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A video demonstrating a Pressurized Rover (PR) robotic logistics scenario utilizing Intra-Vehicular Robotics (IVR) hardware and software in the Integrated Mobile Evaluation Testbed for Robotics Operations (iMETRO) lab.
In this paper we describe the hardware design and the control and navigation system of our robotic wheelchair MAid (Mobility Aid for Elderly and Disabled People).
Teleoperation can be defined as the use of robotic devices having mobility, manipulative and some sensing capabilities, and remotely controlled by a human operator. The purpose of this paper is to discuss and exemplify technology issues related to the use of robots as man-extension or teleoperator systems in space. The main thrust of the paper is focused at research and development in the area of sensing- and computer-based automation from the viewpoint of man-machine interface devices and techniques. The objective of this R and D effort is to render space teleoperation efficient and safe through the use of devices and techniques which will permit integrated and task-level ('intelligent') two-way control communication between human operator and teleoperator machine in earth orbit.
Robot manipulators installed on legged mobile platforms are suggested for enlarging robot workspace. To plan the motion of such a system, the arm-platform motion coordination problem is raised, and a task decomposition is proposed to solve the problem. A given task described by the destination position and orientation of the end effector is decomposed into subtasks for arm manipulation and for platform configuration, respectively. The former is defined as the end-effector position and orientation with respect to the platform, and the latter as the platform position and orientation in the base coordinates. Three approaches are proposed for the task decomposition. The approaches are also evaluated in terms of the displacements, from which an optimal approach can be selected.
Our goal is to develop a unique, miniaturized, solute analyzer based on microfluidics technology. The analyzer consists of an integrated microfluidics High Performance Liquid Chromatographic chip / Differential Mobility Spectrometer (?HPLCchip/ DMS) detection system
This paper describes the multi-mission Dshell++ simulation framework for high fidelity, physics-based simulation of spacecraft, robotic manipulation and mobility systems. Dshell++ is a C++/Python library which uses modern script driven object-oriented techniques to allow component reuse and a dynamic run-time interface for complex, high-fidelity simulation of spacecraft and robotic systems. The goal of the Dshell++ architecture is to manage the inherent complexity of physicsbased simulations while supporting component model reuse across missions. The framework provides several features that support a large degree of simulation configurability and usability.
Report presents additional information about design and capabilities of mobile hazard-response robot called "Hazbot III." Designed to operate safely in combustible and/or toxic atmosphere. Includes cameras and chemical sensors helping human technicians determine location and nature of hazard so human emergency team can decide how to eliminate hazard without approaching themselves.
Topics covered include: COTS MEMS Flow-Measurement Probes; Measurement of an Evaporating Drop on a Reflective Substrate; Airplane Ice Detector Based on a Microwave Transmission Line; Microwave/Sonic Apparatus Measures Flow and Density in Pipe; Reducing Errors by Use of Redundancy in Gravity Measurements; Membrane-Based Water Evaporator for a Space Suit; Compact Microscope Imaging System with Intelligent Controls; Chirped-Superlattice, Blocked-Intersubband QWIP; Charge-Dissipative Electrical Cables; Deep-Sea Video Cameras Without Pressure Housings; RFID and Memory Devices Fabricated Integrally on Substrates; Analyzing Dynamics of Cooperating Spacecraft; Spacecraft Attitude Maneuver Planning Using Genetic Algorithms; Forensic Analysis of Compromised Computers; Document Concurrence System; Managing an Archive of Images; MPT Prediction of Aircraft-Engine Fan Noise; Improving Control of Two Motor Controllers; Electro-deionization Using Micro-separated Bipolar Membranes; Safer Electrolytes for Lithium-Ion Cells; Rotating Reverse-Osmosis for Water Purification; Making Precise Resonators for Mesoscale Vibratory Gyroscopes; Robotic End Effectors for Hard-Rock Climbing; Improved Nutation Damper for a Spin-Stabilized Spacecraft; Exhaust Nozzle for a Multitube Detonative Combustion Engine; Arc-Second Pointer for Balloon-Borne Astronomical Instrument; Compact, Automated Centrifugal Slide-Staining System; Two-Armed, Mobile, Sensate Research Robot; Compensating for Effects of Humidity on Electronic Noses; Brush/Fin Thermal Interfaces; Multispectral Scanner for Monitoring Plants; Coding for Communication Channels with Dead-Time Constraints; System for Better Spacing of Airplanes En Route; Algorithm for Training a Recurrent Multilayer Perceptron; Orbiter Interface Unit and Early Communication System; White-Light Nulling Interferometers for Detecting Planets; and Development of Methodology for Programming Autonomous Agents.
