Human factors in space telepresence

The problems of interfacing a human with a teleoperation system, for work in space are discussed. Much of the information presented here is the result of experience gained by the M.I.T. Space Systems Laboratory during the past two years of work on the ARAMIS (Automation, Robotics, and Machine Intelligence Systems) project. Many factors impact the design of the man-machine interface for a teleoperator. The effects of each are described in turn. An annotated bibliography gives the key references that were used. No conclusions are presented as a best design, since much depends on the particular application desired, and the relevant technology is swiftly changing

Internet of Underwater Things and Big Marine Data Analytics -- A Comprehensive Survey

The Internet of Underwater Things (IoUT) is an emerging communication ecosystem developed for connecting underwater objects in maritime and underwater environments. The IoUT technology is intricately linked with intelligent boats and ships, smart shores and oceans, automatic marine transportations, positioning and navigation, underwater exploration, disaster prediction and prevention, as well as with intelligent monitoring and security. The IoUT has an influence at various scales ranging from a small scientific observatory, to a midsized harbor, and to covering global oceanic trade. The network architecture of IoUT is intrinsically heterogeneous and should be sufficiently resilient to operate in harsh environments. This creates major challenges in terms of underwater communications, whilst relying on limited energy resources. Additionally, the volume, velocity, and variety of data produced by sensors, hydrophones, and cameras in IoUT is enormous, giving rise to the concept of Big Marine Data (BMD), which has its own processing challenges. Hence, conventional data processing techniques will falter, and bespoke Machine Learning (ML) solutions have to be employed for automatically learning the specific BMD behavior and features facilitating knowledge extraction and decision support. The motivation of this paper is to comprehensively survey the IoUT, BMD, and their synthesis. It also aims for exploring the nexus of BMD with ML. We set out from underwater data collection and then discuss the family of IoUT data communication techniques with an emphasis on the state-of-the-art research challenges. We then review the suite of ML solutions suitable for BMD handling and analytics. We treat the subject deductively from an educational perspective, critically appraising the material surveyed.Comment: 54 pages, 11 figures, 19 tables, IEEE Communications Surveys & Tutorials, peer-reviewed academic journa

Space Applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS), phase 2. Volume 1: Telepresence technology base development

The field of telepresence is defined, and overviews of those capabilities that are now available, and those that will be required to support a NASA telepresence effort are provided. Investigation of NASA's plans and goals with regard to telepresence, extensive literature search for materials relating to relevant technologies, a description of these technologies and their state of the art, and projections for advances in these technologies over the next decade are included. Several space projects are examined in detail to determine what capabilities are required of a telepresence system in order to accomplish various tasks, such as servicing and assembly. The key operational and technological areas are identified, conclusions and recommendations are made for further research, and an example developmental program is presented, leading to an operational telepresence servicer

Secrets of the Deep: Defining Privacy Underwater

The drones are coming, But not just to your neighborhood skies – to the world’s oceans. From recreational robots designed to autonomously follow divers and record video of them to low-cost, remotely operated submersibles that put ocean exploration in the hands of the general public to sophisticated military submersibles able to autonomously gather intelligence throughout the oceans, the underwater drone market is exploding. But unlike on land, this explosion has not been accompanied by similar discussion of privacy concerns. Instead, the ocean’s rapid shift away from an inaccessible operational sanctuary is one that is happening largely silently. And it is one that is happening in an economically critical environment with far fewer legal protections in place than on land. This Article examines this monumental shift, exploring for the first time privacy and trade secret protections from underwater surveillance. I argue that privacy protections are already unconstitutionally eroded underwater and must be strengthened in the face of widespread drone use

Secrets of the Deep: Defining Privacy Underwater

The drones are coming, But not just to your neighborhood skies – to the world’s oceans. From recreational robots designed to autonomously follow divers and record video of them to low-cost, remotely operated submersibles that put ocean exploration in the hands of the general public to sophisticated military submersibles able to autonomously gather intelligence throughout the oceans, the underwater drone market is exploding. But unlike on land, this explosion has not been accompanied by similar discussion of privacy concerns. Instead, the ocean’s rapid shift away from an inaccessible operational sanctuary is one that is happening largely silently. And it is one that is happening in an economically critical environment with far fewer legal protections in place than on land. This Article examines this monumental shift, exploring for the first time privacy and trade secret protections from underwater surveillance. I argue that privacy protections are already unconstitutionally eroded underwater and must be strengthened in the face of widespread drone use

