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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 271 records · Page 15

Automating Testing of DUNE Electronics via a Finite State Machine

The Deep Underground Neutrino Experiment (DUNE) is a flagship international collaboration designed to study neutrinos—tiny, nearly massless particles that may hold answers to fundamental questions about the Universe. Fermilab’s Robotic Test Stand (RTS) plays a critical role in ensuring the quality of approximately 50,000 Application-Specific Integrated Circuit (ASIC) chips that will be used in DUNE’s massive liquid argon detectors. These electronics will be inside the cryostat; therefore, they will need to have a high yield of working chips and low noise. To improve the automation and reliability of the RTS, this project focused on designing and implementing a Python-based finite state machine (FSM) to manage chip handling workflows. The FSM was developed as a modular software framework to coordinate robotic arm movements, manage chip tray positions, and monitor system states during testing. Key features include robust error handling routines, a pause/resume system for safe mid-cycle interruptions, and a simulation mode for iterative testing without hardware dependencies. The system was designed to prepare for seamless integration with RTS hardware components such as the robotic arm and vision system. This integration will streamline collaboration and enable efficient deployment of updates across the six institutions performing testing. The outcomes of this internship contribute to Fermilab’s mission to advance high-energy physics and support the DOE’s national goals by directly improving the testing of equipment to be used in DUNE. The project also provided valuable experience in software design and contributing to the success of DUNE.

Kang, Caleb [Fermilab]↗

An adaptive model-free robotic force control strategy for hydrodynamic real-time hybrid simulation of floating offshore wind turbines

Real-time hybrid simulation (RTHS) - a cyber-physical testing approach - promises to enhance the simulation fidelity of the model-scale experiments used to prototype floating offshore wind turbines (FOWTs). In hydrodynamic RTHS (hydro-RTHS), actuators emulate aerodynamic forces on model-scale FOWT specimens subjected to physical waves in a hydrodynamic laboratory. Robotic arms are promising candidates for actuation in hydro-RTHS due to their compact multi-degree-of-freedom (DOF) capabilities. Unlike classical RTHS for seismic applications, which typically relies on displacement control, hydro-RTHS requires 6-DOF force control on newly designed floating prototypes in a model-scale setting, which presents significant challenges, including modeling uncertainties, directional asymmetry, configuration drift, bandwidth limitations, and time-varying delays. To mitigate these constraints without extensive pre-test calibration, this study proposes an adaptive model-free robotic force control strategy that combines task-space explicit force control with a secondary joint-space pose-keeping task. The Adaptive Feedforward Compensator (AFC) is integrated into the force control loop to compensate for time-varying delay. Experimental testing was conducted using a Franka Emika Panda robotic arm with a 1:50 scale FOWT specimen under operational wind and wave conditions. Results demonstrate stable and consistent 6-DOF force tracking. Effective delay compensation was observed, with low-frequency delay reductions ranging from 71.4% to 91.8% and improvements in low-frequency surge force tracking of 25.0% to 52.1%. This study enhances robotic actuation performance in hydro-RTHS and introduces a force control strategy that supports reliable robotic operation in uncertain floating environments. Future work will explore disturbance-observer mechanisms to further enhance wave rejection capabilities under extreme wind and wave conditions.

