4,506 research outputs found
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
Realtime State Estimation with Tactile and Visual sensing. Application to Planar Manipulation
Accurate and robust object state estimation enables successful object
manipulation. Visual sensing is widely used to estimate object poses. However,
in a cluttered scene or in a tight workspace, the robot's end-effector often
occludes the object from the visual sensor. The robot then loses visual
feedback and must fall back on open-loop execution.
In this paper, we integrate both tactile and visual input using a framework
for solving the SLAM problem, incremental smoothing and mapping (iSAM), to
provide a fast and flexible solution. Visual sensing provides global pose
information but is noisy in general, whereas contact sensing is local, but its
measurements are more accurate relative to the end-effector. By combining them,
we aim to exploit their advantages and overcome their limitations. We explore
the technique in the context of a pusher-slider system. We adapt iSAM's
measurement cost and motion cost to the pushing scenario, and use an
instrumented setup to evaluate the estimation quality with different object
shapes, on different surface materials, and under different contact modes
NASA space station automation: AI-based technology review. Executive summary
Research and Development projects in automation technology for the Space Station are described. Artificial Intelligence (AI) based 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
”Where is your nose?” : developing body awareness skills among children with autism using a humanoid robot
This article describes an exploratory study in which
children with autism interact with KASPAR, a humanoid robot,
equipped with tactile sensors able to distinguish a gentle from a
harsh touch, and to respond accordingly. The study investigated
a novel scenario for robot-assisted play, namely to increase
body awareness with tasks that taught the children about the
identification of human body parts. Based on our analysis of the
childrens behaviours while interacting with KASPAR, our results
show that the children started looking for a longer period of time
to the experimenter, and a lot of interest in touching the robot
was observed. They also show that the robot can be considered as
a tool for prolonging the attention span of the children, being a
social mediator during the interaction between the child and the
experimenter. The results are primarily based on the analysis of
video data of the interaction. Overall, this first study into teaching
children with autism about body parts using a humanoid robot
highlighted issues of scenario development, data collection and
data analysis that will inform future studies.(undefined
Survey of Visual and Force/Tactile Control of Robots for Physical Interaction in Spain
Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly. The robotic controllers which process and analyze this sensory information are usually based on three types of sensors (visual, force/torque and tactile) which identify the most widespread robotic control strategies: visual servoing control, force control and tactile control. This paper presents a detailed review on the sensor architectures, algorithmic techniques and applications which have been developed by Spanish researchers in order to implement these mono-sensor and multi-sensor controllers which combine several sensors
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