Logical behaviors

technical reportIn this paper we describe an approach to high-level multisensor integration in t h e context of an autonomous mobile robot. Previous papers have described the development of t h e INRIA mobile robot subsystems: 1. sensor and actuator systems 2. distance and range analysis 3. feature extraction and segmentation 4. motion detection 5. uncertainty management, and 6. 3 -D environment descriptions. We describe here an approach to: ? the semantic analysis of the 3-D environment descriptions

Publications of the Jet Propulsion Laboratory 1989

This bibliography describes and indexes by primary author the externally distributed technical reporting, released during 1989, that resulted from scientific and engineering work performed, or managed, by JPL. Three classes of publications are included: JPL publications in which the information is complete for a specific accomplishment; articles from the quarterly Telecommunications and Data Acquisition (TDA) Progress Report; and articles published in the open literature

Aerospace Medicine and Biology: a Continuing Bibliography with Indexes (Supplement 328)

This bibliography lists 104 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during September, 1989. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance

Technology for large space systems: A bibliography with indexes (supplement 22)

This bibliography lists 1077 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System between July 1, 1989 and December 31, 1989. Its purpose is to provide helpful information to the researcher or manager engaged in the development of technologies related to large space systems. Subject areas include mission and program definition, design techniques, structural and thermal analysis, structural dynamics and control systems, electronics, advanced materials, assembly concepts, and propulsion

Importance and applications of robotic and autonomous systems (RAS) in railway maintenance sector: a review

Maintenance, which is critical for safe, reliable, quality, and cost-effective service, plays a dominant role in the railway industry. Therefore, this paper examines the importance and applications of Robotic and Autonomous Systems (RAS) in railway maintenance. More than 70 research publications, which are either in practice or under investigation describing RAS developments in the railway maintenance, are analysed. It has been found that the majority of RAS developed are for rolling-stock maintenance, followed by railway track maintenance. Further, it has been found that there is growing interest and demand for robotics and autonomous systems in the railway maintenance sector, which is largely due to the increased competition, rapid expansion and ever-increasing expense

Technology for large space systems: A bibliography with indexes (supplement 19)

This bibliography lists 526 reports, articles, and other documents introduced into the NASA scientific and technical information system between January 1, 1988 and June 30, 1988. Its purpose is to provide helpful information to the researcher, manager, and designer in technology development and mission design according to system, interactive analysis and design, structural and thermal analysis and design, structural concepts and control systems, electronics, advanced materials, assembly concepts, propulsion, and solar power satellite systems

Euclidean distance geometry and applications

Euclidean distance geometry is the study of Euclidean geometry based on the concept of distance. This is useful in several applications where the input data consists of an incomplete set of distances, and the output is a set of points in Euclidean space that realizes the given distances. We survey some of the theory of Euclidean distance geometry and some of the most important applications: molecular conformation, localization of sensor networks and statics.Comment: 64 pages, 21 figure

Space station systems: A bibliography with indexes (supplement 10)

This bibliography lists 1,422 reports, articles, and other documents introduced into the NASA scientific and technical information system between July 1, 1989 and December 31, 1989. Its purpose is to provide helpful information to researchers, designers and managers engaged in Space Station technology development and mission design. Coverage includes documents that define major systems and subsystems related to structures and dynamic control, electronics and power supplies, propulsion, and payload integration. In addition, orbital construction methods, servicing and support requirements, procedures and operations, and missions for the current and future Space Station are included

Multi-layer path planning control for the simulation of manipulation tasks : involving semantics and topology

The industrial and research communities show increasing interest in using automatic path planning techniques for the simulation of manipulation tasks. Automatic path planning, largely explored by the robotics community over the past 30 years, computes the trajectories of robots or manipulated parts. However, as techniques developed so far use mostly purely (and large) geometric models, they may fail, produce a trajectory of little relevance, or lead to very high computation times, when facing complex or very constrained environments. Involving higher abstraction level information should lead to better relevance of the simulation. In this paper, we propose a novel path planning technique relying on an original multi-layer environment model containing geometrical, topological and semantic layers. A first coarse planning step at the topological and semantic layers and a fine planning step at the local and semantically characterized geometrical layer form the path planning process. Experimental full-scale results show increased control on the planning process, leading to much lower computation times and increased relevance of the computed trajectory

Monte Carlo modeling of atomic oxygen attack of polymers with protective coatings on LDEF

Characterization of the behavior of atomic oxygen interaction with materials on the Long Duration Exposure Facility (LDEF) assists in understanding of the mechanisms involved. Thus the reliability of predicting in-space durability of materials based on ground laboratory testing should be improved. A computational model which simulates atomic oxygen interaction with protected polymers was developed using Monte Carlo techniques. Through the use of an assumed mechanistic behavior of atomic oxygen interaction based on in-space atomic oxygen erosion of unprotected polymers and ground laboratory atomic oxygen interaction with protected polymers, prediction of atomic oxygen interaction with protected polymers on LDEF was accomplished. However, the results of these predictions are not consistent with the observed LDEF results at defect sites in protected polymers. Improved agreement between observed LDEF results and predicted Monte Carlo modeling can be achieved by modifying of the atomic oxygen interactive assumptions used in the model. LDEF atomic oxygen undercutting results, modeling assumptions, and implications are presented