Control of free-flying space robot manipulator systems

New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail

Implementation and Development of Vehicle Tracking and Immobilization Technologies

Since the mid-1980s, limited use has been made of vehicle tracking using satellite communications to mitigate the security and safety risks created by the highway transportation of certain types of hazardous materials. However, vehicle-tracking technology applied to safety and security is increasingly being researched and piloted, and it has been the subject of several government reports and legislative mandates. At the same time, the motor carrier industry has been investing in and implementing vehicle tracking, for a number of reasons, particularly the increase in efficiency achieved through better management of both personnel (drivers) and assets (trucks or, as they are known, tractors; cargo loads; and trailers). While vehicle tracking and immobilization technologies can play a significant role in preventing truck-borne hazardous materials from being used as weapons against key targets, they are not a & ”silver bullet.” However, the experience of DTTS and the FMCSA and TSA pilot projects indicates that when these technologies are combined with other security measures, and when the information they provide is used in conjunction with information supplied outside of the tracking system, they can provide defensive value to any effort to protect assets from attacks using hazmat as a weapon. This report is a sister publication to MTI Report 09-03, Potential Terrorist Uses of Highway-Borne Hazardous Materials. That publication was created in response to the Department of Homeland Security´s request that the Mineta Transportation Institute´s National Transportation Security Center of Excellence provide research and insights regarding the security risks created by the highway transportation of hazardous materials

Quadrotor team modeling and control for DLO transportation

94 p.Esta Tesis realiza una propuesta de un modelado dinámico para el transporte de sólidos lineales deformables (SLD) mediante un equipo de cuadricópteros. En este modelo intervienen tres factores: - Modelado dinámico del sólido lineal a transportar. - Modelo dinámico del cuadricóptero para que tenga en cuenta la dinámica pasiva y los efectos del SLD. - Estrategia de control para un transporte e ciente y robusto. Diferenciamos dos tareas principales: (a) lograr una con guración cuasiestacionaria de una distribución de carga equivalente a transportar entre todos los robots. (b) Ejecutar el transporte en un plano horizontal de todo el sistema. El transporte se realiza mediante una con guración de seguir al líder en columna, pero los cuadricópteros individualmente tienen que ser su cientemente robustos para afrontar todas las no-linealidades provocadas por la dinámica del SLD y perturbaciones externas, como el viento. Los controladores del cuadricóptero se han diseñado para asegurar la estabilidad del sistema y una rápida convergencia del sistema. Se han comparado y testeado estrategias de control en tiempo real y no-real para comprobar la bondad y capacidad de ajuste a las condiciones dinámicas cambiantes del sistema. También se ha estudiado la escalabilidad del sistema

Swarm robotics:design and implementation

This project presents a swarming and herding behaviour using simple robots. The main goal is to demonstrate the applicability of artificial intelligence (AI) in simple robotics that can then be scaled to industrial and consumer markets to further the ability of automation. AI can be achieved in many different ways; this paper explores the possible platforms on which to build a simple AI robots from consumer grade microcontrollers. Emphasis on simplicity is the main focus of this paper. Cheap and 8 bit microcontrollers were used as the brain of each robot in a decentralized swarm environment were each robot is autonomous but still a part of the whole. These simple robots don’t communicate directly with each other. They will utilize simple IR sensors to sense each other and simple limit switches to sense other obstacles in their environment. Their main objective is to assemble at certain location after initial start from random locations, and after converging they would move as a single unit without collisions. Using readily available microcontrollers and simple circuit design, semiconsistent swarming behaviour was achieved. These robots don’t follow a set path but will react dynamically to different scenarios, guided by their simple AI algorithm

Derailing Powder River Basin Coal Exports: Legal Mechanisms to Regulate Fugitive Coal Dust From Rail Transportation

Coal trains are known as “black snakes.” The name aptly describes the miles of uncovered rail cars bearing the black cargo as they slither along the tracks. During the journey from coal mines to their final destinations, coal trains shed plumes of coal dust from the tops of the train cars. As the dust spews from the rail cars, it fills the surrounding air with harmful substances like mercury, lead, cadmium, arsenic, manganese, beryllium, and chromium. When the dust settles, these substances are deposited in soil and water, harming plant, animal, and marine life. Environmental consequences from coal dust are also rooted in railroad safety concerns. Coal dust accumulation in the ballast can destabilize the tracks and contribute to derailments. Derailments impact the environment because the overturned train can spill locomotive fuel and dump thousands of pounds of coal and coal dust, resulting in soil and water contamination. This Comment will discuss the trends that have made exporting coal a viable option for the coal industry and how accommodating the industry’s plans to expand exports will impact the environment. Next, the Comment will explain the history of the regulatory scheme governing the railroads and its preemptive nature. This Comment will then examine two ways to address the issue of fugitive coal dust: first, through the statutory and regulatory authority of the Federal Railroad Administration, and second, through the Clean Air Act. The Comment proposes that states regulate coal dust as particulate matter in their State Implementation Plans. Finally, the Comment explores private citizens’ ability to sue railroad companies under the citizen suit provision

MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics

El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso: Análisis y síntesis de mecanismos ; Diseño de algoritmos para sistemas mecatrónicos ; Procedimientos de simulación y resultados ; Prototipos y rendimiento ; Robots y micromáquinas ; Validaciones experimentales ; Teoría de simulación mecatrónica ; Sistemas mecatrónicos ; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad