Opportunistic communication schemes for unmanned vehicles in urban search and rescue

In urban search and rescue (USAR) operations, there is a considerable amount of danger faced by rescuers. The use of mobile robots can alleviate this issue. Coordinating the search effort is made more difficult by the communication issues typically faced in these environments, such that communication is often restricted. With small numbers of robots, it is necessary to break communication links in order to explore the entire environment. The robots can be viewed as a broken ad hoc network, relying on opportunistic contact in order to share data. In order to minimise overheads when exchanging data, a novel algorithm for data exchange has been created which maintains the propagation speed of flooding while reducing overheads. Since the rescue workers outside of the structure need to know the location of any victims, the task of finding their locations is two parted: 1) to locate the victims (Search Time), and 2) to get this data outside the structure (Delay Time). Communication with the outside is assumed to be performed by a static robot designated as the Command Station. Since it is unlikely that there will be sufficient robots to provide full communications coverage of the area, robots that discover victims are faced with the difficult decision of whether they should continue searching or return with the victim data. We investigate a variety of search techniques and see how the application of biological foraging models can help to streamline the search process, while we have also implemented an opportunistic network to ensure that data are shared whenever robots come within line of sight of each other or the Command Station. We examine this trade-off between performing a search and communicating the results

The 1995 Research Reports: NASA/ASEE Summer Faculty Fellowship Program

This document is a collection of technical reports on research conducted by the participants in the 1995 NASA/ASEE Summer Faculty Fellowship Program at the Kennedy Space Center (KSC). This was the eleventh year that a NASA/ASEE program has been conducted at KSC. The 1995 program was administered by the University of Central Florida in cooperation with KSC. The program was operated under the auspices of the American Society for Engineering Education (ASEE) with sponsorship and funding from the Office of Educational Affairs, NASA Headquarters, Washington, D.C. The KSC Program was one of nine such Aeronautics and Space Research Programs funded by NASA Headquarters in 1995. The NASA/ASEE Program is intended to be a two-year program to allow in-depth research by the University faculty member

Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994

The Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space (i-SAIRAS 94), held October 18-20, 1994, in Pasadena, California, was jointly sponsored by NASA, ESA, and Japan's National Space Development Agency, and was hosted by the Jet Propulsion Laboratory (JPL) of the California Institute of Technology. i-SAIRAS 94 featured presentations covering a variety of technical and programmatic topics, ranging from underlying basic technology to specific applications of artificial intelligence and robotics to space missions. i-SAIRAS 94 featured a special workshop on planning and scheduling and provided scientists, engineers, and managers with the opportunity to exchange theoretical ideas, practical results, and program plans in such areas as space mission control, space vehicle processing, data analysis, autonomous spacecraft, space robots and rovers, satellite servicing, and intelligent instruments

Cumulative index to NASA Tech Briefs, 1986-1990, volumes 10-14

Tech Briefs are short announcements of new technology derived from the R&D activities of the National Aeronautics and Space Administration. These briefs emphasize information considered likely to be transferrable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. This cumulative index of Tech Briefs contains abstracts and four indexes (subject, personal author, originating center, and Tech Brief number) and covers the period 1986 to 1990. The abstract section is organized by the following subject categories: electronic components and circuits, electronic systems, physical sciences, materials, computer programs, life sciences, mechanics, machinery, fabrication technology, and mathematics and information sciences

Advances in Human-Robot Interaction

Rapid advances in the field of robotics have made it possible to use robots not just in industrial automation but also in entertainment, rehabilitation, and home service. Since robots will likely affect many aspects of human existence, fundamental questions of human-robot interaction must be formulated and, if at all possible, resolved. Some of these questions are addressed in this collection of papers by leading HRI researchers

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications

First Annual Workshop on Space Operations Automation and Robotics (SOAR 87)

Several topics relative to automation and robotics technology are discussed. Automation of checkout, ground support, and logistics; automated software development; man-machine interfaces; neural networks; systems engineering and distributed/parallel processing architectures; and artificial intelligence/expert systems are among the topics covered