17 WIND ENERGY↗

Orion MPCV GN and C End-to-End Phasing Tests

End-to-end integration tests are critical risk reduction efforts for any complex vehicle. Phasing tests are an end-to-end integrated test that validates system directional phasing (polarity) from sensor measurement through software algorithms to end effector response. Phasing tests are typically performed on a fully integrated and assembled flight vehicle where sensors are stimulated by moving the vehicle and the effectors are observed for proper polarity. Orion Multi-Purpose Crew Vehicle (MPCV) Pad Abort 1 (PA-1) Phasing Test was conducted from inertial measurement to Launch Abort System (LAS). Orion Exploration Flight Test 1 (EFT-1) has two end-to-end phasing tests planned. The first test from inertial measurement to Crew Module (CM) reaction control system thrusters uses navigation and flight control system software algorithms to process commands. The second test from inertial measurement to CM S-Band Phased Array Antenna (PAA) uses navigation and communication system software algorithms to process commands. Future Orion flights include Ascent Abort Flight Test 2 (AA-2) and Exploration Mission 1 (EM-1). These flights will include additional or updated sensors, software algorithms and effectors. This paper will explore the implementation of end-to-end phasing tests on a flight vehicle which has many constraints, trade-offs and compromises. Orion PA-1 Phasing Test was conducted at White Sands Missile Range (WSMR) from March 4-6, 2010. This test decreased the risk of mission failure by demonstrating proper flight control system polarity. Demonstration was achieved by stimulating the primary navigation sensor, processing sensor data to commands and viewing propulsion response. PA-1 primary navigation sensor was a Space Integrated Inertial Navigation System (INS) and Global Positioning System (GPS) (SIGI) which has onboard processing, INS (3 accelerometers and 3 rate gyros) and no GPS receiver. SIGI data was processed by GN&C software into thrust magnitude and direction commands. The processing changes through three phases of powered flight: pitchover, downrange and reorientation. The primary inputs to GN&C are attitude position, attitude rates, angle of attack (AOA) and angle of sideslip (AOS). Pitch and yaw attitude and attitude rate responses were verified by using a flight spare SIGI mounted to a 2-axis rate table. AOA and AOS responses were verified by using a data recorded from SIGI movements on a robotic arm located at NASA Johnson Space Center. The data was consolidated and used in an open-loop data input to the SIGI. Propulsion was the Launch Abort System (LAS) Attitude Control Motor (ACM) which consisted of a solid motor with 8 nozzles. Each nozzle has active thrust control by varying throat area with a pintle. LAS ACM pintles are observable through optically transparent nozzle covers. SIGI movements on robot arm, SIGI rate table movements and LAS ACM pintle responses were video recorded as test artifacts for analysis and evaluation. The PA-1 Phasing Test design was determined based on test performance requirements, operational restrictions and EGSE capabilities. This development progressed during different stages. For convenience these development stages are initial, working group, tiger team, Engineering Review Team (ERT) and final.

Neumann, Brian C.↗

STS-114: Discovery TCDT Flight Crew Test Media Event at Pad 39-B

The STS-114 Space Shuttle Discovery Terminal Countdown Demonstration Test (TCDT) flight crew is shown at Pad 39-B. Eileen Collins, Commander introduces the astronauts. Andrew Thomas, mission specialist talks about his primary responsibility of performing boom inspections, Wendy Lawrence, Mission Specialist 4 (MS4) describes her role as the robotic arm operator supporting Extravehicular Activities (EVA), Stephen Robinson, Mission Specialist 3 (MS3) talks about his role as flight engineer, Charlie Camarda, Mission Specialist 5 (MS5) says that his duties are to perform boom operations, transfer operations from the space shuttle to the International Space Station and spacecraft rendezvous. Soichi Noguchi, Mission Specialist 1 (MS1) from JAXA, introduces himself as Extravehicular Activity 1 (EVA1), and Jim Kelley, Pilot will operate the robotic arm and perform pilot duties. Questions from the news media about the safety of the external tank, going to the International Space Station and returning, EVA training, and thoughts about the Space Shuttle Columbia crew are answered.

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Modeling and Simulation for Multi-Missions Space Exploration Vehicle

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.

