Ultra high frequency (UHF) radio-frequency identification (RFID) for robot perception and mobile manipulation

Personal robots with autonomy, mobility, and manipulation capabilities have the potential to dramatically improve quality of life for various user populations, such as older adults and individuals with motor impairments. Unfortunately, unstructured environments present many challenges that hinder robot deployment in ordinary homes. This thesis seeks to address some of these challenges through a new robotic sensing modality that leverages a small amount of environmental augmentation in the form of Ultra High Frequency (UHF) Radio-Frequency Identification (RFID) tags. Previous research has demonstrated the utility of infrastructure tags (affixed to walls) for robot localization; in this thesis, we specifically focus on tagging objects. Owing to their low-cost and passive (battery-free) operation, users can apply UHF RFID tags to hundreds of objects throughout their homes. The tags provide two valuable properties for robots: a unique identifier and receive signal strength indicator (RSSI, the strength of a tag's response). This thesis explores robot behaviors and radio frequency perception techniques using robot-mounted UHF RFID readers that enable a robot to efficiently discover, locate, and interact with UHF RFID tags applied to objects and people of interest. The behaviors and algorithms explicitly rely on the robot's mobility and manipulation capabilities to provide multiple opportunistic views of the complex electromagnetic landscape inside a home environment. The electromagnetic properties of RFID tags change when applied to common household objects. Objects can have varied material properties, can be placed in diverse orientations, and be relocated to completely new environments. We present a new class of optimization-based techniques for RFID sensing that are robust to the variation in tag performance caused by these complexities. We discuss a hybrid global-local search algorithm where a robot employing long-range directional antennas searches for tagged objects by maximizing expected RSSI measurements; that is, the robot attempts to position itself (1) near a desired tagged object and (2) oriented towards it. The robot first performs a sparse, global RFID search to locate a pose in the neighborhood of the tagged object, followed by a series of local search behaviors (bearing estimation and RFID servoing) to refine the robot's state within the local basin of attraction. We report on RFID search experiments performed in Georgia Tech's Aware Home (a real home). Our optimization-based approach yields superior performance compared to state of the art tag localization algorithms, does not require RF sensor models, is easy to implement, and generalizes to other short-range RFID sensor systems embedded in a robot's end effector. We demonstrate proof of concept applications, such as medication delivery and multi-sensor fusion, using these techniques. Through our experimental results, we show that UHF RFID is a complementary sensing modality that can assist robots in unstructured human environments.PhDCommittee Chair: Kemp, Charles C.; Committee Member: Abowd, Gregory; Committee Member: Howard, Ayanna; Committee Member: Ingram, Mary Ann; Committee Member: Reynolds, Matt; Committee Member: Tentzeris, Emmanoui

Drones and Geographical Information Technologies in Agroecology and Organic Farming

Although organic farming and agroecology are normally not associated with the use of new technologies, it’s rapid growth, new technologies are being adopted to mitigate environmental impacts of intensive production implemented with external material and energy inputs. GPS, satellite images, GIS, drones, help conventional farming in precision supply of water, pesticides, fertilizers. Prescription maps define the right place and moment for interventions of machinery fleets. Yield goal remains the key objective, integrating a more efficient use or resources toward an economic-environmental sustainability. Technological smart farming allows extractive agriculture entering the sustainability era. Societies that practice agroecology through the development of human-environmental co-evolutionary systems represent a solid model of sustainability. These systems are characterized by high-quality agroecosystems and landscapes, social inclusion, and viable economies. This book explores the challenges posed by the new geographic information technologies in agroecology and organic farming. It discusses the differences among technology-laden conventional farming systems and the role of technologies in strengthening the potential of agroecology. The first part reviews the new tools offered by geographic information technologies to farmers and people. The second part provides case studies of most promising application of technologies in organic farming and agroecology: the diffusion of hyperspectral imagery, the role of positioning systems, the integration of drones with satellite imagery. The third part of the book, explores the role of agroecology using a multiscale approach from the farm to the landscape level. This section explores the potential of Geodesign in promoting alliances between farmers and people, and strengthening food networks, whether through proximity urban farming or asserting land rights in remote areas in the spirit of agroecological transition. The Open Access version of this book, available at www.taylorfrancis.com, has been made available under a Creative Commons 4.0 license

