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

Yangın söndüren labirent robotu

06.03.2018 tarihli ve 30352 sayılı Resmi Gazetede yayımlanan “Yükseköğretim Kanunu İle Bazı Kanun Ve Kanun Hükmünde Kararnamelerde Değişiklik Yapılması Hakkında Kanun” ile 18.06.2018 tarihli “Lisansüstü Tezlerin Elektronik Ortamda Toplanması, Düzenlenmesi ve Erişime Açılmasına İlişkin Yönerge” gereğince tam metin erişime açılmıştır.Robotlar çok geniş kullanım alanları ve her geçen gün gelişen yetenekleri ile günümüzde vazgeçilemez bir teknoloji ürünü haline gelmişlerdir. Endüstriyel uygulamalarda çok büyük kolaylıklar sağlayan robotlar, amatör kullanıcılar için de çok cazip hale gelmiştir. Sağlık, sanayi, askeri, güvenlik gibi hayatın her alanında kendine yer bulan robot teknolojisi ilerleyen yıllarda çok daha hızlı bir şekilde gelişecektir.Bu tez çalışmasının amacı yangın söndüren bir labirent robotu tasarlamak ve gerçekleştirmektir. Tez sonucunda gerçekleştirilen robot, labirent içerisinde yolunu ortalayarak ilerlemekte, odalara girdiğinde mumları söndürmek için fanı devreye sokmaktadır. Hazırlanan robotun ileri gitme, sağa dönme, sola dönme, sağa çekme, sola çekme ve söndürme olmak üzere altı farklı yeteneği bulunmaktadır.Robot, iki ayrı kontrol kartından oluşmakta ve ana kontrol elemanı olarak PIC 16F877 mikrodenetleyicisi kullanılmaktadır. İlk kart, tüm fonksiyonların gerçekleştirildiği ?Ana Kontrol Kartı?, diğer kart ise, söndürme elemanlarının bulunduğu ?Söndürme Kartı?dır. Robotun labirent içerisinde doğru bir şekilde ilerleyebilmesi ve yolunu bulabilmesi için, sürekli tarama yapan mesafe sensörleri kullanılmaktadır. Odalarda fanın devreye sokulabilmesi için ise, optik sensör kullanılmaktadır. Robot odalara girdiğinde sağ duvara yaklaştırılmakta ve yangın söndürmede etkinliği artırılmaktadır. Robot, odaların tüm köşelerini gezecek şekilde tasarlanmıştır. Oda çıkışlarında fan devreden çıkartılmıştır.Tasarlanan robotun programlanmasında başlangıçta bulanık mantık algoritmaları kullanılmış, ancak yapılan denemelerde robot verimli bir şekilde çalışmamıştır. Bu sebeple program klasik mantık algoritmaları ile düzenlenmiş ve robotun çok verimli bir şekilde çalıştığı görülmüştür. Robotta kullanılan parçaların en uygun maliyet ile en verimli çalışma durumu elde edilmeye çalışılmıştır.Robots have very extensive application fields and their capabilities are evolving day by day. So, robots are indispensable technology products today. Robots provide immense convenience in industrial applications and also become very attractive for amateur users. Robot technologies that being every life-periods like medicine, industry, military, security, etc. will develop very fastly in forthcoming years.The aim of this thesis are designing and realizing of the fire extinguisher robot. The robot that realized by this thesis, set in the midst of the ways in labirent. Also, the robot puts in circuit the fan when it come into the rooms to extinguish the candles. The robot have six different capabilities as going toward the front, turning right, turning left, approaching right, approaching left and extinguishing.The robot consist of two control card and PIC 16F877 microcontroller is used as main controller. First card is the ?Main Control Card? where all functions are executed, and the other card is ? Extinguish Card? where the extinguishing elements are being. The robot have ?distance sensors? that scanning consistently for setting in the midst of the ways in labirent. On the other hand ?optical sensors? are used to operate the fan in rooms. The robot get closes the walls in rooms for increasing the efficiency of extinguishing. Also, the robot designed as meet the all corners of walls in rooms.Initially, fuzzy logic algorithms were used in the robot program. But, the robot didn?t operate efficiently in tests. For this reason, program was arranged with classical logic algorithms and it?s seen that the robot operate very efficiently. Most efficient operation performance against more suitable cost are considered for selecting the parts which used in the robots

Small business innovation research. Abstracts of completed 1987 phase 1 projects

Non-proprietary summaries of Phase 1 Small Business Innovation Research (SBIR) projects supported by NASA in the 1987 program year are given. Work in the areas of aeronautical propulsion, aerodynamics, acoustics, aircraft systems, materials and structures, teleoperators and robotics, computer sciences, information systems, spacecraft systems, spacecraft power supplies, spacecraft propulsion, bioastronautics, satellite communication, and space processing are covered