Multi-Mission Space Exploration Vehicle [MMSEV]↗

The Thermal Electrical Conductivity Probe (TECP) for Phoenix

The Thermal and Electrical Conductivity Probe (TECP) is a component of the Microscopy, Electrochemistry, and Conductivity Analyzer (MECA) payload on the Phoenix Lander. TECP will measure the temperature, thermal conductivity and volumetric heat capacity of the regolith. It will also detect and quantify the population of mobile H2O molecules in the regolith, if any, throughout the polar summer, by measuring the electrical conductivity of the regolith, as well as the dielectric permittivity. In the vapor phase, TECP is capable of measuring the atmospheric H2O vapor abundance, as well as augment the wind velocity measurements from the meteorology instrumentation. TECP is mounted near the end of the 2.3 m Robotic Arm, and can be placed either in the regolith material or held aloft in the atmosphere. This paper describes the development and calibration of the TECP. In addition, substantial characterization of the instrument has been conducted to identify behavioral characteristics that might affect landed surface operations. The greatest potential issue identified in characterization tests is the extraordinary sensitivity of the TECP to placement. Small gaps alter the contact between the TECP and regolith, complicating data interpretation. Testing with the Phoenix Robotic Arm identified mitigation techniques that will be implemented during flight. A flight model of the instrument was also field tested in the Antarctic Dry Valleys during the 2007-2008 International Polar year. 2

Zent, Aaron P.↗

Mars Environmental Compatibility Assessment (MECA): Identifying the Hazards of the Martian Soil

Sometime in the next decade NASA will decide whether to send a human expedition to explore the planet Mars. The Mars Environmental Compatibility Assessment (MECA) has been selected by NASA to evaluate the Martian environment for soil and dust hazards to human exploration. The integrated MECA payload contains three elements: a wet-chemistry laboratory, a microscopy station, and enhancements to a lander robot-arm system incorporating arrays of material patches and an electrometer to identify triboelectric charging during soil excavation. The wet-chemistry laboratory will evaluate samples of Martian soil in water to determine the total dissolved solids, redox potential, pH, and quantify the concentration of many soluble ions using ion-selective electrodes. These electrodes can detect potentially dangerous heavy-metal ions, emitted pathogenic gases, and the soil's corrosive potential. MECA's microscopy station combines optical and atomic-force microscopy with a robot-arm camera to provide imaging over nine orders of magnitude, from meters to nanometers. Soil particle properties including size, shape, color, hardness, adhesive potential (electrostatic and magnetic), will be determined on the microscope stage using an ar-ray of sample receptacles and collection substrates, and an abrasion tool,. The simple, rugged atomic-force microscope will image in the submicron size range and has the capability of performing a particle-by-particle analysis of the dust and soil. Although selected by NASA's Human Exploration and Development of Space Enterprise, the MECA instrument suite also has the capability to address basic geology, paleoclimate, and exobiology issues. To understand both contemporaneous and ancient processes on Mars, the mineralogical, petrological, and reactivity of Martian surface materials should be constrained: the NMCA experiment will shed light on these quantities through its combination of chemistry and microscopy. On Earth, the earliest forms of life are preserved as microfossils. The atomic-force microscope will have the required resolution to image down to the scale of terrestrial microfossils and beyond.

Meloy, T. P.↗

Composite video and graphics display for multiple camera viewing system in robotics and teleoperation

A system for real-time video image display for robotics or remote-vehicle teleoperation is described that has at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting element. The system has at least one television monitor for display of a television image from a selected camera and the ability to select one of the cameras for image display. Graphics are generated with icons of cameras and lighting elements for display surrounding the television image to provide the operator information on: the location and orientation of each camera and lighting element; the region of illumination of each lighting element; the viewed region and range of focus of each camera; which camera is currently selected for image display for each monitor; and when the controller coordinate for said robot arms or remotely operated vehicles have been transformed to correspond to coordinates of a selected or nonselected camera.

Diner, Daniel B.↗

Composite video and graphics display for camera viewing systems in robotics and teleoperation

A system for real-time video image display for robotics or remote-vehicle teleoperation is described that has at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting element. The system has at least one television monitor for display of a television image from a selected camera and the ability to select one of the cameras for image display. Graphics are generated with icons of cameras and lighting elements for display surrounding the television image to provide the operator information on: the location and orientation of each camera and lighting element; the region of illumination of each lighting element; the viewed region and range of focus of each camera; which camera is currently selected for image display for each monitor; and when the controller coordinate for said robot arms or remotely operated vehicles have been transformed to correspond to coordinates of a selected or nonselected camera.

