Programming Robots for Activities of Everyday Life

Text-based programming remains a challenge to novice programmers in\ua0all programming domains including robotics. The use of robots is gainingconsiderable traction in several domains since robots are capable of assisting\ua0humans in repetitive and hazardous tasks. In the near future, robots willbe used in tasks of everyday life in homes, hotels, airports, museums, etc.\ua0However, robotic missions have been either predefined or programmed usinglow-level APIs, making mission specification task-specific and error-prone.\ua0To harness the full potential of robots, it must be possible to define missionsfor specific applications domains as needed. The specification of missions of\ua0robotic applications should be performed via easy-to-use, accessible ways, and\ua0at the same time, be accurate, and unambiguous. Simplicity and flexibility in\ua0programming such robots are important, since end-users come from diverse\ua0domains, not necessarily with suffcient programming knowledge.The main objective of this licentiate thesis is to empirically understand the\ua0state-of-the-art in languages and tools used for specifying robot missions byend-users. The findings will form the basis for interventions in developing\ua0future languages for end-user robot programming.During the empirical study, DSLs for robot mission specification were\ua0analyzed through published literature, their websites, user manuals, samplemissions and using the languages to specify missions for supported robots.After extracting data from 30 environments, 133 features were identified.\ua0A feature matrix mapping the features to the environments was developedwith a feature model for robotic mission specification DSLs.Our results show that most end-user facing environments exist in the\ua0education domain for teaching novice programmers and STEM subjects. Mostof the visual languages are developed using Blockly and Scratch libraries.\ua0The end-user domain abstraction needs more work since most of the visualenvironments abstract robotic and programming language concepts but not\ua0end-user concepts. In future works, it is important to focus on the development\ua0of reusable libraries for end-user concepts; and further, explore how end-user\ua0facing environments can be adapted for novice programmers to learn\ua0general programming skills and robot programming in low resource settings\ua0in developing countries, like Uganda

Cost optimization in requirements management for space systems

2021 Spring.Includes bibliographical references.When producing complex space systems, the transformation of customer needs into a realized system includes the development of product requirements. The ability to generate and manage the requirements can either enable the overall system development or drive significant cost and schedule impacts. Assessing practices in the industry and publications, it is observed that there is a substantial amount of documented approaches to address requirement development and product verification, but only a limited amount of documented approaches for requirements management. A complex system can have tens of thousands of requirements across multiple levels of development which, if not well managed, can lead to hidden costs associated with missed requirements and product rework. With current space system projects being developed at a rapid pace using more cost constrained approaches such as fixed budgets, an investigation into more efficient processes, such as requirements management, can yield methods to enable successful, cost effective system development. To address the optimal approach of managing requirements for complex space systems, this dissertation assesses current practices for requirements management, evaluates various contributing factors towards optimization of project costs associated with this activity, and proposes an optimized requirements management process to utilize during the development of space systems. Four key areas of process control are identified for requirements management optimization on a project, including utilization of a data focused requirements management approach, development (and review) of requirements using a collaborative software application, ensuring the requirement set is a consolidated with an appropriate amount of requirements for the project, and evaluating when to officially levy requirements on the product developers based on requirement maturation stability. Multiple case studies are presented to evaluate if the proposed requirements management process yields improvement over traditional approaches, including a simulation of the current state and proposed requirements management approaches. Ultimately, usage of the proposed optimized set of processes is demonstrated to be a cost effective approach when compared against traditional processes that may adversely impact the development of new space systems

Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS) Project

Public version of the presentation given to the IASP group on the progress for annual year 2019

Collaborative virtual reality platform for visualizing space data and mission planning

This paper presents the system architecture of a collaborative virtual environment in which distributed multidisciplinary teams involved in space exploration activities come together and explore areas of scientific interest of a planet for future missions. The aim is to reduce the current challenges of distributed scientific and engineering meetings that prevent the exploitation of their collaborative potential, as, at present, expertise, tools and datasets are fragmented. This paper investigates the functional characteristics of a software framework that addresses these challenges following the design science research methodology in the context of the space industry and research. An implementation of the proposed architecture and a validation process with end users, based on the execution of different use cases, are described. These use cases cover relevant aspects of real science analysis and operation, including planetary data visualization, as the system aims at being used in future European missions. This validation suggests that the system has the potential to enhance the way space scientists will conduct space science research in the future