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

Aeronautical engineering: A continuing bibliography with indexes (supplement 202)

This bibliography lists 447 reports, articles and other documents introduced into the NASA scientific and technical information system in June 1986

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

NASA SBIR abstracts of 1991 phase 1 projects

The objectives of 301 projects placed under contract by the Small Business Innovation Research (SBIR) program of the National Aeronautics and Space Administration (NASA) are described. These projects were selected competitively from among proposals submitted to NASA in response to the 1991 SBIR Program Solicitation. The basic document consists of edited, non-proprietary abstracts of the winning proposals submitted by small businesses. 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 301, in order of its appearance in the body of the report. Appendixes to provide additional information about the SBIR program and permit cross-reference of the 1991 Phase 1 projects by company name, location by state, principal investigator, NASA Field Center responsible for management of each project, and NASA contract number are included

NASA Tech Briefs, September 1990

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

Outdoor operations of multiple quadrotors in windy environment

Coordinated multiple small unmanned aerial vehicles (sUAVs) offer several advantages over a single sUAV platform. These advantages include improved task efficiency, reduced task completion time, improved fault tolerance, and higher task flexibility. However, their deployment in an outdoor environment is challenging due to the presence of wind gusts. The coordinated motion of a multi-sUAV system in the presence of wind disturbances is a challenging problem when considering collision avoidance (safety), scalability, and communication connectivity. Performing wind-agnostic motion planning for sUAVs may produce a sizeable cross-track error if the wind on the planned route leads to actuator saturation. In a multi-sUAV system, each sUAV has to locally counter the wind disturbance while maintaining the safety of the system. Such continuous manipulation of the control effort for multiple sUAVs under uncertain environmental conditions is computationally taxing and can lead to reduced efficiency and safety concerns. Additionally, modern day sUAV systems are susceptible to cyberattacks due to their use of commercial wireless communication infrastructure. This dissertation aims to address these multi-faceted challenges related to the operation of outdoor rotor-based multi-sUAV systems. A comprehensive review of four representative techniques to measure and estimate wind speed and direction using rotor-based sUAVs is discussed. After developing a clear understanding of the role wind gusts play in quadrotor motion, two decentralized motion planners for a multi-quadrotor system are implemented and experimentally evaluated in the presence of wind disturbances. The first planner is rooted in the reinforcement learning (RL) technique of state-action-reward-state-action (SARSA) to provide generalized path plans in the presence of wind disturbances. While this planner provides feasible trajectories for the quadrotors, it does not provide guarantees of collision avoidance. The second planner implements a receding horizon (RH) mixed-integer nonlinear programming (MINLP) model that is integrated with control barrier functions (CBFs) to guarantee collision-free transit of the multiple quadrotors in the presence of wind disturbances. Finally, a novel communication protocol using Ethereum blockchain-based smart contracts is presented to address the challenge of secure wireless communication. The U.S. sUAV market is expected to be worth $92 Billion by 2030. The Association for Unmanned Vehicle Systems International (AUVSI) noted in its seminal economic report that UAVs would be responsible for creating 100,000 jobs by 2025 in the U.S. The rapid proliferation of drone technology in various applications has led to an increasing need for professionals skilled in sUAV piloting, designing, fabricating, repairing, and programming. Engineering educators have recognized this demand for certified sUAV professionals. This dissertation aims to address this growing sUAV-market need by evaluating two active learning-based instructional approaches designed for undergraduate sUAV education. The two approaches leverages the interactive-constructive-active-passive (ICAP) framework of engagement and explores the use of Competition based Learning (CBL) and Project based Learning (PBL). The CBL approach is implemented through a drone building and piloting competition that featured 97 students from undergraduate and graduate programs at NJIT. The competition focused on 1) drone assembly, testing, and validation using commercial off-the-shelf (COTS) parts, 2) simulation of drone flight missions, and 3) manual and semi-autonomous drone piloting were implemented. The effective student learning experience from this competition served as the basis of a new undergraduate course on drone science fundamentals at NJIT. This undergraduate course focused on the three foundational pillars of drone careers: 1) drone programming using Python, 2) designing and fabricating drones using Computer-Aided Design (CAD) and rapid prototyping, and 3) the US Federal Aviation Administration (FAA) Part 107 Commercial small Unmanned Aerial Vehicles (sUAVs) pilot test. Multiple assessment methods are applied to examine the students’ gains in sUAV skills and knowledge and student attitudes towards an active learning-based approach for sUAV education. The use of active learning techniques to address these challenges lead to meaningful student engagement and positive gains in the learning outcomes as indicated by quantitative and qualitative assessments