AN INTEGRATED SIMULATION APPROACH FOR AUV IMAGE-BASED SLAM NAVIGATION

This thesis develops a simulation framework for undersea feature-based navigation. Using an autonomous underwater vehicle (AUV) to locate an item of interest on the seafloor is a capability that would greatly benefit the Navy. AUVs provide a gateway toward removing the workforce requirement; however, they are still costly both in acquisition and maintenance. A solution to this problem is using two AUVs, one with increased capability and charged with finding and marking seafloor items with a beacon. An expendable AUV outfitted with cost-effective sensors would relocate, identify and neutralize the threat. Using undersea imaging to correlate seafloor images to an a priori image mosaic together with a ultra short baseline (USBL) beacon allows the AUV to complete challenging mission objectives without traditional navigation systems. Incremental Smoothing and Mapping 2 (iSAM2) is a Simultaneous Localization and Mapping (SLAM) technique that can be used by the AUV for position localization and is an appropriate technique, with image and USBL sensing, for real-time navigation operations. A simulation framework provides the ability to evaluate an AUV's performance while minimizing the risk of real-world operations. The framework is composed of a software architecture that allows for testing using the same software applied in real-world operations. This thesis demonstrates this framework and provides analysis for its usability for image-based SLAM.Lieutenant, United States NavyApproved for public release. Distribution is unlimited

Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) 2019 Annual Report

Prepared for: Dr. Brian Bingham, CRUSER DirectorThe Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This 2019 annual report summarizes CRUSER activities in its eighth year of operations and highlights future plans.Deputy Undersecretary of the Navy PPOIOffice of Naval Research (ONR)Approved for public release; distribution is unlimited

Unmanned Vehicle Systems & Operations on Air, Sea, Land

Unmanned Vehicle Systems & Operations On Air, Sea, Land is our fourth textbook in a series covering the world of Unmanned Aircraft Systems (UAS) and Counter Unmanned Aircraft Systems (CUAS). (Nichols R. K., 2018) (Nichols R. K., et al., 2019) (Nichols R. , et al., 2020)The authors have expanded their purview beyond UAS / CUAS systems. Our title shows our concern for growth and unique cyber security unmanned vehicle technology and operations for unmanned vehicles in all theaters: Air, Sea and Land – especially maritime cybersecurity and China proliferation issues. Topics include: Information Advances, Remote ID, and Extreme Persistence ISR; Unmanned Aerial Vehicles & How They Can Augment Mesonet Weather Tower Data Collection; Tour de Drones for the Discerning Palate; Underwater Autonomous Navigation & other UUV Advances; Autonomous Maritime Asymmetric Systems; UUV Integrated Autonomous Missions & Drone Management; Principles of Naval Architecture Applied to UUV’s; Unmanned Logistics Operating Safely and Efficiently Across Multiple Domains; Chinese Advances in Stealth UAV Penetration Path Planning in Combat Environment; UAS, the Fourth Amendment and Privacy; UV & Disinformation / Misinformation Channels; Chinese UAS Proliferation along New Silk Road Sea / Land Routes; Automaton, AI, Law, Ethics, Crossing the Machine – Human Barrier and Maritime Cybersecurity.Unmanned Vehicle Systems are an integral part of the US national critical infrastructure The authors have endeavored to bring a breadth and quality of information to the reader that is unparalleled in the unclassified sphere. Unmanned Vehicle (UV) Systems & Operations On Air, Sea, Land discusses state-of-the-art technology / issues facing U.S. UV system researchers / designers / manufacturers / testers. We trust our newest look at Unmanned Vehicles in Air, Sea, and Land will enrich our students and readers understanding of the purview of this wonderful technology we call UV.https://newprairiepress.org/ebooks/1035/thumbnail.jp

Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) 2019 Annual Report

Prepared for: Dr. Brian Bingham, CRUSER DirectorThe Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This 2019 annual report summarizes CRUSER activities in its eighth year of operations and highlights future plans.Deputy Undersecretary of the Navy PPOIOffice of Naval Research (ONR)Approved for public release; distribution is unlimited