Autonomous Mechanical Assembly on the Space Shuttle: An Overview

The space shuttle will be equipped with a pair of 50 ft. manipulators used to handle payloads and to perform mechanical assembly operations. Although current plans call for these manipulators to be operated by a human teleoperator. The possibility of using results from robotics and machine intelligence to automate this shuttle assembly system was investigated. The major components of an autonomous mechanical assembly system are examined, along with the technology base upon which they depend. The state of the art in advanced automation is also assessed

Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time

PCLIPS

CLIPS is an expert system, created specifically to allow rapid implementation of an expert system. CLIPS is written in C, and thus needs a very small amount of memory to run. Parallel CLIPS (PCLIPS) is an extension to CLIPS which is intended to be used in situations where a group of expert systems are expected to run simultaneously and occasionally communicate with each other on an integrated network. PCLIPS is a coarse-grained data distribution system. Its main goal is to take information in one knowledge base and distribute it to other knowledge bases so that all the executing expert systems are able to use that knowledge to solve their disparate problems

A systematic algorithm development for image processing feature extraction in automatic visual inspection : a thesis presented in partial fulfilment of the requirements for the degree of Master of Technology in the Department of Production Technology, Massey University

Image processing techniques applied to modern quality control are described together with the development of feature extraction algorithms for automatic visual inspection. A real-time image processing hardware system already available in the Department of Production Technology is described and has been tested systematically for establishing an optimal threshold function. This systematic testing has been concerned with edge strength and system noise information. With the a priori information of system signal and noise, non-linear threshold functions have been established for real time edge detection. The performance of adaptive thresholding is described and the usefulness of this nonlinear approach is demonstrated from results using machined test samples. Examination and comparisons of thresholding techniques applied to several edge detection operators are presented. It is concluded that, the Roberts' operator with a non-linear thresholding function has the advantages of being simple, fast, accurate and cost effective in automatic visual inspection

Development of Moire machine vision

Three dimensional perception is essential to the development of versatile robotics systems in order to handle complex manufacturing tasks in future factories and in providing high accuracy measurements needed in flexible manufacturing and quality control. A program is described which will develop the potential of Moire techniques to provide this capability in vision systems and automated measurements, and demonstrate artificial intelligence (AI) techniques to take advantage of the strengths of Moire sensing. Moire techniques provide a means of optically manipulating the complex visual data in a three dimensional scene into a form which can be easily and quickly analyzed by computers. This type of optical data manipulation provides high productivity through integrated automation, producing a high quality product while reducing computer and mechanical manipulation requirements and thereby the cost and time of production. This nondestructive evaluation is developed to be able to make full field range measurement and three dimensional scene analysis

Understanding new venture market application search processes: A propositional model.

Technology-based ventures are confronted with complex decisions on how to apply their technology platform in highly uncertain and ambiguous market environments. Based on four case studies, a dynamic decision model is developed in which we highlight the similarities between the search and learning processes in venture development contexts and in new product development contexts. This entrepreneurial search and learning process is understood as consisting of sequences of episodes – characterized by uncertainty and ambiguity - and scripts – i.e. approaches to market application search. The model implies that a venture's adaptability - i.e. its ability to move efficiently and effectively between these episodes and their related scripts - influences its survival.Case studies; Decision; Decisions; Learning; Market; Model; Processes; Product; Product development; Research; Sequences; Similarity; Studies; Technology; Uncertainty;