Diner, Daniel B.↗

A Graphical User Interface for the Deep Underground Neutrino Experiment Robotic Test Stand

In preparation for DUNE, Fermilab along with six other institutions are testing cold electronics for quality control before components placed in the far detector. We test them by using a robotic arm that places these chips into sockets on a computer board that will test their functionality. Up until now, the chips have been tested using a command line script that drives a state machine to conduct tests step-by-step. In order to lower the skill barrier to conduct tests and to speed up the quality control process, I was tasked to create a graphical user interface that would allow users to use buttons, text boxes, and drop-down menus to input information and tell the testing state machine how to operate. I had to learn about the Python package Tkinter to start the process of widget placement. I further developed a pause feature unused in the previous command line script that would allow the user to shut down testing gracefully, bring the robotic arm to go back to ground state, and go forward or backward a step in the testing process. After completing the basic functionality of the GUI, I started testing production chips with the GUI to debug. Some issues were found, which required me to further develop parts of the inherited state machine code. The code for the GUI has now been pushed into the copy the DUNE/FD_CE git repository and will soon be merged with the official DUNE/FD_CE repository so that the other institutions testing DUNE cold electronics can use and expand upon it.

Gutierrez Villanueva, Jaziel [Fermilab]↗

Design of a lunar transportation system, volume 2

The Spring 1990 Introduction to Design class was asked to conceptually design second generation lunar vehicles and equipment as a semester design project. A brief summary of four of the final projects, is presented. The designs were to facilitate the transportation of personnel and materials. The eight topics to choose from included flying vehicles, ground based vehicles, robotic arms, and life support systems. A lunar flying vehicle that uses clean propellants for propulsion is examined. A design that will not contribute to the considerable amount of caustic pollution already present in the sparse lunar atmosphere is addressed by way of ballistic flight techniques. A second generation redesign of the current Extra Vehicular Activity (EVA) suit to increase operating time, safety, and efficiency is also addressed. A separate life support system is also designed to be permanently attached to the lunar rover. The two systems would interact through the use of an umbilical cord connection. A ground based vehicle which will travel for greater distances than a 37.5 kilometer radius from a base on the lunar surface was designed. The vehicle is pressurized due to the fact that existing lunar rovers are limited by the EVA suits currently in use. A robotic arm for use at lunar bases or on roving vehicles on the lunar surface was designed. The arm was originally designed as a specimen gathering device, but it can be used for a wide range of tasks through the use of various attachments.

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In Situ Identification of Mineral Resources with an X-Ray-Optical "Hands-Lens" Instrument

The recognition of material resources on a planetary surface requires exploration strategies not dissimilar to those employed by early field geologists who searched for ore deposits primarily from surface clues. In order to determine the location of mineral ores or other materials, it will be necessary to characterize host terranes at regional or subregional scales. This requires geographically broad surveys in which statistically significant numbers of samples are rapidly scanned from a roving platform. To enable broad-scale, yet power-conservative planetary-surface exploration, we are developing an instrument that combines x-ray diffractometry (XRD), x-ray fluorescence spectrometry (XRF), and optical capabilities; the instrument can be deployed at the end of a rover's robotic arm, without the need for sample capture or preparation. The instrument provides XRD data for identification of mineral species and lithological types; diffractometry of minerals is conducted by ascertaining the characteristic lattice parameters or "d-spacings" of mineral compounds. D-spacings of 1.4 to 25 angstroms can be determined to include the large molecular structures of hydrated minerals such as clays. The XRF data will identify elements ranging from carbon (Atomic Number = 6) to elements as heavy as barium (Atomic Number = 56). While a sample is being x-rayed, the instrument simultaneously acquires an optical image of the sample surface at magnifications from lx to at least 50x (200x being feasible, depending on the sample surface). We believe that imaging the sample is extremely important as corroborative sample-identification data (the need for this capability having been illustrated by the experience of the Pathfinder rover). Very few geologists would rely on instrument data for sample identification without having seen the sample. Visual inspection provides critical recognition data such as texture, crystallinity, granularity, porosity, vesicularity, color, lustre, opacity, and so forth. These data can immediately distinguish sedimentary from igneous rocks, for example, and can thus eliminate geochemical or mineral ambiguities arising, say between arkose and granite. It would be important to know if the clay being analyzed was part of a uniform varve deposit laid down in a quiescent lake, or the matrix of a megabreccia diamictite deposited as a catastrophic impact ejecta blanket. The unique design of the instrument, which combines Debye-Scherrer geometry with elements of standard goniometry, negates the need for sample preparation of any kind, and thus negates the need for power-hungry and mechanically-complex sampling systems that would have to chip, crush, sieve, and mount the sample for x-ray analysis. Instead, the instrument is simply rested on the sample surface of interest (like a hand lens); the device can interrogate rough rock surfaces, coarse granular material, or fine rock flour. A breadboard version of the instrument has been deployed from the robotic arm of the Marsokhod rover in field trials at NASA Ames, where large vesicular boulders were x-rayed to demonstrate the functionality of the instrument design, and the ability of such a device to comply with constraints imposed by a roving platform. Currently under development is a flight prototype concept of this instrument that will weigh 0.3 kg, using about 4500 J of energy per sample analysis. It requires about 5 min. for XRD analysis, and about 30 min. for XRF interrogation. Its small mass and rugged design make it ideal for deployment on small rovers of the type currently envisaged for the exploration of Mars (e.g., Sojourner-scale platforms). The design utilizes a monolithic P-N junction photodiode pixel array for XRD, a Si PIN photodiode/avalanche photodiode system for XRF, and an endoscopic imaging camera system unobtrusively embedded between the detectors and the x-ray source (the endoscope with its board-mounted camera can be adapted for IR light in addition to visible wavelenths. A rugged, miniature (7 cu cm) x-ray source for the instrument has already been breadboarded.

