Mobile Robots

The objective of this book is to cover advances of mobile robotics and related technologies applied for multi robot systems' design and development. Design of control system is a complex issue, requiring the application of information technologies to link the robots into a single network. Human robot interface becomes a demanding task, especially when we try to use sophisticated methods for brain signal processing. Generated electrophysiological signals can be used to command different devices, such as cars, wheelchair or even video games. A number of developments in navigation and path planning, including parallel programming, can be observed. Cooperative path planning, formation control of multi robotic agents, communication and distance measurement between agents are shown. Training of the mobile robot operators is very difficult task also because of several factors related to different task execution. The presented improvement is related to environment model generation based on autonomous mobile robot observations

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

Mobile robot operator for downstream Oil & Gas industrial facilities

This thesis considers the application of robots in downstream Oil & Gas facilities. Automation is important in industrial facilities where improvements in safety, efficiency, and environmental performance are becoming increasingly important. Here we present a mobile robotic platform for the performance of inspection and survey tasks in downstream facilities. We demonstrate a hybrid localization strategy using a novel metric which allows for long term autonomy in large distributed industrial environments. An environmental sensing package and gas source localization algorithm are deployed on the platform to identify and localize fugitive emission sources. Our mobile robotic platform, hybrid localization strategy, and gas source localization algorithm form an autonomous remote operator capable of meaningfully contributing to the advancement of automation in industrial facilities.Mechanical Engineerin

Uncertainty Minimization in Robotic 3D Mapping Systems Operating in Dynamic Large-Scale Environments

This dissertation research is motivated by the potential and promise of 3D sensing technologies in safety and security applications. With specific focus on unmanned robotic mapping to aid clean-up of hazardous environments, under-vehicle inspection, automatic runway/pavement inspection and modeling of urban environments, we develop modular, multi-sensor, multi-modality robotic 3D imaging prototypes using localization/navigation hardware, laser range scanners and video cameras. While deploying our multi-modality complementary approach to pose and structure recovery in dynamic real-world operating conditions, we observe several data fusion issues that state-of-the-art methodologies are not able to handle. Different bounds on the noise model of heterogeneous sensors, the dynamism of the operating conditions and the interaction of the sensing mechanisms with the environment introduce situations where sensors can intermittently degenerate to accuracy levels lower than their design specification. This observation necessitates the derivation of methods to integrate multi-sensor data considering sensor conflict, performance degradation and potential failure during operation. Our work in this dissertation contributes the derivation of a fault-diagnosis framework inspired by information complexity theory to the data fusion literature. We implement the framework as opportunistic sensing intelligence that is able to evolve a belief policy on the sensors within the multi-agent 3D mapping systems to survive and counter concerns of failure in challenging operating conditions. The implementation of the information-theoretic framework, in addition to eliminating failed/non-functional sensors and avoiding catastrophic fusion, is able to minimize uncertainty during autonomous operation by adaptively deciding to fuse or choose believable sensors. We demonstrate our framework through experiments in multi-sensor robot state localization in large scale dynamic environments and vision-based 3D inference. Our modular hardware and software design of robotic imaging prototypes along with the opportunistic sensing intelligence provides significant improvements towards autonomous accurate photo-realistic 3D mapping and remote visualization of scenes for the motivating applications

Novel approaches for the safety of human-robot interaction

In recent years there has been a concerted effort to address many of the safety issues associated with physical human-robot interaction (pHRI). However, a number of challenges remain. For personal robots, and those intended to operate in unstructured environments, the problem of safety is compounded. We believe that the safety issue is a primary factor in wide scale adoption of personal robots, and until these issues are addressed, commercial enterprises will be unlikely to invest heavily in their development.In this thesis we argue that traditional system design techniques fail to capture the complexities associated with dynamic environments. This is based on a careful analysis of current design processes, which looks at how effectively they identify hazards that may arise in typical environments that a personal robot may be required to operate in. Based on this investigation, we show how the adoption of a hazard check list that highlights particular hazardous areas, can be used to improve current hazard analysis techniques.A novel safety-driven control system architecture is presented, which attempts to address many of the weaknesses identified with the present designs found in the literature. The new architecture design centres around safety, and the concept of a `safety policy' is introduced. These safety policies are shown to be an effective way of describing safety systems as a set of rules that dictate how the system should behave in potentially hazardous situations.A safety analysis methodology is introduced, which integrates both our hazard analysis technique and the implementation of the safety layer of our control system. This methodology builds on traditional functional hazard analysis, with the addition of processes aimed to improve the safety of personal robots. This is achieved with the use of a safety system, developed during the hazard analysis stage. This safety system, called the safety protection system, is initially used to verify that safety constraints, identified during hazard analysis, have been implemented appropriately. Subsequently it serves as a high-level safety enforcer, by governing the actions of the robot and preventing the control layer from performing unsafe operations.To demonstrate the effectiveness of the design, a series of experiments have been conducted using both simulation environments and physical hardware. These experiments demonstrate the effectiveness of the safety-driven control system for performing tasks safely, while maintaining a high level of availability

Recent Advances in Indoor Localization Systems and Technologies

Despite the enormous technical progress seen in the past few years, the maturity of indoor localization technologies has not yet reached the level of GNSS solutions. The 23 selected papers in this book present the recent advances and new developments in indoor localization systems and technologies, propose novel or improved methods with increased performance, provide insight into various aspects of quality control, and also introduce some unorthodox positioning methods

NASA SBIR abstracts of 1990 phase 1 projects

The research objectives of the 280 projects placed under contract in the National Aeronautics and Space Administration (NASA) 1990 Small Business Innovation Research (SBIR) Phase 1 program are described. The basic document consists of edited, non-proprietary abstracts of the winning proposals submitted by small businesses in response to NASA's 1990 SBIR Phase 1 Program Solicitation. The abstracts are presented under the 15 technical topics within which Phase 1 proposals were solicited. Each project was assigned a sequential identifying number from 001 to 280, in order of its appearance in the body of the report. The document also includes Appendixes to provide additional information about the SBIR program and permit cross-reference in the 1990 Phase 1 projects by company name, location by state, principal investigator, NASA field center responsible for management of each project, and NASA contract number

Management: A bibliography for NASA managers (supplement 21)

This bibliography lists 664 reports, articles and other documents introduced into the NASA scientific and technical information system in 1986. Items are selected and grouped according to their usefulness to the manager as manager. Citations are grouped into ten subject categories: human factors and personnel issues; management theory and techniques; industrial management and manufacturing; robotics and expert systems; computers and information management; research and development; economics, costs, and markets; logistics and operations management; reliability and quality control; and legality, legislation, and policy

Technology 2004, Vol. 2

Proceedings from symposia of the Technology 2004 Conference, November 8-10, 1994, Washington, DC. Volume 2 features papers on computers and software, virtual reality simulation, environmental technology, video and imaging, medical technology and life sciences, robotics and artificial intelligence, and electronics

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space