Data-driven Technology Foresight: Text Analysis of Emerging Technologies

학위논문 (박사)-- 서울대학교 대학원 : 공과대학 산업·조선공학부, 2018. 2. 박용태.This dissertation argues for new directions in the field of technology foresight. Technology foresight was formulated on the basis of qualitative and participatory research. Initially, most foresight activities were triggered by the prospect of a handful number of experts, but recent studies highlight theoretical paradigm shifts toward a more comprehensive and data-driven approach to creating shared insights on the future of emerging technologies. Much of the research up to now, however, has been descriptive in nature, and a definite method of realizing the notion has not yet been addressed in the existing literature to a large extent. To this end, we have attempted to formalize the concept of data-driven technology foresight by incorporating unconventional data sources – future-oriented web data, Wikipedia data, and scientific publication data – and different analytical tools – Latent Semantic Analysis, IdeaGraph, and Morphological Analysis. Four distinct foresight frameworks were proposed for the proactive management process of emerging technologies: impact identification, impact analysis, plan development, and technology ideation. The study was guided by the following research questions: (1) what kinds of data sources are available on the web and which of those are considered useful in foresight studies? (2) Where could we incorporate these data sources and which techniques are most suitable for the given purposes? (3) Which foresight-related fields would particularly benefit from applying a data-driven approach and what are the positive effects? The proposals outlined should be considered exploratory and open-ended. It is designed to determine the nature of the problem, rather than to offer definitive and conclusive answers. Nevertheless, the proposed scheme may well provide not just a rationale but a theoretical grounding for this newly introduced notion. This dissertation is expected to yield a foothold for the readers to better comprehend and act on this new shift in the field of technology foresight.Chapter 1 Introduction 1 1.1 Emergence of Technology Foresight 1 1.2 Towards a Data-driven Technology Foresight 3 1.3 Problem Statement 6 1.4 Dissertation Overview 8 Chapter 2 Data Sources and Methodologies 15 2.1 Data Sources 15 2.1.1 Future-oriented Web Data 15 2.1.2 Wikipedia Data 17 2.1.3 Scientific Publication Data 19 2.2 Methodologies 21 2.2.1 Latent Semantic Analysis (LSA) 21 2.2.2 IdeaGraph 25 2.2.3 Morphological Analysis (MA) 29 Chapter 3 Foresight for Impact Identification 31 3.1 Introduction 32 3.2 Emerging Technology and its Social Impacts 36 3.2.1 Distinctive Nature of Emerging Technology 36 3.2.2 Technology Assessment 39 3.3 LSA for Constructing Scenarios 43 3.4 Research Framework 44 3.4.1 Step 1: Data Collection 46 3.4.2 Step 2: Scenario Development 49 3.4.2.1 Pre-LSA: Preprocessing Future-oriented Web Data 49 3.4.2.2 LSA: Applying Latent Semantic Analysis 52 3.4.2.3 Post-LSA: Constructing Scenarios 54 3.5 Illustrative Case Study: Drone Technology 55 3.6 Discussion 65 3.6.1 Categorization of Social Impacts 65 3.6.2 Comparative Analysis 72 3.6.3 Implication for