Search NASA⌕ Search

SEARCH · Search NASA

Results for “distributed robotics”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS2003

Strategies for Studying the Sources of Gamma Ray Bursts

The study of gamma ray bursts (GRBs) has rapidly evolved in recent years with the discovery of their cosmological nature and with BATSE, BeppoSAX, HETE and the IPN enabling a wide variety of associated . afterglow measurements. Multiwavelength observations ranging through the radio, optical, soft and hard x-ray, and gamma-ray regimes have exploded the field of GRB interpretation. Also, the Amanda, Milagro and LIGO experiments can search for related neutrino, cosmic-ray photon, and gravitational radiation events, even with the delayed alerts, such as from the IPN. The infrared region, where the optical emissions from sources at the extreme distances may be shifted, will become important but is undersubscribed. The soon-to-be launched Swift mission will greatly broaden the GRB discipline, and a strategy for associated ground-based measurements is outlined. The need for the improved global distribution of all instruments, in particular, robotic infrared detectors, is cited.

Cline, T. L.↗
NASA NTRS2010

Applied Joint-Space Torque and Stiffness Control of Tendon-Driven Fingers

Existing tendon-driven fingers have applied force control through independent tension controllers on each tendon, i.e. in the tendon-space. The coupled kinematics of the tendons, however, cause such controllers to exhibit a transient coupling in their response. This problem can be resolved by alternatively framing the controllers in the joint-space of the manipulator. This work presents a joint-space torque control law that demonstrates both a decoupled and significantly faster response than an equivalent tendon-space formulation. The law also demonstrates greater speed and robustness than comparable PI controllers. In addition, a tension distribution algorithm is presented here to allocate forces from the joints to the tendons. It allocates the tensions so that they satisfy both an upper and lower bound, and it does so without requiring linear programming or open-ended iterations. The control law and tension distribution algorithm are implemented on the robotic hand of Robonaut-2.

Abdallah, Muhammad E.↗
NASA NTRS2012

Applying Biomimetic Algorithms for Extra-Terrestrial Habitat Generation

The objective is to simulate and optimize distributed cooperation among a network of robots tasked with cooperative excavation on an extra-terrestrial surface. Additionally to examine the concept of directed Emergence among a group of limited artificially intelligent agents. Emergence is the concept of achieving complex results from very simple rules or interactions. For example, in a termite mound each individual termite does not carry a blueprint of how to make their home in a global sense, but their interactions based strictly on local desires create a complex superstructure. Leveraging this Emergence concept applied to a simulation of cooperative agents (robots) will allow an examination of the success of non-directed group strategy achieving specific results. Specifically the simulation will be a testbed to evaluate population based robotic exploration and cooperative strategies while leveraging the evolutionary teamwork approach in the face of uncertainty about the environment and partial loss of sensors. Checking against a cost function and 'social' constraints will optimize cooperation when excavating a simulated tunnel. Agents will act locally with non-local results. The rules by which the simulated robots interact will be optimized to the simplest possible for the desired result, leveraging Emergence. Sensor malfunction and line of sight issues will be incorporated into the simulation. This approach falls under Swarm Robotics, a subset of robot control concerned with finding ways to control large groups of robots. Swarm Robotics often contains biologically inspired approaches, research comes from social insect observation but also data from among groups of herding, schooling, and flocking animals. Biomimetic algorithms applied to manned space exploration is the method under consideration for further study.

Birge, Brian↗
NASA NTRS2013

Aeronet-based Microphysical and Optical Properties of Smoke-dominated Aerosol near Source Regions and Transported over Oceans, and Implications for Satellite Retrievals of Aerosol Optical Depth

Smoke aerosols from biomass burning are an important component of the global aerosol cycle. Analysis of Aerosol Robotic Network (AERONET) retrievals of size distribution and refractive index reveals variety between biomass burning aerosols in different global source regions, in terms of aerosol particle size and single scatter albedo (SSA). Case studies of smoke transported to coastal/island AERONET sites also mostly lie within the range of variability at near-source sites. Two broad families of aerosol properties are found, corresponding to sites dominated by boreal forest burning (larger, broader fine mode, with midvisible SSA 0.95), and those influenced by grass, shrub, or crop burning with additional forest contributions (smaller, narrower particles with SSA 0.88-0.9 in the midvisible). The strongest absorption is seen in southern African savanna at Mongu (Zambia), with average SSA 0.85 in the midvisible. These can serve as candidate sets of aerosol microphysicaloptical properties for use in satellite aerosol optical depth (AOD) retrieval algorithms. The models presently adopted by these algorithms over ocean are often insufficiently absorbing to represent these biomass burning aerosols. A corollary of this is an underestimate of AOD in smoke outflow regions, which has important consequences for applications of these satellite datasets.