Evaluation of Technology Concepts for Energy, Automation, and System State Awareness in Commercial Airline Flight Decks

A pilot-in-the-loop flight simulation study was conducted at NASA Langley Research Center to evaluate flight deck systems that (1) provide guidance for recovery from low energy states and stalls, (2) present the current state and expected future state of automated systems, and/or (3) show the state of flight-critical data systems in use by automated systems and primary flight instruments. The study was conducted using 13 commercial airline crews from multiple airlines, paired by airline to minimize procedural effects. Scenarios spanned a range of complex conditions and several emulated causal and contributing factors found in recent accidents involving loss of state awareness by pilots (e.g., energy state, automation state, and/or system state). Three new technology concepts were evaluated while used in concert with current state-of-the-art flight deck systems and indicators. The technologies include a stall recovery guidance algorithm and display concept, an enhanced airspeed control indicator that shows when automation is no longer actively controlling airspeed, and enhanced synoptic pages designed to work with simplified interactive electronic checklists. An additional synoptic was developed to provide the flight crew with information about the effects of loss of flight critical data. Data was collected via questionnaires administered at the completion of flight scenarios, audio/video recordings, flight data, head and eye tracking data, pilot control inputs, and researcher observations. This paper presents findings derived from the questionnaire responses and subjective data measures including workload, situation awareness, usability, and acceptability as well as analyses of two low-energy flight events that resulted in near-stall conditions

Station keeping analysis and design for new floating offshore wind turbines

In the framework of the reduction of the emissions of greenhouse gases, FOWT will be the technology that will exploit the wind resources in deep seas. In order to achieve a commercial deployment of this technology, a cost reduction is necessary through the optimization of the wind turbine by detailed studies to reduce its design uncertainties. One important aspect is the mooring system, which commonly represents between a 10 to 15 % of the capex. The present research aims to increase the knowledge of the design and analysis of the station keeping systems for floating offshore wind turbines. One of the most important aspects for a correct analysis and design of the mooring system is the simulation of the lines coupled with the floating structure and the wind turbine. In this dissertation, two different mooring line models coupled to a finite element model for the analysis of floating platforms are presented. The first model is a finite element model based on a slender rod approach. The model is extended to consider the rheological damping in the axial and bending direction within the constitutive equations of the problem. The second model is a new approach named quasi-dynamic model. The model assesses the static solution of the catenary equation but updates the line tension based on the external hydrodynamic forces and the inertial forces from the theoretical motion of the mooring line. In the design of mooring lines is important to consider and foresee the different phenomena and loads that can act along on the life span of these elements. Within these phenomena, the effects of the waves forces over the mooring lines o have been studied. The study analyzes the contribution of the wave forces over the mooring lines to determine when it is an important source of damage for the fatigue strength. Finally, new floating platform concepts need to be tested and analyzed in controlled conditions in order to validate the models used for the final designs. It is common that pool and flume basins do not present enough size for the catenary shape mooring systems because they cover a large extension. In this area, an optimization model for a truncated mooring system is presented. The truncated mooring system is formed by two types of chains to emulate the actual prototype mooring system of a scale spar platform in a narrow flume.En el marc de la reducció de les emissions de gasos d’efecte hivernacle, l’energia eòlica marina flotant serà la tecnologia que explotarà els recursos eòlics marins a gran profunditat. Per tal d’aconseguir un desenvolupament a escala comercial d’aquesta tecnologia és necessari una reducció dels costos a través de l’optimització dels aerogeneradors a partir d’estudis i anàlisis molt detallats. Un dels aspectes importants és el sistema d’amarratge, el qual pot representar entre un 10 i 15 % del cost total d’una instal·lació. La present recerca aprofundeix en el disseny i anàlisis dels sistemes d’amarratge per a molins de vent flotant. Un dels aspectes més importants per a al correcte disseny i anàlisis dels sistemes d’amarratge és la simulació de les amarres conjuntament amb el sistema flotant. En aquesta dissertació es presenten dos models d’amarres diferents acoblats a un model d’elements finits per a l’anàlisi d’estructures flotants. El primer model, és un model d’elements finits per a línies d’amarres basat en un model de vareta esvelta. El model s’ha ampliat per tenir en compte l’esmorteïment material degut als esforços en les direccions axial i de flexió dins de les equacions constitutives dels problema. El segon model es tracta d’un model quasi-dinàmic, el qual es basa en la solució estàtica de les amarres però actualitza la tensió de l’amarra en funció de les forces inercials i hidrodinàmiques externes calculades a partir del moviment teòric de l’amarra. En el disseny de les amarres també s’ha de tenir en compte i preveure els diferents fenòmens i accions que poden influir en la vida útil d’aquests elements. Dins d’aquests fenòmens, s’ha aprofundit en l’anàlisi dels efectes de les forces de l’onatge sobre les amarres. En aquest sentit es fa una comparació entre la consideració o no d’aquestes forces sobre les amarres pe tal de determinar en quins casos poden suposar una font important de dany per a la seva resistència a la fatiga. Per últim, els nous conceptes de plataformes flotants s’han d’assajar i analitzar en condicions controlades per tal de validar els models utilitzats en el disseny final. És freqüent que les piscines i canals d’assaig no presentin les dimensions adequades per a l’experimentació dels sistemes d’amarres ja que poden ocupar una gran extensió d’espai. En aquest àmbit es presenta un model d’optimització d’unes amarres truncades formades per dos tipus de cadena diferents per tal d’emular el disseny d’amarres del prototip a escala real.Postprint (published version