Marshall, J.↗

The MECA Payload as a Dust Analysis Laboratory on the MSP 2001 Lander

In a companion abstract, the "Mars Environmental Compatibility Assessment" (MECA) payload for Mars Surveyor Program 2001 (MSP 2001) is described in terms of its capabilities for addressing exobiology on Mars. Here we describe how the same payload elements perform in terms of gathering data about surface dust on the planet. An understanding of the origin and properties of dust is important to both human exploration and planetary geology. The MECA instrument is specifically designed for soil/dust investigations: it is a multifunctional laboratory equipped to assess particulate properties with wet chemistry, camera imagery, optical microscopy (potentially with LTV fluorescence capability), atomic force microscopy (AFM; potentially with mineral-discrimination capabilities), electrometry, active & passive external materials-test panels, mineral hardness testing, and electrostatic & magnetic materials testing. Additionally, evaluation of soil chemical and physical properties as a function of depth down to about 50 cm will be facilitated by the Lander/MECA robot arm on which the camera (RAC) and electrometer are mounted. Types of data being sought for the dust include: (1) general textural and grain-size characterization of the soil as a whole --for example, is the soil essentially dust with other components or is it a clast-supported material in which dust resides only in the clast interstices, (2) size frequency distribution for dust particles in the range 0.01 to 10.00 microns, (3) particle-shape distribution of the soil components and of the fine dust fraction in particular, (4) soil fabric such as grain clustering into clods, aggregates, and cemented/indurated grain amalgamations, as well as related porosity, cohesiveness, and other mechanical soil properties, (5) cohesive relationship that dust has to certain types of rocks and minerals as a clue to which soil materials may be prime hosts for dust "piggybacking", (6) particle, aggregate, and bulk soil electrostatic properties, (7) particle hardness, (8) particle magnetic properties, (9) bulk dust geochemistry (solubility, reactivity, ionic and mineral species). All of these quantities are needed in order for the human exploration program to make assessments of hazards on Mars, and to better enable the production on earth, of soil/dust simulants that can act as realistic test materials in terms of those properties that render dust a contaminant.Such properties include the small grain size that enables penetration of space-suit joints, mechanical interfaces and bearings, seals, etc., and presents difficulty for filtration systems. Size also plays a critical role in the potential for lung disease in long-term habitats. The properties of grain shape and hardness are important parameters in determining the abrasiveness of dust as it enters mechanical systems, or bombards helmet visors and habitat windows in dust-laden winds. Adhesive electrostatic and magnetic properties of dust will be prime causes of contamination of space suits and equipment. Contamination causes mechanical malfunction, tracking of dirt into habitats, "piggybacking" of toxins on dust into habitats, changes in albedo and efficiency of solar arrays and heat exchangers, and changes in electrical conductivity of suit surfaces and other materials that may have specific safety requirements regarding electrical conductivity. Other potentially hazardous properties of dust include the possibility of high solubility of some component grains (rendering them reactive), and toxicity of some materials --grains of superoxidants and heavy metals (there is always the slim, but not inconceivable possibility of biogenic components such as spores). Because Mars has no active surface aqueous regime, volcanic emissions, meteoritic debris, weathering products, and photochemical products of Mars have nowhere to go except reside in the surface; there are few mechanical or chemical (buffering) processes to remove the accumulation of eons. From a planetology perspective, there are many enigmatic issues relating to dust and the aeolian regime in general. MECA will be able to address many questions in this area. For example, if MECA determines a particular particle size distribution (size and sorting values), it will be possible to make inferences about the origin of the dust - - is it all aeolian, or a more primitive residue of weathering, volcanic emissions, and meteoritic gardening? Trenching with the Lander/MECA robot arm will enable local stratigraphy to be determined in terms of depositional rates, amounts and cyclicity in dust storms and/or local aeolian transport. Grain shape will betray the origin of the dust fragments as being the product of recent or ancient weathering, or the comminution products of aeolian transport --the dust-silt ratio might be a measure of aeolian comminution energy. Additional information is contained in the original.