Theory, Practice, and Policy 74 3.7 Conclusion 76 Chapter 4 Foresight for Impact Analysis 79 4.1 Introduction 80 4.2 Uncertainty and Complexity 82 4.3 Data-driven Foresight Process 84 4.4 Scenario Building Beyond the Obvious 86 4.4.1 Capturing Plausibility using LSA 90 4.4.2 Capturing Creativity using IdeaGraph 92 4.5 Research Framework 93 4.5.1 Step 1. Pre-Analysis: Data Preparation 94 4.5.1.1 Target Technology Selection 94 4.5.1.2 Data Acquisition 95 4.5.1.3 Data Preprocessing 95 4.5.2 Step 2. Text Analysis: Scenario Building 96 4.5.2.1 General Glimpse using Overt Structures 96 4.5.2.2 Hidden Details using Latent Structures 98 4.5.3 Step 3. Post-Analysis: Analytical Interpretation 101 4.5.3.1 Individual Impact Scenario 101 4.5.3.2 Overall Latent Impacts 101 4.6 Illustrative Case Study: 3D Printing Technology 102 4.7 Discussion 110 4.7.1 Scenarios Beyond the Obvious 110 4.7.2 Comparative Analysis 113 4.8 Conclusion 115 Chapter 5 Foresight for Plan Development 117 5.1 Introduction 118 5.2 Theoretical Paradigm Shift 120 5.2.1 Technology-focused vs. Society-focused 120 5.2.2 Co-evolution of Technology and Society 122 5.2.3 Responsible Development 125 5.3 Methodological Paradigm Shift 127 5.3.1 Participatory Approach 127 5.3.2 Data-driven Approach 129 5.4 Rationale for using LSA 131 5.5 Research Framework 132 5.5.1 Step 1. Envisioning Social Issues 133 5.5.1.1 Collection of Future-oriented Web Data 133 5.5.1.2 Construction of Impact Scenarios 135 5.5.1.3 Conceptualization of Impact Scenarios 137 5.5.2 Step 2. Deriving Technical Solutions 138 5.5.2.1 Collection of Scientific Publication Data 138 5.5.2.2 Construction of Solution Concepts 139 5.6 Illustrative Case Study: Autonomous Vehicle 140 5.7 Discussion 149 5.7.1 Comparative Analysis 149 5.7.2 Major Strengths in Envisioning Social Impacts 152 5.7.3 Major Strengths in Overviewing Solutions 154 5.8 Conclusion 156 Chapter 6 Foresight for Technology Ideation 158 6.1 Introduction 159 6.2 Related Studies 161 6.2.1 Generating Creative Ideas 161 6.2.2 Data-driven Morphological Analysis 163 6.3 Technology Foresight using Wikipedia 165 6.3.1 Wikipedia as a Good Remedy 165 6.3.2 Preliminaries: How to Apply Wikipedia 168 6.4 Research Framework 173 6.4.1 Basic Model 174 6.4.2 Extended Model 175 6.4.2.1 Phase 1: Preliminary Phase 177 6.4.2.2 Phase 2: Dimension Development Phase 177 6.4.2.3 Phase 3: Value Development Phase 179 6.4.2.4 Phase 4: Sub-dimension Development Phase 182 6.5 Illustrative Case Study: Drone Technology 183 6.5.1 Basic Model 183 6.5.2 Extended Model 185 6.6 Comparative Analysis 193 6.6.1 Experimental Setup 193 6.6.2 Comparison of Results 195 6.7 Intrinsic Limitations of Applying Wikipedia 199 6.8 Conclusion 201 Chapter 7 Concluding Remarks 203 Bibliography 211 Appendix 236 Appendix A Result of overt and latent structures of each impact scenario 236 Appendix B Result of Wikipedia-based morphological matrix (basic model) 240 Appendix C Result of Wikipedia-based morphological matrix using superordinate seed terms (extended model) 241 Appendix D Result of Wikipedia-based morphological matrix after applying subordinate value seed terms (extended model) 243 Appendix E Result of Wikipedia-based morphological matrix after developing sub-dimensions (extended model) 247Docto