and Middle Tier Acquisition

Acquisition Research Program Sponsored Report SeriesSponsored Acquisition Research & Technical ReportsMajor defense acquisition programs take about eight years to proceed from program initiation to an initial operational capability. This cycle time is longer than it takes adversaries to create new problems for operational military forces. Prior statutory changes have not significantly affected cycle times. Recent changes created middle tier acquisition programs intended to deliver capabilities and products in less than five years. These middle tier acquisition programs are rapid prototyping and fielding pathways with new governance, acquisition authorities and schedule duration tied to requirements approval dates. The Department of Defense acquisitions continue to evolve, and program offices must concurrently adapt to both emergent guidance and programmatic realities. Including innovations such as system modularity and agile system development methods into these new program types can create additional programmatic schedule risks and opportunities. These in-stride adaptations can affect the capability of a program office to deliver an effective system within promised cycle times. This research explored schedule growth risks associated with new acquisition pathways and process innovations. It used public data to identify schedule-related risk factors associated with middle tier acquisition and process innovations. We developed quantitative schedule models for middle tier acquisition programs to predict schedule durations and schedule risks associated with application of various innovations within rapid acquisition pathways. We identified and analyzed schedule growth risk mitigation strategies. This research contributes to the understanding of the risks and opportunities associated with recent acquisition process changes. The research results will be useful to program offices and acquisition leadership in executing current and future rapid acquisition programs.Approved for public release; distribution is unlimited.Approved for public release; distribution is unlimited

HRS: Rover Technologies

No abstract availabl

Parallel object-oriented algorithms for simulation of multiphysics : application to thermal systems