Marshall, J.↗

Community Outreach - Spot Robot Presentation

Los Alamos National Laboratory has recently obtained a Spot robot from Boston Dynamics to evaluate its suitability for work in and around laboratory facilities. Spot is a highly mobile quadruped robot capable of up to 90 minutes of operation. It can be outfitted with payloads up to 35 lbs. and supports both Boston Dynamics developed equipment, third party payloads, or custom developed payloads. One existing Boston Dynamics attachment is a robot arm that allows the robot to directly interact with its environment, open doors, turn valves, etc.

42 ENGINEERING↗

Shear-Wave Ultrasonic Inspection With A Dry Couplant

Automated ultrasonic inspection system includes dry couplant pad attached to ultrasonic transducer. Designed to be mounted on robot arm in automated manufacturing (robotic welding) work cell. Between, during, or after manufacturing operations, robot scans ultrasonic transducer along workpiece. Workpiece reworked in place, if necessary. In principle, computer program controlling inspection overlaid on program controlling welding operations.

Willenberg, James D↗

Coordinated control of a dual-arm dexterous robot using full immersion telepresence and virtual reality

Telepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory motor skills of an on-board crew and effectively transfers them to a slave robot. A dual alarm dexterous robot operating under telepresence control has been developed and initial evaluations of the system performing candidate EVA, IVA and planetary geological tasks were conducted. The results of our evaluation showed that telepresence control is very effective in transferring the operator's skills to the slave robot. However, the results also showed that, due to the kinematic and dynamics inconsistencies between the operator and the robot, a limited amount of intelligent automation is also required to carry out some to the tasks. Therefore, several enhancements have been made to the original system to increase the automated capabilities of the control system without losing the benefits of telepresence.

Li, Larry↗

Advanced Inspection System: Integrating Robotic Configurations & Controls

The Advanced Inspection System (AIS) promotes the ability to perform field inspections and repairs remotely by operator command. The robotic system is required to be a fully autonomous operation, managed by computer execution of scripts with limited user control. AIS is a complex yet intriguing challenge in which various goals must be reached to achieve complete autonomy. The first steps to building such a system require human computer interactions and computer simulations for testing and verification. Such applications include the use of a wireless video game controller via Bluetooth Technology and the use of Leap Motion, a gesture based motion controller which can be used to manipulate robotic arm movements. Utilizing the Robotic Operating System (ROS) environment, these applications, in accordance to developing a 3D simulation of the system, will provide a foundational test bed for AIS development.

Wlodarczyk, Stephan J.↗