Outdoor navigation of mobile robots

AGVs in the manufacturing industry currently constitute the largest application area for mobile robots. Other applications have been gradually emerging, including various transporting tasks in demanding environments, such as mines or harbours. Most of the new potential applications require a free-ranging navigation system, which means that the path of a robot is no longer bound to follow a buried inductive cable. Moreover, changing the route of a robot or taking a new working area into use must be as effective as possible. These requirements set new challenges for the navigation systems of mobile robots. One of the basic methods of building a free ranging navigation system is to combine dead reckoning navigation with the detection of beacons at known locations. This approach is the backbone of the navigation systems in this study. The study describes research and development work in the area of mobile robotics including the applications in forestry, agriculture, mining, and transportation in a factory yard. The focus is on describing navigation sensors and methods for position and heading estimation by fusing dead reckoning and beacon detection information. A Kalman filter is typically used here for sensor fusion. Both cases of using either artificial or natural beacons have been covered. Artificial beacons used in the research and development projects include specially designed flat objects to be detected using a camera as the detection sensor, GPS satellite positioning system, and passive transponders buried in the ground along the route of a robot. The walls in a mine tunnel have been used as natural beacons. In this case, special attention has been paid to map building and using the map for positioning. The main contribution of the study is in describing the structure of a working navigation system, including positioning and position control. The navigation system for mining application, in particular, contains some unique features that provide an easy-to-use procedure for taking new production areas into use and making it possible to drive a heavy mining machine autonomously at speed comparable to an experienced human driver.reviewe

NASA Tech Briefs, November/December 1987

Topics include: NASA TU Services; New Product Ideas; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Fabrication Technology; Machinery; Mathematics and Information Sciences; Life Sciences

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

Modeling and Analysis of Power Processing Systems

The feasibility of formulating a methodology for the modeling and analysis of aerospace electrical power processing systems is investigated. It is shown that a digital computer may be used in an interactive mode for the design, modeling, analysis, and comparison of power processing systems

Crop Disease Detection Using Remote Sensing Image Analysis

Pest and crop disease threats are often estimated by complex changes in crops and the applied agricultural practices that result mainly from the increasing food demand and climate change at global level. In an attempt to explore high-end and sustainable solutions for both pest and crop disease management, remote sensing technologies have been employed, taking advantages of possible changes deriving from relative alterations in the metabolic activity of infected crops which in turn are highly associated to crop spectral reflectance properties. Recent developments applied to high resolution data acquired with remote sensing tools, offer an additional tool which is the opportunity of mapping the infected field areas in the form of patchy land areas or those areas that are susceptible to diseases. This makes easier the discrimination between healthy and diseased crops, providing an additional tool to crop monitoring. The current book brings together recent research work comprising of innovative applications that involve novel remote sensing approaches and their applications oriented to crop disease detection. The book provides an in-depth view of the developments in remote sensing and explores its potential to assess health status in crops

Planning Algorithms for Multi-Robot Active Perception

A fundamental task of robotic systems is to use on-board sensors and perception algorithms to understand high-level semantic properties of an environment. These semantic properties may include a map of the environment, the presence of objects, or the parameters of a dynamic field. Observations are highly viewpoint dependent and, thus, the performance of perception algorithms can be improved by planning the motion of the robots to obtain high-value observations. This motivates the problem of active perception, where the goal is to plan the motion of robots to improve perception performance. This fundamental problem is central to many robotics applications, including environmental monitoring, planetary exploration, and precision agriculture. The core contribution of this thesis is a suite of planning algorithms for multi-robot active perception. These algorithms are designed to improve system-level performance on many fronts: online and anytime planning, addressing uncertainty, optimising over a long time horizon, decentralised coordination, robustness to unreliable communication, predicting plans of other agents, and exploiting characteristics of perception models. We first propose the decentralised Monte Carlo tree search algorithm as a generally-applicable, decentralised algorithm for multi-robot planning. We then present a self-organising map algorithm designed to find paths that maximally observe points of interest. Finally, we consider the problem of mission monitoring, where a team of robots monitor the progress of a robotic mission. A spatiotemporal optimal stopping algorithm is proposed and a generalisation for decentralised monitoring. Experimental results are presented for a range of scenarios, such as marine operations and object recognition. Our analytical and empirical results demonstrate theoretically-interesting and practically-relevant properties that support the use of the approaches in practice

Apollo scientific experiments data handbook

A brief description of each of the Apollo scientific experiments was described, together with its operational history, the data content and formats, and the availability of the data. The lunar surface experiments described are the passive seismic, active seismic, lunar surface magnetometer, solar wind spectrometer, suprathermal ion detector, heat flow, charged particle, cold cathode gage, lunar geology, laser ranging retroreflector, cosmic ray detector, lunar portable magnetometer, traverse gravimeter, soil mechanics, far UV camera (lunar surface), lunar ejecta and meteorites, surface electrical properties, lunar atmospheric composition, lunar surface gravimeter, lunar seismic profiling, neutron flux, and dust detector. The orbital experiments described are the gamma-ray spectrometer, X-ray fluorescence, alpha-particle spectrometer, S-band transponder, mass spectrometer, far UV spectrometer, bistatic radar, IR scanning radiometer, particle shadows, magnetometer, lunar sounder, and laser altimeter. A brief listing of the mapping products available and information on the sample program were also included

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

Aeronautical engineering: A continuing bibliography with indexes (supplement 301)

This bibliography lists 1291 reports, articles, and other documents introduced into the NASA scientific and technical information system in Feb. 1994. Subject coverage includes: design, construction and testing of aircraft and aircraft engines; aircraft components, equipment, and systems; ground support systems; and theoretical and applied aspects of aerodynamics and general fluid dynamics

Internet of Things From Hype to Reality

The Internet of Things (IoT) has gained significant mindshare, let alone attention, in academia and the industry especially over the past few years. The reasons behind this interest are the potential capabilities that IoT promises to offer. On the personal level, it paints a picture of a future world where all the things in our ambient environment are connected to the Internet and seamlessly communicate with each other to operate intelligently. The ultimate goal is to enable objects around us to efficiently sense our surroundings, inexpensively communicate, and ultimately create a better environment for us: one where everyday objects act based on what we need and like without explicit instructions