AERONET↗
NASA NTRS2016

Information Foraging and Change Detection for Automated Science Exploration

This paper presents a new algorithm for autonomous on-line exploration in unknown environments. The objective is to free remote scientists from possibly-infeasible extensive preliminary site investigation prior to sending robotic agents. We simulate a common exploration task for an autonomous robot sampling the environment at various locations and compare performance against simpler control strategies. An extension is proposed and evaluated that further permits operation in the presence of environmental variability in which the robot encounters a change in the distribution underlying sampling targets. Experimental results indicate a strong improvement in performance across varied parameter choices for the scenario.

automated exploration↗
NASA NTRS2008

Mission Activity Planning for Humans and Robots on the Moon

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

task allocation↗
NASA NTRS2005

The Angstrom Exponent and Bimodal Aerosol Size Distributions

Powerlaws have long been used to describe the spectral dependence of aerosol extinction, and the wavelength exponent of the aerosol extinction powerlaw is commonly referred to as the Angstrom exponent. The Angstrom exponent is often used as a qualitative indicator of aerosol particle size, with values greater than two indicating small particles associated with combustion byproducts, and values less than one indicating large particles like sea salt and dust. In this study, we investigate the relationship between the Angstrom exponent and the mode parameters of bimodal aerosol size distributions using Mie theory calculations and Aerosol Robotic Network (AERONET) retrievals. We find that Angstrom exponents based upon seven wavelengths (0.34, 0.38, 0.44, 0.5, 0.67, 0.87, and 1.02 micrometers) are sensitive to the volume fraction of aerosols with radii less then 0.6 micrometers, but not to the fine mode effective radius. The Angstrom exponent is also known to vary with wavelength, which is commonly referred to as curvature; we show how the spectral curvature can provide additional information about aerosol size distributions for intermediate values of the Angstrom exponent. Curvature also has a significant effect on the conclusions that can be drawn about two-wavelength Angstrom exponents; long wavelengths (0.67, 0.87 micrometers) are sensitive to fine mode volume fraction of aerosols but not fine mode effective radius, while short wavelengths (0.38, 0.44 micrometers) are sensitive to the fine mode effective radius but not the fine mode volume fraction.

Schuster, Gregory L.↗
NASA NTRS1984

An intelligent robotics control scheme

The problem of robot control is viewed at the level of communicating high-level commands produced by intelligent algorithms to the actuator/sensor controllers. Four topics are considered in the design of an integrated control and communications scheme for an intelligent robotic system: the use of abstraction spaces, hierarchical versus heterarchical control, distributed processing, and the interleaving of the steps of plan creation and plan execution. A scheme is presented for an n-level distributed hierarchical/heterarchical control system that effectively interleaves intelligent planning, execution, and sensory feedback. A three-level version of this scheme has been successfully implemented in the Intelligent Systems Research Lab at NASA Langley Research Center. This implementation forms the control structure for DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), a testbed system integrating AI software with robotics hardware.

Orlando, N. E.↗
NASA NTRS1990

Distributed proximity sensor system having embedded light emitters and detectors

A distributed proximity sensor system is provided with multiple photosensitive devices and light emitters embedded on the surface of a robot hand or other moving member in a geometric pattern. By distributing sensors and emitters capable of detecting distances and angles to points on the surface of an object from known points in the geometric pattern, information is obtained for achieving noncontacting shape and distance perception, i.e., for automatic determination of the object's shape, direction and distance, as well as the orientation of the object relative to the robot hand or other moving member.