The All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) is a new mobility platform developed for potential lunar operations. This six limbed rover is designed to traverse quickly over benign terrain by rolling, traverse rough and steep terrain by walking, as well as perform general manipulation of tools and payloads. This flexible robotic platform will provide a mobile base for pressurized lunar habitats allowing for long range surface exploration and crew transport. It will also enable in-situ construction of lunar assets providing astronauts with the ability to assemble, maintain, and service a wide range of cargo. This paper presents the design details and capabilities of this wheel-on-limb platform.
Effective large-scale exploration of planetary surfaces requires robotic vehicles capable of mobility across chaotic terrain. Characterized by a combination of ridges, cracks and valleys, the demands of this environment can cause spacecraft to experience significant reductions in operating footprint, performance, or even result in total system loss. Significantly increasing the scientific return of an interplanetary mission is facilitated by architectures capable of real-time configuration changes that go beyond that of active suspensions while concurrently meeting system, mass, power, and cost constraints. This Phase 1 report systematically explores how in-service architecture changes can expand system capabilities and mission opportunities. A foundation for concept generation is supplied by four Martian mission profiles spanning chasms, ice fields, craters and rocky terrain. A fifth mission profile centered on Near Earth Object exploration is also introduced. Concept generation is directed using four transformation principles - a taxonomy developed by the engineering design community to explain the cause of an architecture change and existing brainstorming techniques. This allowed early conceptual sketches of architecture changes to be organized by the principle driving the greatest increase in mission performance capability.
We present an in-depth analysis of the fiber assignment incompleteness in the Dark Energy Spectroscopic Instrument (DESI) Data Release 1 (DR1). This incompleteness is caused by the restricted mobility of the robotic fiber positioner in the DESI focal plane, which limits the number of galaxies that can be observed at the same time, especially at small angular separations. As a result, the observed clustering amplitude is suppressed in a scale-dependent manner, which, if not addressed, can severely impact the inference of cosmological parameters. We discuss the methods adopted for simulating fiber assignment on mocks and data. In particular, we introduce the fast fiber assignment (FFA) emulator, which was employed to obtain the power spectrum covariance adopted for the DR1 full-shape analysis. We present the mitigation techniques, organised in two classes: measurement stage and model stage. We then use high fidelity mocks as a reference to quantify both the accuracy of the FFA emulator and the effectiveness of the different measurement-stage mitigation techniques. This complements the studies conducted in a parallel paper for the model-stage techniques, namely the θ-cut approach. We find that pairwise inverse probability (PIP) weights with angular upweighting recover the “true” clustering in all the cases considered, in both Fourier and configuration space. Notably, we present the first ever power spectrum measurement with PIP weights from real data.
We present an in-depth analysis of the fiber assignment incompleteness in the Dark EnergySpectroscopic Instrument (DESI) Data Release 1 (DR1). This incompleteness is caused by therestricted mobility of the robotic fiber positioner in the DESI focal plane, which limits thenumber of galaxies that can be observed at the same time, especially at small angular separations.As a result, the observed clustering amplitude is suppressed in a scale-dependent manner, which,if not addressed, can severely impact the inference of cosmological parameters. We discuss themethods adopted for simulating fiber assignment on mocks and data. In particular, we introducethe fast fiber assignment (FFA) emulator, which was employed to obtain the power spectrumcovariance adopted for the DR1 full-shape analysis. We present the mitigation techniques,organised in two classes: measurement stage and model stage. We then use high fidelity mocks as areference to quantify both the accuracy of the FFA emulator and the effectiveness of the differentmeasurement-stage mitigation techniques. This complements the studies conducted in a parallelpaper for the model-stage techniques, namely the θ-cut approach. We find that pairwiseinverse probability (PIP) weights with angular upweighting recover the “true” clustering in allthe cases considered, in both Fourier and configuration space. Notably, we present the first everpower spectrum measurement with PIP weights from real data.
