An advanced telerobotic system for shuttle payload changeout room processing applications

To potentially alleviate the inherent difficulties in the ground processing of the Space Shuttle and its associated payloads, a teleoperated, semi-autonomous robotic processing system for the Payload Changeout Room (PCR) is now in the conceptual stages. The complete PCR robotic system as currently conceived is described and critical design issues and the required technologies are discussed

Dynamic Coverage Control and Estimation in Collaborative Networks of Human-Aerial/Space Co-Robots

In this dissertation, the author presents a set of control, estimation, and decision making strategies to enable small unmanned aircraft systems and free-flying space robots to act as intelligent mobile wireless sensor networks. These agents are primarily tasked with gathering information from their environments in order to increase the situational awareness of both the network as well as human collaborators. This information is gathered through an abstract sensing model, a forward facing anisotropic spherical sector, which can be generalized to various sensing models through adjustment of its tuning parameters. First, a hybrid control strategy is derived whereby a team of unmanned aerial vehicles can dynamically cover (i.e., sweep their sensing footprints through all points of a domain over time) a designated airspace. These vehicles are assumed to have finite power resources; therefore, an agent deployment and scheduling protocol is proposed that allows for agents to return periodically to a charging station while covering the environment. Rules are also prescribed with respect to energy-aware domain partitioning and agent waypoint selection so as to distribute the coverage load across the network with increased priority on those agents whose remaining power supply is larger. This work is extended to consider the coverage of 2D manifolds embedded in 3D space that are subject to collision by stochastic intruders. Formal guarantees are provided with respect to collision avoidance, timely convergence upon charging stations, and timely interception of intruders by friendly agents. This chapter concludes with a case study in which a human acts as a dynamic coverage supervisor, i.e., they use hand gestures so as to direct the selection of regions which ought to be surveyed by the robot. Second, the concept of situational awareness is extended to networks consisting of humans working in close proximity with aerial or space robots. In this work, the robot acts as an assistant to a human attempting to complete a set of interdependent and spatially separated multitasking objectives. The human wears an augmented reality display and the robot must learn the human's task locations online and broadcast camera views of these tasks to the human. The locations of tasks are learned using a parallel implementation of expectation maximization of Gaussian mixture models. The selection of tasks from this learned set is executed by a Markov Decision Process which is trained using Q-learning by the human. This method for robot task selection is compared against a supervised method in IRB approved (HUM00145810) experimental trials with 24 human subjects. This dissertation concludes by discussing an additional case study, by the author, in Bayesian inferred path planning. In addition, open problems in dynamic coverage and human-robot interaction are discussed so as to present an avenue forward for future work.PHDAerospace EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/155147/1/wbentz_1.pd

Robots learn to behave: improving human-robot collaboration in flexible manufacturing applications

L'abstract è presente nell'allegato / the abstract is in the attachmen

Safe navigation and human-robot interaction in assistant robotic applications

L'abstract è presente nell'allegato / the abstract is in the attachmen

Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion

Human-Robot Perception in Industrial Environments: A Survey

Perception capability assumes significant importance for human–robot interaction. The forthcoming industrial environments will require a high level of automation to be flexible and adaptive enough to comply with the increasingly faster and low-cost market demands. Autonomous and collaborative robots able to adapt to varying and dynamic conditions of the environment, including the presence of human beings, will have an ever-greater role in this context. However, if the robot is not aware of the human position and intention, a shared workspace between robots and humans may decrease productivity and lead to human safety issues. This paper presents a survey on sensory equipment useful for human detection and action recognition in industrial environments. An overview of different sensors and perception techniques is presented. Various types of robotic systems commonly used in industry, such as fixed-base manipulators, collaborative robots, mobile robots and mobile manipulators, are considered, analyzing the most useful sensors and methods to perceive and react to the presence of human operators in industrial cooperative and collaborative applications. The paper also introduces two proofs of concept, developed by the authors for future collaborative robotic applications that benefit from enhanced capabilities of human perception and interaction. The first one concerns fixed-base collaborative robots, and proposes a solution for human safety in tasks requiring human collision avoidance or moving obstacles detection. The second one proposes a collaborative behavior implementable upon autonomous mobile robots, pursuing assigned tasks within an industrial space shared with human operators

Low power radio networks

Low power radio networks are the networks which depend upon wireless radio links and consume very low energy for their operation. These networks suit best for applications where frequent renewal of power supply is not possible. Power supply has always remained a major concern in radio networks. An efficient low power consuming network is always recommended for greater mobility and lifetime of the network. This thesis introduces low power radio networks, their features and applications. Energy concerns and various techniques that can be used for energy conservation are discussed, along with the security techniques that can be used to make the system reliable. Different technologies available in the market and their features and applications are considered. Included is a detailed study of the IEEE 802.15.4 standard. A simulation study of the CSMA/CA algorithm and topology discovery algorithms is presented

5GAuRA. D3.3: RAN Analytics Mechanisms and Performance Benchmarking of Video, Time Critical, and Social Applications

5GAuRA deliverable D3.3.This is the final deliverable of Work Package 3 (WP3) of the 5GAuRA project, providing a report on the project’s developments on the topics of Radio Access Network (RAN) analytics and application performance benchmarking. The focus of this deliverable is to extend and deepen the methods and results provided in the 5GAuRA deliverable D3.2 in the context of specific use scenarios of video, time critical, and social applications. In this respect, four major topics of WP3 of 5GAuRA – namely edge-cloud enhanced RAN architecture, machine learning assisted Random Access Channel (RACH) approach, Multi-access Edge Computing (MEC) content caching, and active queue management – are put forward. Specifically, this document provides a detailed discussion on the service level agreement between tenant and service provider in the context of network slicing in Fifth Generation (5G) communication networks. Network slicing is considered as a key enabler to 5G communication system. Legacy telecommunication networks have been providing various services to all kinds of customers through a single network infrastructure. In contrast, by deploying network slicing, operators are now able to partition one network into individual slices, each with its own configuration and Quality of Service (QoS) requirements. There are many applications across industry that open new business opportunities with new business models. Every application instance requires an independent slice with its own network functions and features, whereby every single slice needs an individual Service Level Agreement (SLA). In D3.3, we propose a comprehensive end-to-end structure of SLA between the tenant and the service provider of sliced 5G network, which balances the interests of both sides. The proposed SLA defines reliability, availability, and performance of delivered telecommunication services in order to ensure that right information is delivered to the right destination at right time, safely and securely. We also discuss the metrics of slicebased network SLA such as throughput, penalty, cost, revenue, profit, and QoS related metrics, which are, in the view of 5GAuRA, critical features of the agreement.Peer ReviewedPostprint (published version