Enabling technologies for precise aerial manufacturing with unmanned aerial vehicles

The construction industry is currently experiencing a revolution with automation techniques such as additive manufacturing and robot-enabled construction. Additive Manufacturing (AM) is a key technology that can o er productivity improvement in the construction industry by means of o -site prefabrication and on-site construction with automated systems. The key bene t is that building elements can be fabricated with less materials and higher design freedom compared to traditional manual methods. O -site prefabrication with AM has been investigated for some time already, but it has limitations in terms of logistical issues of components transportation and due to its lack of design exibility on-site. On-site construction with automated systems, such as static gantry systems and mobile ground robots performing AM tasks, can o er additional bene ts over o -site prefabrication, but it needs further research before it will become practical and economical. Ground-based automated construction systems also have the limitation that they cannot extend the construction envelope beyond their physical size. The solution of using aerial robots to liberate the process from the constrained construction envelope has been suggested, albeit with technological challenges including precision of operation, uncertainty in environmental interaction and energy e ciency. This thesis investigates methods of precise manufacturing with aerial robots. In particular, this work focuses on stabilisation mechanisms and origami-based structural elements that allow aerial robots to operate in challenging environments. An integrated aerial self-aligning delta manipulator has been utilised to increase the positioning accuracy of the aerial robots, and a Material Extrusion (ME) process has been developed for Aerial Additive Manufacturing (AAM). A 28-layer tower has been additively manufactured by aerial robots to demonstrate the feasibility of AAM. Rotorigami and a bioinspired landing mechanism demonstrate their abilities to overcome uncertainty in environmental interaction with impact protection capabilities and improved robustness for UAV. Design principles using tensile anchoring methods have been explored, enabling low-power operation and explores possibility of low-power aerial stabilisation. The results demonstrate that precise aerial manufacturing needs to consider not only just the robotic aspects, such as ight control algorithms and mechatronics, but also material behaviour and environmental interaction as factors for its success.Open Acces

Constructing living buildings: a review of relevant technologies for a novel application of biohybrid robotics

Biohybrid robotics takes an engineering approach to the expansion and exploitation of biological behaviours for application to automated tasks. Here, we identify the construction of living buildings and infrastructure as a high-potential application domain for biohybrid robotics, and review technological advances relevant to its future development. Construction, civil infrastructure maintenance and building occupancy in the last decades have comprised a major portion of economic production, energy consumption and carbon emissions. Integrating biological organisms into automated construction tasks and permanent building components therefore has high potential for impact. Live materials can provide several advantages over standard synthetic construction materials, including self-repair of damage, increase rather than degradation of structural performance over time, resilience to corrosive environments, support of biodiversity, and mitigation of urban heat islands. Here, we review relevant technologies, which are currently disparate. They span robotics, self-organizing systems, artificial life, construction automation, structural engineering, architecture, bioengineering, biomaterials, and molecular and cellular biology. In these disciplines, developments relevant to biohybrid construction and living buildings are in the early stages, and typically are not exchanged between disciplines. We, therefore, consider this review useful to the future development of biohybrid engineering for this highly interdisciplinary application.publishe

Workshop on Advanced Technologies for Planetary Instruments, part 1

This meeting was conceived in response to new challenges facing NASA's robotic solar system exploration program. This volume contains papers presented at the Workshop on Advanced Technologies for Planetary Instruments on 28-30 Apr. 1993. This meeting was conceived in response to new challenges facing NASA's robotic solar system exploration program. Over the past several years, SDIO has sponsored a significant technology development program aimed, in part, at the production of instruments with these characteristics. This workshop provided an opportunity for specialists from the planetary science and DoD communities to establish contacts, to explore common technical ground in an open forum, and more specifically, to discuss the applicability of SDIO's technology base to planetary science instruments

Quantum Computing

Quantum mechanics---the theory describing the fundamental workings of nature---is famously counterintuitive: it predicts that a particle can be in two places at the same time, and that two remote particles can be inextricably and instantaneously linked. These predictions have been the topic of intense metaphysical debate ever since the theory's inception early last century. However, supreme predictive power combined with direct experimental observation of some of these unusual phenomena leave little doubt as to its fundamental correctness. In fact, without quantum mechanics we could not explain the workings of a laser, nor indeed how a fridge magnet operates. Over the last several decades quantum information science has emerged to seek answers to the question: can we gain some advantage by storing, transmitting and processing information encoded in systems that exhibit these unique quantum properties? Today it is understood that the answer is yes. Many research groups around the world are working towards one of the most ambitious goals humankind has ever embarked upon: a quantum computer that promises to exponentially improve computational power for particular tasks. A number of physical systems, spanning much of modern physics, are being developed for this task---ranging from single particles of light to superconducting circuits---and it is not yet clear which, if any, will ultimately prove successful. Here we describe the latest developments for each of the leading approaches and explain what the major challenges are for the future.Comment: 26 pages, 7 figures, 291 references. Early draft of Nature 464, 45-53 (4 March 2010). Published version is more up-to-date and has several corrections, but is half the length with far fewer reference

