Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

The NASA SBIR product catalog

The purpose of this catalog is to assist small business firms in making the community aware of products emerging from their efforts in the Small Business Innovation Research (SBIR) program. It contains descriptions of some products that have advanced into Phase 3 and others that are identified as prospective products. Both lists of products in this catalog are based on information supplied by NASA SBIR contractors in responding to an invitation to be represented in this document. Generally, all products suggested by the small firms were included in order to meet the goals of information exchange for SBIR results. Of the 444 SBIR contractors NASA queried, 137 provided information on 219 products. The catalog presents the product information in the technology areas listed in the table of contents. Within each area, the products are listed in alphabetical order by product name and are given identifying numbers. Also included is an alphabetical listing of the companies that have products described. This listing cross-references the product list and provides information on the business activity of each firm. In addition, there are three indexes: one a list of firms by states, one that lists the products according to NASA Centers that managed the SBIR projects, and one that lists the products by the relevant Technical Topics utilized in NASA's annual program solicitation under which each SBIR project was selected

Generalized asset integrity games

Generalized assets represent a class of multi-scale adaptive state-transition systems with domain-oblivious performance criteria. The governance of such assets must proceed without exact specifications, objectives, or constraints. Decision making must rapidly scale in the presence of uncertainty, complexity, and intelligent adversaries. This thesis formulates an architecture for generalized asset planning. Assets are modelled as dynamical graph structures which admit topological performance indicators, such as dependability, resilience, and efficiency. These metrics are used to construct robust model configurations. A normalized compression distance (NCD) is computed between a given active/live asset model and a reference configuration to produce an integrity score. The utility derived from the asset is monotonically proportional to this integrity score, which represents the proximity to ideal conditions. The present work considers the situation between an asset manager and an intelligent adversary, who act within a stochastic environment to control the integrity state of the asset. A generalized asset integrity game engine (GAIGE) is developed, which implements anytime algorithms to solve a stochastically perturbed two-player zero-sum game. The resulting planning strategies seek to stabilize deviations from minimax trajectories of the integrity score. Results demonstrate the performance and scalability of the GAIGE. This approach represents a first-step towards domain-oblivious architectures for complex asset governance and anytime planning

The 1995 Goddard Conference on Space Applications of Artificial Intelligence and Emerging Information Technologies

This publication comprises the papers presented at the 1995 Goddard Conference on Space Applications of Artificial Intelligence and Emerging Information Technologies held at the NASA/Goddard Space Flight Center, Greenbelt, Maryland, on May 9-11, 1995. The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed

Human Management of the Hierarchical System for the Control of Multiple Mobile Robots

In order to take advantage of autonomous robotic systems, and yet ensure successful completion of all feasible tasks, we propose a mediation hierarchy in which an operator can interact at all system levels. Robotic systems are not robust in handling un-modeled events. Reactive behaviors may be able to guide the robot back into a modeled state and to continue. Reasoning systems may simply fail. Once a system has failed it is difficult to re-start the task from the failed state. Rather, the rule base is revised, programs altered, and the task re-tried from the beginning

Closed-loop control of spacecraft formations with applications on SPHERES

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2008.Includes bibliographical references (p. 149-157).Formation flying satellites offer potentially greater science returns and operational capabilities than attainable with a monolithic spacecraft. Successful control of a formation of spacecraft can be divided into two separate stages. The first stage creates a plan that meets a set of mission objectives, and the second stage implements the plan. Plans are specified as a sequence of [delta]V commands executed at specific times during an orbit. This thesis presents an online method for generating fleet-wide plans, using convex optimization techniques, that satisfy multiple objectives. The approach allows for minimum and balanced fuel usage, can position spacecraft in arbitrary configurations, and favors low-maintenance orbits that do not drift apart. Additionally, the architecture is applicable not only to formation-keeping maneuvers, but also to formation reconfigurations. Various simulations demonstrate the importance of accurately implementing plans for formation flying as well as autonomous rendezvous and docking missions. Specifically, the relationships between process error, overall fuel use, and position error are studied. Theory is put into practice with the development of a new low-level, closed-loop thrust controller for the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES). The controller processes measurements from accelerometers and gyroscopes to monitor thruster performance in real-time. Experiments conducted on the International Space Station (ISS) validate the controller and establish a foundation for future enhancements to the underlying algorithm. Finally, data from a series of high-fidelity formation flying simulations is presented that confirms the analysis done elsewhere in the thesis.(cont.) The multi-objective planner is used in a closed-loop control system that guides a formation of five spacecraft through a hypothetical mission involving both reconfigurations and formation-keeping. Data from the simulations allows a straightforward, side by side comparison of the effects and relative importance of sensor error versus implementation error.by Matthew M. Jeffrey.S.M

Data Driven Adaptation of Heterogeneous Service-Oriented Processes

Η με βάση τα δεδομένα προσαρμογή διαδικασιών αποτελεί μια επέκταση της έννοιας των Δυναμικών και με βάση τα Δεδομένα Καθοδηγουμενων Συστήματων (DDDAS) όπως αυτά έχουν καθοριστεί από την Δαρεμά. Συγεκριμένα όπως και στα DDDAS συστήματα η προσέγγιση μας επιτρέπει την προσφορά προσαρμοζόμενων διαδικασιών χρησιμοποιώντας διαθέσιμες πληροφορίες και υπηρεσίες. H προσφορά προσαρμοζόμενων διαδικασιών περιλαμβάνει την αναγνώριση και χρήση πιθανών εναλλακτικών μονοπατιών εκτέλεσης (ή διαδρομών) για την επίτευξη των στόχων και υπό-στόχων της κάθε διαδικασίας. Τα εναλλακτικά μονοπάτια λαμβάνουν υπόψη και χρησιμοποιούν σχετικές πληροφορίες ή/και υπηρεσίες (ή συνθέσεις υπηρεσιών). Για την αναζήτηση των πιθανών εναλλακτικών χρησιμοποιούνται τεχνικές από το χώρο της Τεχνητής Νοημοσύνης Σχεδιασμού (AI Planning) και της υπολογιστικής Πλαισίου (Context-Aware computing) κατά τον χρόνο διάθεσης της διαδικασίας. Κατά τον υπολογισμό των πιθανών εναλλακτικών, στόχος της προσέγγισης μας είναι η μείωση των βημάτων εκτέλεσης, δλδ του πλήθους των εργασιών της διαδικασίας που έχουν οριστείIn principle the Data-Driven Process Adaptation (DDPA) approach is based on the concept of Dynamic Data Driven Application Systems (DDDAS) as this is stated by Darema in [8]. In accordance to the DDDAS notion such systems support the utilization of appropriate information at specific decision points so as to make real systems more efficient. In this regard, DDPA accommodates the provision of adaptable service processes by exploiting the use of information available to the process environment in addition to existing services. Adaptation in the context of our approach includes the identification and use of possible alternatives for the achievement of the goals and sub-goals defined in a process; alternatives include the utilization of available related information and/or services (or service chains). Data-Driven adaptation incorporates AI planning and Context-Aware Computing techniques to support the identification of possible alternatives at deployment time. When calculating the possible alternatives the goal of our approach is to reduce the number of steps, i.e. number of process tasks, defined in the original process