Lee, Sukhan↗
NASA NTRSDate not supplied

Precision in Assembled Discrete Lattice Space Structures for Next-Generation ISAM Applications

Robust autonomous robotic assembly of large-scale space structures has been a long-term and challenging goal to enable higher quality in-space communication and science instrumentation. For optical observatory support structures and antenna structures, the challenge is the strict dimensional precision requirements (generally RMS surface error) driven by the operational radiation wavelength. Early theoretical work in the area linked RMS surface error of a reflector support truss plate to the natural passive dynamic mode frequencies of the structure, as well as to the error distribution in dimensions of constituent structural elements. Prior robotic truss assembly demonstrations focused on designing ultra-high precision structural elements, joints, and robotic actuators. Recently, an alternative space structure assembly strategy based on a programmable matter approach (NASA ARMADAS) was demonstrated. This approach uses lattice building blocks (voxels) that are reversibly, mechanically joined into a bulk lattice structure by robots that locomote in and on the structure itself. Such a system can achieve high-level autonomy with low computation, robustly assemble utilizing inexpensive and imprecise robots, and efficiently build structures several orders of magnitude larger than the assembly robots. However, for instrumentation support structure applications, the resulting precision of these building block-based lattice structures is not well studied. Since they are demonstrated with many more assembly units than prior art trusses, it is unclear whether the same precision design approaches apply. In this work, we study in simulation the effects of voxel geometry, error in distribution, assembly resolution (module size), and assembly geometry on the error of both beam and plate lattice structures. While average RMS error of a plate increases with plate size, increasing plate thickness quickly collapses RMS error towards a limit that is on the order of the error of the constituent parts. We validate our models against previously published precision measurements of built systems. Results from this study will guide manufacturing precision requirements, as well as designs, for future robotically assembled structural applications and establish feasibility for different applications.

Christine E Gregg↗
NASA NTRS1992

Multi-agent planning and scheduling, execution monitoring and incremental rescheduling: Application to motorway traffic

This article describes a planning method applicable to agents with great perception and decision-making capabilities and the ability to communicate with other agents. Each agent has a task to fulfill allowing for the actions of other agents in its vicinity. Certain simultaneous actions may cause conflicts because they require the same resource. The agent plans each of its actions and simultaneously transmits these to its neighbors. In a similar way, it receives plans from the other agents and must take account of these plans. The planning method allows us to build a distributed scheduling system. Here, these agents are robot vehicles on a highway communicating by radio. In this environment, conflicts between agents concern the allocation of space in time and are connected with the inertia of the vehicles. Each vehicle made a temporal, spatial, and situated reasoning in order to drive without collision. The flexibility and reactivity of the method presented here allows the agent to generate its plan based on assumptions concerning the other agents and then check these assumptions progressively as plans are received from the other agents. A multi-agent execution monitoring of these plans can be done, using data generated during planning and the multi-agent decision-making algorithm described here. A selective backtrack allows us to perform incremental rescheduling.

Mourou, Pascal↗
NASA NTRS2000

How Well Can Aerosol Measurements from the Terra Morning Polar Orbiting Satellite Represent the Daily Aerosol Abundance and Properties?

The Terra mission, launched at the dawn of 1999, and Aqua mission to be launched soon, will possess innovative measurements of the aerosol daily spatial distribution, distinguish between dust, smoke and regional pollution and measure aerosol radiative forcing of climate. Their polar orbit gives daily global coverage, however measurements are acquired at specific time of the day. To what degree can present measurements from Terra taken between 10:00 and 11:30 AM local time, represent the daily average aerosol forcing of climate? Here we answer this question using 7 years of data from the distributed ground based 50-70 instrument Aerosol Robotic Network (AERONET) This (AERONET) half a million measurement data set shows that Terra aerosol measurements represent the daily average values within 5%. The excellent representation is found for large dust particles or small aerosol particles from Fires or regional pollution and for any range of the optical thickness, a measure of the amount of aerosol in the atmosphere.

