Towards the Safety of Human-in-the-Loop Robotics: Challenges and Opportunities for Safety Assurance of Robotic Co-Workers

The success of the human-robot co-worker team in a flexible manufacturing environment where robots learn from demonstration heavily relies on the correct and safe operation of the robot. How this can be achieved is a challenge that requires addressing both technical as well as human-centric research questions. In this paper we discuss the state of the art in safety assurance, existing as well as emerging standards in this area, and the need for new approaches to safety assurance in the context of learning machines. We then focus on robotic learning from demonstration, the challenges these techniques pose to safety assurance and indicate opportunities to integrate safety considerations into algorithms "by design". Finally, from a human-centric perspective, we stipulate that, to achieve high levels of safety and ultimately trust, the robotic co-worker must meet the innate expectations of the humans it works with. It is our aim to stimulate a discussion focused on the safety aspects of human-in-the-loop robotics, and to foster multidisciplinary collaboration to address the research challenges identified

On-the-fly adaptivity for nonlinear twoscale simulations using artificial neural networks and reduced order modeling

A multi-fidelity surrogate model for highly nonlinear multiscale problems is proposed. It is based on the introduction of two different surrogate models and an adaptive on-the-fly switching. The two concurrent surrogates are built incrementally starting from a moderate set of evaluations of the full order model. Therefore, a reduced order model (ROM) is generated. Using a hybrid ROM-preconditioned FE solver, additional effective stress-strain data is simulated while the number of samples is kept to a moderate level by using a dedicated and physics-guided sampling technique. Machine learning (ML) is subsequently used to build the second surrogate by means of artificial neural networks (ANN). Different ANN architectures are explored and the features used as inputs of the ANN are fine tuned in order to improve the overall quality of the ML model. Additional ANN surrogates for the stress errors are generated. Therefore, conservative design guidelines for error surrogates are presented by adapting the loss functions of the ANN training in pure regression or pure classification settings. The error surrogates can be used as quality indicators in order to adaptively select the appropriate -- i.e. efficient yet accurate -- surrogate. Two strategies for the on-the-fly switching are investigated and a practicable and robust algorithm is proposed that eliminates relevant technical difficulties attributed to model switching. The provided algorithms and ANN design guidelines can easily be adopted for different problem settings and, thereby, they enable generalization of the used machine learning techniques for a wide range of applications. The resulting hybrid surrogate is employed in challenging multilevel FE simulations for a three-phase composite with pseudo-plastic micro-constituents. Numerical examples highlight the performance of the proposed approach

Marshall Space Flight Center Research and Technology Report 2019

Today, our calling to explore is greater than ever before, and here at Marshall Space Flight Centerwe make human deep space exploration possible. A key goal for Artemis is demonstrating and perfecting capabilities on the Moon for technologies needed for humans to get to Mars. This years report features 10 of the Agencys 16 Technology Areas, and I am proud of Marshalls role in creating solutions for so many of these daunting technical challenges. Many of these projects will lead to sustainable in-space architecture for human space exploration that will allow us to travel to the Moon, on to Mars, and beyond. Others are developing new scientific instruments capable of providing an unprecedented glimpse into our universe. NASA has led the charge in space exploration for more than six decades, and through the Artemis program we will help build on our work in low Earth orbit and pave the way to the Moon and Mars. At Marshall, we leverage the skills and interest of the international community to conduct scientific research, develop and demonstrate technology, and train international crews to operate further from Earth for longer periods of time than ever before first at the lunar surface, then on to our next giant leap, human exploration of Mars. While each project in this report seeks to advance new technology and challenge conventions, it is important to recognize the diversity of activities and people supporting our mission. This report not only showcases the Centers capabilities and our partnerships, it also highlights the progress our people have achieved in the past year. These scientists, researchers and innovators are why Marshall and NASA will continue to be a leader in innovation, exploration, and discovery for years to come

Industry workshop on large space structures: Executive summary

A NASA-sponsored Industry Workshop on Large Space Structures was convened at Langley Research Center on 24-26 February 1976. A number of structures specialists from seven major aerospace companies participated. Predictions about the future structures to be fabricated/assembled/erected in space are presented along with a composite appraisal of what the Aerospace Industry views as the critical structural technology developments needed to support NASA space missions in the 1985-2000 time frame

12th EASN International Conference on "Innovation in Aviation & Space for opening New Horizons"

Epoxy resins show a combination of thermal stability, good mechanical performance, and durability, which make these materials suitable for many applications in the Aerospace industry. Different types of curing agents can be utilized for curing epoxy systems. The use of aliphatic amines as curing agent is preferable over the toxic aromatic ones, though their incorporation increases the flammability of the resin. Recently, we have developed different hybrid strategies, where the sol-gel technique has been exploited in combination with two DOPO-based flame retardants and other synergists or the use of humic acid and ammonium polyphosphate to achieve non-dripping V-0 classification in UL 94 vertical flame spread tests, with low phosphorous loadings (e.g., 1-2 wt%). These strategies improved the flame retardancy of the epoxy matrix, without any detrimental impact on the mechanical and thermal properties of the composites. Finally, the formation of a hybrid silica-epoxy network accounted for the establishment of tailored interphases, due to a better dispersion of more polar additives in the hydrophobic resin

Advancing automation and robotics technology for the space station and for the US economy: Submitted to the United States Congress October 1, 1987

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the space station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the Law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the fifth in a series of progress updates and covers the period between 16 May 1987 and 30 September 1987. NASA has accepted the basic recommendations of ATAC for its space station efforts. ATAC and NASA agree that the mandate of Congress is that an advanced automation and robotics technology be built to support an evolutionary space station program and serve as a highly visible stimulator affecting the long-term U.S. economy

The Virtual Manufacturing concept: Scope, Socio-Economic Aspects and Future Trends

International audienceThe research area "Virtual Manufacturing (VM)'' is the use of information technology and computer simulation to model real world manufacturing processes for the purpose of analysing and understanding them. As automation technologies such as CAD/CAM have substantially shortened the time required to design products, Virtual Manufacturing will have a similar effect on the manufacturing phase thanks to the modelling, simulation and optimisation of the product and the processes involved in its fabrication. After a description of Virtual Manufacturing (definitions and scope), we present some socio-economic factors of VM and finaly some "hot topics'' for the future are proposed