Selected On-Demand Medical Applications of 3D-Printing for Long-Duration Manned Space Missions

Recent technological advances in the area of Additive Manufacturing (i.e. 3D printing) allow for exploration of their use within long-duration manned space missions. Among the many potential application domains, medical and dental fabrication in support of crew health is of interest to NASA’s Advanced Exploration Systems directorate. A classification of medical events with their associated response timeline discern between those applications where current 3D printing technologies can provide adequate support. Products and devices that require on-demand fabrication (due to the high level of personal customization) but that can wait for a reasonable (e.g. few hours) fabrication time are the most promising areas. Among these non-emergency, on-demand applications, two were identified for further investigation: dental health and pharmaceutical drugs. A discussion on the challenges presented by a microgravity operational environment on these technologies is provided

Marshall Space Flight Center Faculty Fellowship Program

The research projects conducted by the 2016 Faculty Fellows at NASA Marshall Space Flight Center included propulsion studies on propellant issues, and materials investigations involving plasma effects and friction stir welding. Spacecraft Systems research was conducted on wireless systems and 3D printing of avionics. Vehicle Systems studies were performed on controllers and spacecraft instruments. The Science and Technology group investigated additive construction applied to Mars and Lunar regolith, medical uses of 3D printing, and unique instrumentation, while the Test Laboratory measured pressure vessel leakage and crack growth rates

The Early Neolithic of the Eastern Fertile Crescent

The Eastern Fertile Crescent region of western Iran and eastern Iraq hosted major developments in the transition from hunter-forager to farmer-herder lifestyles through the Early Neolithic period, 10,000-7000 BC. Within the scope of the Central Zagros Archaeological Project, excavations have been conducted since 2012 at two Early Neolithic sites in the Kurdistan region of Iraq: Bestansur and Shimshara. Bestansur represents an early stage in the transition to sedentary, farming life, where the inhabitants pursued a mixed strategy of hunting, foraging, herding and cultivating, maximizing the new opportunities afforded by the warmer, wetter climate of the Early Holocene. They also constructed substantial buildings of mudbrick, including a major building with a minimum of 65 human individuals, mainly infants, buried under its floor in association with hundreds of beads. These human remains provide new insights into mortuary practices, demography, diet and disease

IKUWA6. Shared Heritage

Celebrating the theme ‘Shared heritage’, IKUWA6 (the 6th International Congress for Underwater Archaeology), was the first such major conference to be held in the Asia-Pacific region, and the first IKUWA meeting hosted outside Europe since the organisation’s inception in Germany in the 1990s. A primary objective of holding IKUWA6 in Australia was to give greater voice to practitioners and emerging researchers across the Asia and Pacific regions who are often not well represented in northern hemisphere scientific gatherings of this scale; and, to focus on the areas of overlap in our mutual heritage, techniques and technology. Drawing together peer-reviewed presentations by delegates from across the world who converged in Fremantle in 2016 to participate, this volume covers a stimulating diversity of themes and niche topics of value to maritime archaeology practitioners, researchers, students, historians and museum professionals across the world

Technical Reports: Langley Aerospace Research Summer Scholars

The Langley Aerospace Research Summer Scholars (LARSS) Program was established by Dr. Samuel E. Massenberg in 1986. The program has increased from 20 participants in 1986 to 114 participants in 1995. The program is LaRC-unique and is administered by Hampton University. The program was established for the benefit of undergraduate juniors and seniors and first-year graduate students who are pursuing degrees in aeronautical engineering, mechanical engineering, electrical engineering, material science, computer science, atmospheric science, astrophysics, physics, and chemistry. Two primary elements of the LARSS Program are: (1) a research project to be completed by each participant under the supervision of a researcher who will assume the role of a mentor for the summer, and (2) technical lectures by prominent engineers and scientists. Additional elements of this program include tours of LARC wind tunnels, computational facilities, and laboratories. Library and computer facilities will be available for use by the participants

Cumulative index to NASA Tech Briefs, 1986-1990, volumes 10-14

Tech Briefs are short announcements of new technology derived from the R&D activities of the National Aeronautics and Space Administration. These briefs emphasize information considered likely to be transferrable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. This cumulative index of Tech Briefs contains abstracts and four indexes (subject, personal author, originating center, and Tech Brief number) and covers the period 1986 to 1990. The abstract section is organized by the following subject categories: electronic components and circuits, electronic systems, physical sciences, materials, computer programs, life sciences, mechanics, machinery, fabrication technology, and mathematics and information sciences