Zero-gravity movement studies

The use of computer graphics to simulate the movement of articulated animals and mechanisms has a number of uses ranging over many fields. Human motion simulation systems can be useful in education, medicine, anatomy, physiology, and dance. In biomechanics, computer displays help to understand and analyze performance. Simulations can be used to help understand the effect of external or internal forces. Similarly, zero-gravity simulation systems should provide a means of designing and exploring the capabilities of hypothetical zero-gravity situations before actually carrying out such actions. The advantage of using a simulation of the motion is that one can experiment with variations of a maneuver before attempting to teach it to an individual. The zero-gravity motion simulation problem can be divided into two broad areas: human movement and behavior in zero-gravity, and simulation of articulated mechanisms

NASA space station automation: AI-based technology review

Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures

Belief-Space Planning for Resourceful Manipulation and Mobility

Robots are increasingly expected to work in partially observable and unstructured environments. They need to select actions that exploit perceptual and motor resourcefulness to manage uncertainty based on the demands of the task and environment. The research in this dissertation makes two primary contributions. First, it develops a new concept in resourceful robot platforms called the UMass uBot and introduces the sixth and seventh in the uBot series. uBot-6 introduces multiple postural configurations that enable different modes of mobility and manipulation to meet the needs of a wide variety of tasks and environmental constraints. uBot-7 extends this with the use of series elastic actuators (SEAs) to improve manipulation capabilities and support safer operation around humans. The resourcefulness of these robots is complemented with a belief-space planning framework that enables task-driven action selection in the context of the partially observable environment. The framework uses a compact but expressive state representation based on object models. We extend an existing affordance-based object model, called an aspect transition graph (ATG), with geometric information. This enables object-centric modeling of features and actions, making the model much more expressive without increasing the complexity. A novel task representation enables the belief-space planner to perform general object-centric tasks ranging from recognition to manipulation of objects. The approach supports the efficient handling of multi-object scenes. The combination of the physical platform and the planning framework are evaluated in two novel, challenging, partially observable planning domains. The ARcube domain provides a large population of objects that are highly ambiguous. Objects can only be differentiated using multi-modal sensor information and manual interactions. In the dexterous mobility domain, a robot can employ multiple mobility modes to complete navigation tasks under a variety of possible environment constraints. The performance of the proposed approach is evaluated using experiments in simulation and on a real robot

Engineering limit cycle systems:adaptive frequency oscillators and applications to adaptive locomotion control of compliant robots