The present and the future expectation in parallel computing pose a new generational change in simulation and computing. Modern High Performance Computing (HPC) facilities have high computational power in terms of operations per second -today peta-FLOPS (10e15 FLOPS) and growing toward the exascale (10e18 FLOPS) which is expected in few years-. This opens the way for using simulation tools in a wide range of new engineering and scientific applications. For example, CFD&HT codes will be effectively used in the design phase of industrial devices, obtaining valuable information with reasonable time expenses. However, the use of the emerging computer architectures is subjected to enhancements and innovation in software design patterns. So far, powerful codes for individually studying heat and mass transfer phenomena at multiple levels of modeling are available. However, there is no way to combine them for resolving complex coupled problems. In the current context, this PhD thesis presents the development of parallel methodologies, and its implementation as an object-oriented software platform, for the simulation of multiphysics systems. By means of this new software platform, called NEST, the distinct codes can now be integrated into single simulation tools for specific applications of social and industrial interest. This is done in an intuitive and simple way so that the researchers do not have to bother either on the coexistence of several codes at the same time neither on how they interact to each other. The coupling of the involved components is controlled from a low level code layer, which is transparent to the users. This contributes with appealing benefits on software projects management first and on the flexibility and features of the simulations, later. In sum, the presented approaches pose a new paradigm in the production of physics simulation programs. Although the thesis pursues general purpose applications, special emphasis is placed on the simulation of thermal systems, in particular on buildings energy assessment and on hermetic reciprocating compressors.Las expectativas puestas en el uso de la computación en paralelo plantean un cambio generacional en simulación y computación. Las más modernas instalaciones computacionales de alto nivel -High Performance Computing (HPC)- alcanzan ya la capacidad de realizar gran cantidad de operaciones por segundo -hoy del orden de peta-FLOPS (1e15 FLOPS) y dirigiéndose hacia exaFlops (1e18 FLOPS)-. Esto abre la posibilidad de usar la simulación por ordenador en un amplio espectro de nuevas aplicaciones en ciencia e ingeniería. Por ejemplo, los códigos de CFD&HT van a poder usarse de una forma más efectiva en la fase de diseño de dispositivos industriales ya que se obtendrán resultados muy valiosos en tiempos de ejecución razonables. Por el momento, hay muchos códigos disponibles para el estudio individual de fenómenos de transferencia de calor i de masa con distintos niveles de modelización. Sin embargo, estos códigos no se pueden combinar entre sí para abordar problemas más complejos, en los cuales varios fenómenos físicos interactúan simultáneamente. Bajo este contexto, en esta tesis doctoral se presenta el desarrollo de una metodología de estrategia paralela, y su implementación en una plataforma informática, para la simulación de sistemas multi-físicos. De éste modo, ahora los distintos códigos pueden ser integrados para la creación de nuevas herramientas de simulación destinadas a aplicaciones específicas de interés tanto social como industrial. Esto se hace de una manera intuitiva y simple de manera que los investigadores no tienen que preocuparse ni por la coexistencia de varios códigos simultáneamente ni en cómo hacer que interactúen entre ellos. El acoplamiento entre los diferentes componentes involucrados en una simulación se realiza mediante un código más básico con el cual el usuario solamente interacciona a través de una interfase. Esto aporta interesantes beneficios tanto en la gestión de los proyectos de programario como en la flexibilidad y las características de las simulaciones. En resumen, la estrategia que se propone plantea un nuevo paradigma en la producción de programas de simulación de fenómenos físicos. Aunque la tesis persigue aplicaciones de propósito general se ha puesto especial atención en la simulación de sistemas térmicos, en particular en la evaluación energética de edificios y en compresores herméticos alternativos.Postprint (published version

XTerramechanics: Integrated Simulation of Planetary Surface Missions

Are there contemporary habitats elsewhere in the solar system with necessary conditions, organic matter, water, energy, and nutrients to support or sustain life. Are there habitats that have experienced conditions similar to those on Earth when life emerged ,an abode of possible lifelong past. Mars and Europa(Jupiter’s icy moon)have been identified as the most relevant and immediate in the quest to answer these questions. Beyond Mars and Europa, every celestial body of interest appears to have its own geological history and every new discovery accentuates the overall complexity of our solar system. The exploration of Mars and Europa, and others, both remotely and in situ, is a central priority as part of NASA’s current and future goals for understanding the building of new worlds, the requirements for planetary habitats, and the workings of the solar system