NASA Center for Intelligent Robotic Systems for Space Exploration

NASA's program for the civilian exploration of space is a challenge to scientists and engineers to help maintain and further develop the United States' position of leadership in a focused sphere of space activity. Such an ambitious plan requires the contribution and further development of many scientific and technological fields. One research area essential for the success of these space exploration programs is Intelligent Robotic Systems. These systems represent a class of autonomous and semi-autonomous machines that can perform human-like functions with or without human interaction. They are fundamental for activities too hazardous for humans or too distant or complex for remote telemanipulation. To meet this challenge, Rensselaer Polytechnic Institute (RPI) has established an Engineering Research Center for Intelligent Robotic Systems for Space Exploration (CIRSSE). The Center was created with a five year $5.5 million grant from NASA submitted by a team of the Robotics and Automation Laboratories. The Robotics and Automation Laboratories of RPI are the result of the merger of the Robotics and Automation Laboratory of the Department of Electrical, Computer, and Systems Engineering (ECSE) and the Research Laboratory for Kinematics and Robotic Mechanisms of the Department of Mechanical Engineering, Aeronautical Engineering, and Mechanics (ME,AE,&M), in 1987. This report is an examination of the activities that are centered at CIRSSE

Real-time co-ordinated scheduling using a genetic algorithm

Real-time co-ordination is an emerging approach to operational engineering management aimed at being more comprehensive and widely applicable than existing approaches. Schedule management is a key characteristic of operational co-ordination related to managing the planning and dynamic assignment of tasks to resources, and the enactment of the resulting schedules, throughout a changeable process. This paper presents the application of an agent-oriented system, called the Design Co-ordination System, to an industrial case study in order to demonstrate the appropriate use of a genetic algorithm for the purpose of real-time scheduling. The application demonstrates that real-time co-ordinated scheduling can provide significant reductions in time to complete the computational design process

Volume visualization of time-varying data using parallel, multiresolution and adaptive-resolution techniques

This paper presents a parallel rendering approach that allows high-quality visualization of large time-varying volume datasets. Multiresolution and adaptive-resolution techniques are also incorporated to improve the efficiency of the rendering. Three basic steps are needed to implement this kind of an application. First we divide the task through decomposition of data. This decomposition can be either temporal or spatial or a mix of both. After data has been divided, each of the data portions is rendered by a separate processor to create sub-images or frames. Finally these sub-images or frames are assembled together into a final image or animation. After developing this application, several experiments were performed to show that this approach indeed saves time when a reasonable number of processors are used. Also, we conclude that the optimal number of processors is dependent on the size of the dataset used