27 research outputs found

    Proceedings of the NASA Conference on Space Telerobotics, volume 5

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    Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotics technology to the space systems planned for the 1990's and beyond. Volume 5 contains papers related to the following subject areas: robot arm modeling and control, special topics in telerobotics, telerobotic space operations, manipulator control, flight experiment concepts, manipulator coordination, issues in artificial intelligence systems, and research activities at the Johnson Space Center

    Technology 2000, volume 1

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    The purpose of the conference was to increase awareness of existing NASA developed technologies that are available for immediate use in the development of new products and processes, and to lay the groundwork for the effective utilization of emerging technologies. There were sessions on the following: Computer technology and software engineering; Human factors engineering and life sciences; Information and data management; Material sciences; Manufacturing and fabrication technology; Power, energy, and control systems; Robotics; Sensors and measurement technology; Artificial intelligence; Environmental technology; Optics and communications; and Superconductivity

    A LiDAR Based Semi-Autonomous Collision Avoidance System and the Development of a Hardware-in-the-Loop Simulator to Aid in Algorithm Development and Human Studies

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    In this paper, the architecture and implementation of an embedded controller for a steering based semi-autonomous collision avoidance system on a 1/10th scale model is presented. In addition, the development of a 2D hardware-in-the-loop simulator with vehicle dynamics based on the bicycle model is described. The semi-autonomous collision avoidance software is fully contained onboard a single-board computer running embedded GNU/Linux. To eliminate any wired tethers that limit the system’s abilities, the driver operates the vehicle at a user-control-station through a wireless Bluetooth interface. The user-control-station is outfitted with a game-controller that provides standard steering wheel and pedal controls along with a television monitor equipped with a wireless video receiver in order to provide a real-time driver’s perspective video feed. The hardware-in-the-loop simulator was developed in order to aid in the evaluation and further development of the semi-autonomous collision avoidance algorithms. In addition, a post analysis tool was created to numerically and visually inspect the controller’s responses. The ultimate goal of this project was to create a wireless 1/10th scale collision avoidance research platform to facilitate human studies surrounding driver assistance and active safety systems in automobiles. This thesis is a continuation of work done by numerous Cal Poly undergraduate and graduate students

    B meson proper time measurements with the LHCb experiment: impact on physics parameters and calibration methods

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    The LHCb (Large Hadron Collider beauty) experiment is one of the four experiments at the LHC, and is specifically dedicated to explore the B-meson dynamics. To this end, LHCb will exploit the large beauty production cross section, expected to be about 500 µb at 14 TeV p-p collisions. Differently from the B-factory case, the hadronization of the b-quarks at LHC will generate all the possible B-hadrons, remarkably the Bs and Bc mesons, where the present experimental knowledge is still rather poor. The number of b/b_bar pairs produced at the LHCb interaction point will be of the order of 10^12 per year, allowing for the search of extremely rare decays, with branching fractions at the level of 10^-9. In order to reduce the acquisition rate to a sustainable level (order of 2 kHz), maintaining at the same time a high efficiency on the signals of interest, LHCb is provided with an efficient and flexible trigger system. LHCb, by means of its vertex detector, will be able to reconstruct the proper time of decays with a great accuracy (~ 40 fs) and therefore it is well suitable to study minutely CP violation for the very fast oscillating Bs mesons. Moreover the features of the LHCb detector are also suitable to study the charm and tau decays, which also other another great opportunity to find out New Physics. For my Ph.D thesis, I developed a new procedure (called the FITPull method) to monitor and check the measurement of the B decay proper time and its error. The procedure is based on the use of the kinematical constraints between the track parameters of the particles involved in the B decays, without relying on Monte Carlo information. The method can be calibrated on the decay mode J/psi->>µµ, which will be exploited by LHCb as a general monitor channel for the charged tracks calibration, with the aim of identifying and eventually recovering imperfect measurements of the track parameters. I applied the FITPull method to two different reference channels: B --> h+h- and Bs -> Ds pi, evaluating its performance in correcting track measurement errors. I have also contributed to the implementation of a software tool, the GlobalFitter , that is used to compute the FITPull distributions of the input track parameters. The thesis is organized in 4 chapters. In Chapter 1 the LHCb experiment, its sub-detectors and trigger system are described. Chapter 2 introduces the theoretical framework of the B-meson mixing and CP violation in the Standard Model, with some details of the relevant measurements that LHCb will perform. In Chapter 3 the FITPull method is described, and finally Chapter 4 gathers the results of some studies on Monte Carlo simulated data, by investigating the impact of the calibration method on the physical quantities which are mostly affected by the precision of the B proper time measurement

    Proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress

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    Published proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress, hosted by York University, 27-30 May 2018

    Proceedings of the NASA Conference on Space Telerobotics, volume 2

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    These proceedings contain papers presented at the NASA Conference on Space Telerobotics held in Pasadena, January 31 to February 2, 1989. The theme of the Conference was man-machine collaboration in space. The Conference provided a forum for researchers and engineers to exchange ideas on the research and development required for application of telerobotics technology to the space systems planned for the 1990s and beyond. The Conference: (1) provided a view of current NASA telerobotic research and development; (2) stimulated technical exchange on man-machine systems, manipulator control, machine sensing, machine intelligence, concurrent computation, and system architectures; and (3) identified important unsolved problems of current interest which can be dealt with by future research

    Robotics 2010

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    Without a doubt, robotics has made an incredible progress over the last decades. The vision of developing, designing and creating technical systems that help humans to achieve hard and complex tasks, has intelligently led to an incredible variety of solutions. There are barely technical fields that could exhibit more interdisciplinary interconnections like robotics. This fact is generated by highly complex challenges imposed by robotic systems, especially the requirement on intelligent and autonomous operation. This book tries to give an insight into the evolutionary process that takes place in robotics. It provides articles covering a wide range of this exciting area. The progress of technical challenges and concepts may illuminate the relationship between developments that seem to be completely different at first sight. The robotics remains an exciting scientific and engineering field. The community looks optimistically ahead and also looks forward for the future challenges and new development

    Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

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    The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications

    NASA Tech Briefs, February 1998

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    Topics: Test Tools; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Software; Mechanics; Machinery/Automation; Manufacturing/Fabrication; Life Sciences

    Space Technology Plasma Issues in 2001

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    The purpose of the workshop was to identify and discuss plasma issues that need to be resolved during the next 10 to 20 years (circa 2001) to facilitate the development of the advanced space technology that will be required 20 or 30 years into the future. The workshop consisted of 2 days of invited papers and 2 sessions of contributed poster papers. During the third day the meeting broke into 5 working groups, each of which held discussions and then reported back to the conference as a whole. The five panels were: Measurements Technology and Active Experiments Working Group; Advanced High-Voltage, High-Power and Energy-Storage Space Systems Working Group; Large Structures and Tethers Working Group; Plasma Interactions and Surface/Materials Effects Working Group; and Beam Plasmas, Electronic Propulsion and Active Experiments Using Beams Working Group
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