Much of human reasoning is approximate in nature. Formal models of reasoning traditionally try to be precise and reject the fuzziness of concepts in natural use and replace them with non-fuzzy scientific explicata by a process of precisiation. As an alternate to this approach, it has been suggested that rather than regard human reasoning processes as themselves approximating to some more refined and exact logical process that can be carried out with mathematical precision, the essence and power of human reasoning is in its capability to grasp and use inexact concepts directly. This view is supported by the widespread fuzziness of simple everyday terms (e.g., near tall) and the complexity of ordinary tasks (e.g., cleaning a room). Spatial reasoning is an area where humans consistently reason approximately with demonstrably good results. Consider the case of crossing a traffic intersection. We have only an approximate idea of the locations and speeds of various obstacles (e.g., persons and vehicles), but we nevertheless manage to cross such traffic intersections without any harm. The details of our mental processes which enable us to carry out such intricate tasks in such apparently simple manner are not well understood. However, it is that we try to incorporate such approximate reasoning techniques in our computer systems. Approximate spatial reasoning is very important for intelligent mobile agents (e.g., robots), specially for those operating in uncertain or unknown or dynamic domains.
The NASA Space Station Freedom (SSF) project initiated in 1984 is a collaborative one among the U.S., Japan, Canada, and the 10 nations participating in ESA. The SSF partners have over the last six years defined user requirements, decided on the hardware to be manufactured, and constructed a framework for long-term cooperation. SSF will be composed of user elements furnished by the foreign partners and a U.S.-supplied infrastructure encompassing the truss assembly, electrical power system, and crew living quarters. The U.S. will also furnish a lab and a polar-orbit platform; ESA, a second lab and the coorbiting Free-Flying Laboratory, as well as a second polar platform. Japan's Japanese Experiment Module shall include an Exposed Facility and an Experimental Logistics module. Canada will contribute the Mobile Servicing System robotic assembler/maintainer for the whole of SFF.
The National Aeronautics and Space Administration has embarked on an ambitious effort to return man to the moon and then on to Mars. The Exploration Vision requires development of major new space and ground assets and poses challenges well beyond those faced by many of NASA's recent programs. New crewed vehicles must be developed. Compatible supply vehicles, surface mobility modules and robotic exploration capabilities will supplement the manned exploration vehicle. New launch systems will be developed as well as a new ground communications and control infrastructure. The development must take place in a cost-constrained environment and must advance along an aggressive schedule. Common solutions and system interoperability and will be critical to the successful development of the Exploration data systems for this wide variety of flight and ground elements. To this end, NASA has assembled a team of engineers from across the agency to identify the key challenges for Exploration data systems and to establish the most beneficial strategic approach to be followed. Key challenges and the planned NASA approach for flight and ground systems will be discussed in the paper. The described approaches will capitalize on new technologies, and will result in cross-program interoperability between spacecraft and ground systems, from multiple suppliers and agencies.
The Mars Sample Return Mission (MSR) will carry the next set of Mars helicopters, Sample Recovery Helicopters (SRHs), to the Martian surface. After successfully demonstrating extraterrestrial flight in 2021, Ingenuity has acted as a “scout” for the Perseverance rover while the rover gathers samples of Martian soil. In 2028, the MSR mission will launch a lander and two Ingenuity-sized SRHs to retrieve these samples. These will be the first samples of the Martian surface delivered to Earth. The SRH project will maintain heritage from Ingenuity’s design when possible. However, several key changes must be made, including a ground mobility system, a robotic arm for tube manipulation, and the ability to carry the weight of a science payload (the sample tubes). In addition, the onboard software and cameras will be upgraded, and the rotor radius will be increased. Furthermore, new rotor performance and flight dynamics models and thorough characterization of vehicle limits will be required. The new vehicle design will be described, as well as validation and verification efforts to date.
No abstract available