Kaufman, Y. J.↗
NASA NTRS2011

A Pure Marine Aerosol Model, for Use in Remote Sensing Applications

Retrievals of aerosol optical depth (AOD) and related parameters from satellite measurements typically involve prescribed models of aerosol size and composition, and are therefore dependent on how well these models are able to represent the radiative behaviour of real aerosols, This study uses aerosol volume size distributions retrieved from Sun-photometer measurements at 11 Aerosol Robotic Network (AERONET) island sites, spread throughout the world's oceans, as a basis to define such a model for unpolluted maritime aerosols. Size distributions are observed to be bimodal and approximately lognormal, although the coarse mode is skewed with a long tail on the low-radius end, The relationship of AOD and size distribution parameters to meteorological conditions is also examined, As wind speed increases, so do coarse-mode volume and radius, The AOD and Angstrom exponent (alpha) show linear relationships with wind speed, although there is considerable scatter in all these relationships, limiting their predictive power. Links between aerosol properties and near-surface relative humidity, columnar water vapor, and sea surface temperature are also explored. A recommended bimodal maritime model, which is able to reconstruct the AERONET AOD with accuracy of order 0.01-0.02, is presented for use in aerosol remote sensing applications. This accuracy holds at most sites and for wavelengths between 340 nm and 1020 nm. Calculated lidar ratios are also provided, and differ significantly from those currently used in Cloud-Aerosol Lidar with Orthogonal Polarization (CALIOP) processing.

Sayer, A. M.↗
NASA NTRS2004

Applications of Intelligent Tutoring Systems to Human-Robotic Exploration of Mars

Space missions with small crews extending over several years with time-delay preventing normal conversations with people on earth will raise many challenges for training. Of special interest are possible three-year missions to Mars, requiring refresher instruction and learning new skills based on unexpected problems with machines and environmental conditions. For example, the crew will be required to monitor and repair more complex life support systems for air and water recycling than we even know how to build today. Highly educated astronauts, often with several doctorate degrees, require a very different mode of interaction than we have developed for school children or even typical college students. Explanation methods may need to differ-using analogies and techniques from different domains-depending on whether the astronaut is an astrophysicist, a pilot, or a geologist.Virtual reality (e.g., for Hubble repair missions) and "integrated" simulations (involving role-playing and emphasizing failure scenarios) are the most common advanced forms of instruction used in space flight today. The emphasis is on collaborative, embodied interaction with the same workstations and tools used in practice (e.g., a cockpit simulator). Otherwise, computerized instructional technology used by NASA is not model-based or tutorial in nature. This discussion will review some of the key instructional methods used at NASA over the past two decades and consider why ITS methods have not been exploited. Some of the problems and opportunities for training for Mars missions are examined, including how using robots in exploration activities will help but raise new training problems. These ideas will be illustrated with examples from the BrahmsVE system in which a browser- based virtual reality display with avatars allows interacting with a distributed multiagent system, in which agents can be people, robots, or software programs. Using BrahmsVE may provide a way for astronauts to interact with proxies of people who serve as instructional coaches on Mars.

Clancey, William J.↗
NASA NTRS2012

Interactive robot control system and method of use

A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.

Sanders, Adam M.↗
NASA NTRS1993

Inverse dynamics: Simultaneous trajectory tracking and vibration reduction with distributed actuators

This paper addresses the problem of inverse dynamics for articulated flexible structures with both lumped and distributed actuators. This problem arises, for example, in the combined vibration minimization and trajectory control of space robots and structures. A new inverse dynamics scheme for computing the nominal lumped and distributed inputs for tracking a prescribed trajectory is given.

Devasia, Santosh↗
NASA NTRS2011

RAPID and DDS

This talk gives an overview of the the Robot Applications Programmers Interface Delegate (RAPID) as well as the distributed systems middleware Data Distribution Service (DDS). DDS is an open software standard, RAPID is cleared for open-source release under NOSA. RAPID specifies data-structures and semantics for high-level telemetry published by NASA robotic software. These data-structures are supported by multiple robotic platforms at Johnson Space Center (JSC), Jet Propulsion Laboratory (JPL) and Ames Research Center (ARC), providing high-level interoperability between those platforms. DDS is used as the middleware for data transfer. The feature set of the middleware heavily influences the design decision made in the RAPID specification. So it is appropriate to discuss both in this introductory talk.

Utz, Hans Heinrich↗