Fuzzy Logic Path Planning System for Collision Avoidance by an Autonomous Rover Vehicle

Systems already developed at JSC have shown the benefits of applying fuzzy logic control theory to space related operations. Four major issues are addressed that are associated with developing an autonomous collision avoidance subsystem within a path planning system designed for application in a remote, hostile environment that does not lend itself well to remote manipulation of the vehicle involved through Earth-based telecommunication. A good focus for this is unmanned exploration of the surface of Mars. The uncertainties involved indicate that robust approaches such as fuzzy logic control are particularly appropriate. The four major issues addressed are: (1) avoidance of a single fuzzy moving obstacle; (2) back off from a dead end in a static obstacle environment; (3) fusion of sensor data to detect obstacles; and (4) options for adaptive learning in a path planning system

A Statement of Moral Purpose: The 1948 Genocide Convention

Genocide was declared an international crime in 1946. In response to this declaration, the Convention on Prevention and Punishment of the Crime of Genocide was adopted in 1948. Although 28 years have passed, the United States has not yet determined its position, with respect to the Convention and this international compact is still pending before the Senate. This article is concerned primarily with the probable impact of the United States\u27 position on the Genocide Convention in light of international law and relations. The body of the Convention is discussed and analyzed along with three proposed United States\u27 understandings. It is argued that, as the United States is now reestablishing its moral leadership in the world, ratification of the Genocide Convention is in our national interest as a statement of faith in our national principles and of the readiness to develop international law on human rights

Catalogue of candidate emission-line objects in the Small Magellanic Cloud

H\alpha and [O III] narrow band, wide field (7 * 7 degree), CCD images of the Small Magellanic Cloud were compared and a catalogue of candidate planetary nebulae and H\alpha emission-line stars was compiled. The catalogue contains 131 planetary nebulae candidates, 23 of which are already known to be or are probable planetary nebulae or very low excitation objects. Also, 218 emission-line candidates have been identified with 113 already known. Our catalogue therefore provides a useful supplement to those of Meyssonnier & Azzopardi (1993) and Sanduleak, MacConnell & Davis Phillip (1978). Further observations are required to confirm the identity of the unknown objects.Comment: 8 pages, accepted by MNRA

Fuzzy logic control system to provide autonomous collision avoidance for Mars rover vehicle

NASA is currently involved with planning unmanned missions to Mars to investigate the terrain and process soil samples in advance of a manned mission. A key issue involved in unmanned surface exploration on Mars is that of supporting autonomous maneuvering since radio communication involves lengthy delays. It is anticipated that specific target locations will be designated for sample gathering. In maneuvering autonomously from a starting position to a target position, the rover will need to avoid a variety of obstacles such as boulders or troughs that may block the shortest path to the target. The physical integrity of the rover needs to be maintained while minimizing the time and distance required to attain the target position. Fuzzy logic lends itself well to building reliable control systems that function in the presence of uncertainty or ambiguity. The following major issues are discussed: (1) the nature of fuzzy logic control systems and software tools to implement them; (2) collision avoidance in the presence of fuzzy parameters; and (3) techniques for adaptation in fuzzy logic control systems

A Comparison of the Productivity of Suckler Cows of Different Breed Composition

End of project reportThe findings obtained in a comparison of 5 suckler dam breed types {Limousin x Friesian (LF), Limousin x (Limousin x Friesian) (LLF), Limousin (L), Charolais (C) and Simmental x (Limousin x Friesian) (SLF)} and their progeny through to slaughte