol and variation of their concentration and properties. I shall present examples of such measurements from the Terra spacecraft and the Aerosol Robotic Network, and explore the pathways to integrate these measurements into models that calculate the aerosol radiative forcing of climate.

Kaufman, Yoram↗

NASA NTRS2010

Reconfigurable Robust Routing for Mobile Outreach Network

The Reconfigurable Robust Routing for Mobile Outreach Network (R3MOO N) provides advanced communications networking technologies suitable for the lunar surface environment and applications. The R3MOON techn ology is based on a detailed concept of operations tailored for luna r surface networks, and includes intelligent routing algorithms and wireless mesh network implementation on AGNC's Coremicro Robots. The product's features include an integrated communication solution inco rporating energy efficiency and disruption-tolerance in a mobile ad h oc network, and a real-time control module to provide researchers an d engineers a convenient tool for reconfiguration, investigation, an d management.

Lin, Ching-Fang↗

NASA NTRS2011

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

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 operating environments of both the human and the robotic agent, then effective human-robot coordination cannot be achieved.

Zumbado, Jennifer Rochlis↗

NASA NTRS2003

Improved Multiple-DOF SAW Piezoelectric Motors

Surface-acoustic-wave (SAW) piezoelectric motors of a proposed type would be capable of operating in multiple degrees of freedom (DOFs) simultaneously and would be amenable to integration into diverse structures and mechanisms. These motors would be compact and structurally simple and would not contain bearings or lead screws. One example of a particularly useful motor of this type would be a two-dimensional- translation stage. Another such example would be a self-actuated spherical joint that could be made to undergo controlled, simultaneous rotations about two orthogonal axes: Such a motor could serve as a mechanism for aiming an "eyeball" camera or as a compact transducer in, and an integral part of, a joint in a robot arm. The multiple-DOF SAW piezoelectric motors as now proposed would be successors to the ones reported in "Multiple-DOF Surface-Acoustic-Wave Piezoelectric Motors" (NPO-20735), NASA Tech Briefs, Vol. 24, No. 12 (December 2000), page 5b. The basic principle of operation of a multiple-DOF SAW piezoelectric motor is a straightforward extension of that of single-DOF SAW piezoelectric motors, which have been reported in several previous NASA Tech Briefs articles: For example, in the case of a linear SAW piezoelectric motor, piezoelectric transducers at opposite ends of a stator excite surface acoustic waves that travel along the surface of the stator. An object (denoted the slider) is pressed against the stator with sufficient pressure (in practice .300 MPa) that it remains in frictional contact with the stator at all times. The slider rides the crests of the waves and is thereby made to move along the surface of the stator. The direction of motion (forward or backward) is controlled by selecting the relative phase of waves generated by the two piezoelectric transducers. The speed increases with the amplitude of the waves and thus with the magnitude of the voltage applied to the transducers.

Bar-Cohen, Yoseph↗

NASA NTRS2012

Improvement of Aerosol Optical Depth Retrieval from MODIS Spectral Reflectance over the Global Ocean Using New Aerosol Models Archived from AERONET Inversion Data and Tri-axial Ellipsoidal Dust Database

New over-ocean aerosol models are developed by integrating the inversion data from the Aerosol Robotic Network (AERONET) sun/sky radiometers with a database for the optical properties of tri-axial ellipsoid particles. The new aerosol models allow more accurate retrieval of aerosol optical depth (AOD) from the Moderate Resolution Imaging Spectroradiometer (MODIS) in the case of high AOD (AOD greater than 0.3). The aerosol models are categorized by using the fine-mode fraction (FMF) at 550 nm and the singlescattering albedo (SSA) at 440 nm from the AERONET inversion data to include a variety of aerosol types found around the globe. For each aerosol model, the changes in the aerosol optical properties (AOPs) as functions of AOD are considered to better represent aerosol characteristics. Comparisons of AODs between AERONET and MODIS for the period from 2003 to 2010 show that the use of the new aerosol models enhances the AOD accuracy with a Pearson coefficient of 0.93 and a regression slope of 0.99 compared to 0.92 and 0.85 calculated using the MODIS Collection 5 data. Moreover, the percentage of data within an expected error of +/-(0.03 + 0.05xAOD) is increased from 62 percent to 64 percent for overall data and from 39 percent to 51 percent for AOD greater than 0.3. Errors in the retrieved AOD are further characterized with respect to the Angstrom exponent (AE), scattering angle, SSA, and air mass factor (AMF). Due to more realistic AOPs assumptions, the new algorithm generally reduces systematic errors in the retrieved AODs compared with the current operational algorithm. In particular, the underestimation of fine-dominated AOD and the scattering angle dependence of dust-dominated AOD are significantly mitigated as results of the new algorithm's improved treatment of aerosol size distribution and dust particle nonsphericity.

aerosol optical depth↗

NASA NTRS2016

A New Code SORD for Simulation of Polarized Light Scattering in the Earth Atmosphere

We report a new publicly available radiative transfer (RT) code for numerical simulation of polarized light scattering in plane-parallel atmosphere of the Earth. Using 44 benchmark tests, we prove high accuracy of the new RT code, SORD (Successive ORDers of scattering). We describe capabilities of SORD and show run time for each test on two different machines. At present, SORD is supposed to work as part of the Aerosol Robotic NETwork (AERONET) inversion algorithm. For natural integration with the AERONET software, SORD is coded in Fortran 90/95. The code is available by email request from the corresponding (first) author or from ftp://climate1.gsfc.nasa.gov/skorkin/SORD/.

AERONET↗

NASA NTRS2016

Using Multimodal Input for Autonomous Decision Making for Unmanned Systems

Autonomous decision making in the presence of uncertainly is a deeply studied problem space particularly in the area of autonomous systems operations for land, air, sea, and space vehicles. Various techniques ranging from single algorithm solutions to complex ensemble classifier systems have been utilized in a research context in solving mission critical flight decisions. Realized systems on actual autonomous hardware, however, is a difficult systems integration problem, constituting a majority of applied robotics development timelines. The ability to reliably and repeatedly classify objects during a vehicles mission execution is vital for the vehicle to mitigate both static and dynamic environmental concerns such that the mission may be completed successfully and have the vehicle operate and return safely. In this paper, the Autonomy Incubator proposes and discusses an ensemble learning and recognition system planned for our autonomous framework, AEON, in selected domains, which fuse decision criteria, using prior experience on both the individual classifier layer and the ensemble layer to mitigate environmental uncertainty during operation.

Neilan, James H.↗