2020 NASA Technology Taxonomy

This document is an update (new photos used) of the PDF version of the 2020 NASA Technology Taxonomy that will be available to download on the OCT Public Website. The updated 2020 NASA Technology Taxonomy, or "technology dictionary", uses a technology discipline based approach that realigns like-technologies independent of their application within the NASA mission portfolio. This tool is meant to serve as a common technology discipline-based communication tool across the agency and with its partners in other government agencies, academia, industry, and across the world

High resolution aerial and field mapping of thermal features in Ragged Hills, Yellowstone National Park

High resolution aerial images taken in a cost and time effective way from low-flying platforms were used to map a hydrothermal area in the Yellowstone National Park. The mapping area called Ragged Hills is located in the Norris Geyser Basin, a major hydrothermal basin of the Park famous for its great diversity and number of thermal features. Because of an increasing thermal activity since the early 1990s numerous hydrothermal features of different sizes developed in Ragged Hills. Various changes in size and chemistry of the thermal features were observed during sporadic ground surveys. No detailed maps of the thermal inventory existed because of the difficulties in mapping this rapidly changing area by standard ground survey methods. Mapping the features in a short time to get a status quo of the feature’s form and size was the goal of the present work. Two different low-flying platforms were used during this project – a helium filled balloon and a single engine airplane (Cessna 172). To be able to georeference the aerial photos later a grid of ground control points was laid out and the points were surveyed by differential GPS as well as by theodolite. Deviations between both methods were on average 37 cm (Northing) and 61 cm (Easting). The overflights with the airplane were more cost intensive, requiring aircraft rental and trained pilots. Because the obtained images were in most cases blurred, they were served as overview only. Nevertheless the pixel resolution was quiet good with an average of 6 cm. Besides the true color images taken by a digital camera, also thermal pictures were taken from the airplane with a spatial resolution of 1.2 m. The balloon survey provided a costeffective and easy-to-handle alternative. Major restrictions are only the transport of the helium bottles to the study site, and the requirements for calm wind conditions. From an altitude of 50 to 80 m sharp and high resolution images were obtained. About 45 pictures were used to create a mosaic of the whole study area with a pixel resolution of 2.5 cm. No high-resolution thermal pictures could be taken from the balloon because the weight of the camera (3.9 kg) exceeded the balloon’s lifting capacity (1.5 kg). The created high-resolution aerial overview was included in a digital atlas together with topography and geological maps, older lowresolution aerial pictures, and hydrochemical data. The following diploma thesis gives an overview about available low-flying platforms and their individual advantages and disadvantages, describes the methods used in detail and evaluates them regarding expenditure and time it took to realize the individual working steps. Furthermore an interpretation of mapping and hydrochemical data is presented.Förderkreis Freiberger Geologie e.V.researc

Hybrid Societies : Challenges and Perspectives in the Design of Collective Behavior in Self-organizing Systems

Hybrid societies are self-organizing, collective systems, which are composed of different components, for example, natural and artificial parts (bio-hybrid) or human beings interacting with and through technical systems (socio-technical). Many different disciplines investigate methods and systems closely related to the design of hybrid societies. A stronger collaboration between these disciplines could allow for re-use of methods and create significant synergies. We identify three main areas of challenges in the design of self-organizing hybrid societies. First, we identify the formalization challenge. There is an urgent need for a generic model that allows a description and comparison of collective hybrid societies. Second, we identify the system design challenge. Starting from the formal specification of the system, we need to develop an integrated design process. Third, we identify the challenge of interdisciplinarity. Current research on self-organizing hybrid societies stretches over many different fields and hence requires the re-use and synthesis of methods at intersections between disciplines. We then conclude by presenting our perspective for future approaches with high potential in this area

Evolution and complexity: the double-edged sword

We attempt to provide a comprehensive answer to the question of whether, and when, an arrow of complexity emerges in Darwinian evolution. We note that this expression can be interpreted in different ways, including a passive, incidental growth, or a pervasive bias towards complexification. We argue at length that an arrow of complexity does indeed occur in evolution, which can be most reasonably interpreted as the result of a passive trend rather than a driven one. What, then, is the role of evolution in the creation of this trend, and under which conditions will it emerge? In the later sections of this article we point out that when certain proper conditions (which we attempt to formulate in a concise form) are met, Darwinian evolution predictably creates a sustained trend of increase in maximum complexity (that is, an arrow of complexity) that would not be possible without it; but if they are not, evolution will not only fail to produce an arrow of complexity, but may actually prevent any increase in complexity altogether. We conclude that, with regard to the growth of complexity, evolution is very much a double-edged sword