In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear dynamical systems such as coupled oscillators are an interesting approach for the on-line generation of trajectories for robots with many degrees of freedom (e.g. legged locomotion). However, designing a nonlinear dynamical system to satisfy a given specification and goal is not an easy task, and, hitherto no methodology exists to approach this problem in a unified way. Nature presents us with satisfactory solutions for the coordination of many degrees of freedom. One central feature observed in biological subjects is the ability of the neural systems to exploit natural dynamics of the body to achieve efficient locomotion. In order to be able to exploit the body properties, adaptive mechanisms must be at work. Recent work has pointed out the importance of the mechanical system for efficient locomotion. Even more interestingly, such well suited mechanical systems do not need complicated control. Yet, in robotics, in most approaches, adaptive mechanisms are either missing or they are not based on a rigorous framework, i.e. they are based on heuristics and ad-hoc approaches. Over the last three decades there has been enormous progress in describing movement coordination with the help of Synergetic approaches. This has led to the formulation of a theoretical framework: the theory of dynamic patterns. This framework is mathematically rigorous and at the same time fully operational. However, it does not provide any guidelines for synthetic approaches as needed for the engineering of robots with many degrees of freedom, nor does it directly help to explain adaptive systems. We will show how we can extend the theoretical framework to build adaptive systems. For this purpose, we propose the use of multi-scale dynamical systems. The basic idea behind multi-scale dynamical systems is that a given dynamical system gets extended by additional slow dynamics of its parameters, i.e. some of the parameters become state variables. The advantages of the framework of multi-scale dynamical systems for adaptive controllers are 1) fully dynamic description, 2) no separation of learning algorithm and learning substrate, 3) no separation of learning trials or time windows, 4) mathematically rigorous, 5) low dimensional systems. However, in order to fully exploit the framework important questions have to be solved. Most importantly, methodologies for designing the feedback loops have to be found and important theoretical questions about stability and convergence properties of the devised systems have to be answered. In order to tackle this challenge, we first introduce an engineering view on designing nonlinear dynamical systems and especially oscillators. We will highlight the important differences and freedom that this engineering view introduces as opposed to a modeling one. We then apply this approach by first proposing a very simple adaptive toy-system, consisting of a dynamical system coupled to a spring-mass system. Due to its spring-mass dynamics, this system contains clear natural dynamics in the form of resonant frequencies. We propose a prototype adaptive multi-scale system, the adaptive frequency oscillator, which is able to adapt its intrinsic frequency to the resonant frequency of the body dynamics. After a small sidetrack to show that we can use adaptive frequency oscillators also for other applications than for adaptive controllers, namely for frequency analysis, we then come back to further investigation of the adaptive controller. We apply the same controller concept to a simple spring-mass hopper system. The spring-mass system consists of a body with two legs attached by rotational joints. The legs contain spring-damper elements. Finally, we present results of the implementation of the controller on a real robot, the experimental robot PUPPY II. This robot is a under-actuated robot with spring dynamics in the knee joints. It will be shown, that due to the appropriate simplification and concentration on relevant features in the toy-system the controller concepts works without a fundamental change on all systems from the toy system up to the real robot

Festschrift zum 60. Geburtstag von Wolfgang Strasser

Die vorliegende Festschrift ist Prof. Dr.-Ing. Dr.-Ing. E.h. Wolfgang Straßer zu seinem 60. Geburtstag gewidmet. Eine Reihe von Wissenschaftlern auf dem Gebiet der Computergraphik, die alle aus der "Tübinger Schule" stammen, haben - zum Teil zusammen mit ihren Schülern - Aufsätze zu dieser Schrift beigetragen. Die Beiträge reichen von der Objektrekonstruktion aus Bildmerkmalen über die physikalische Simulation bis hin zum Rendering und der Visualisierung, vom theoretisch ausgerichteten Aufsatz bis zur praktischen gegenwärtigen und zukünftigen Anwendung. Diese thematische Buntheit verdeutlicht auf anschauliche Weise die Breite und Vielfalt der Wissenschaft von der Computergraphik, wie sie am Lehrstuhl Straßer in Tübingen betrieben wird. Schon allein an der Tatsache, daß im Bereich der Computergraphik zehn Professoren an Universitäten und Fachhochschulen aus Tübingen kommen, zeigt sich der prägende Einfluß Professor Straßers auf die Computergraphiklandschaft in Deutschland. Daß sich darunter mehrere Physiker und Mathematiker befinden, die in Tübingen für dieses Fach gewonnen werden konnten, ist vor allem seinem Engagement und seiner Ausstrahlung zu verdanken. Neben der Hochachtung vor den wissenschaftlichen Leistungen von Professor Straßer hat sicherlich seine Persönlichkeit einen entscheidenden Anteil an der spontanten Bereischaft der Autoren, zu dieser Festschrift beizutragen. Mit außergewöhnlich großem persönlichen Einsatz fördert er Studenten, Doktoranden und Habilitanden, vermittelt aus seinen reichen internationalen Beziehungen Forschungskontakte und schafft so außerordentlich gute Voraussetzungen für selbständige wissenschafliche Arbeit. Die Autoren wollen mit ihrem Beitrag Wolfgang Straßer eine Freude bereiten und verbinden mit ihrem Dank den Wunsch, auch weiterhin an seinem fachlich wie menschlich reichen und bereichernden Wirken teilhaben zu dürfen

Systems and control : 21th Benelux meeting, 2002, March 19-21, Veldhoven, The Netherlands

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