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Mars Science Laboratory entry, descent and landing system verification and validation program

Mars Science Laboratory entry, descent and landing system ve...

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IEEE conference on Aerospace

作者： R. Mitcheltree A. Steltzner A. Chen M. SanMartin T. Rivellini Jet Propulsion Laboratory Pasadena CA USA

The Mars Science Laboratory (MSL) mission will land the next generation of robotic entry, descent, and landing (EDL) systems on Mars in 2010. Relative to previous missions, the MSL EDL architecture will deliver a significantly larger mass to a significantly higher altitude while maintaining a significantly tighter delivery ellipse. MSL is pushing the limits of EDL technologies qualified previously by the Mars Viking, Mars Pathfinder, and Mars Exploration Rover missions as well as introducing new elements into the architecture. Given the difficulties of conducting a meaningful end-to-end flight test on Earth, this combination introduces numerous challenges for the EDL verification and validation program. This paper discusses how system validation challenges influenced the design of the EDL architecture and highlights how some of the remaining challenges will be addressed to assure a successful landing of this unprecedented rover on Mars

关键词： Mars Laboratories System testing Earth Analytical models Logic testing Computational fluid dynamics Propulsion robots Biosensors

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A Sensor Fusion Method for Mobile Robot Navigation

A Sensor Fusion Method for Mobile Robot Navigation

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SICE Annual conference

作者： Song Xingyong Hyun-ki Lee Hyungsuck Cho Department of Mechanical Engineering KAIST Daejeon South Korea

An important and challenging research issue associated with mobile robot navigation is simultaneous localization and map building (SLAM), which means that the mobile robot could estimate its poses in the environment without external information, and simultaneously align the local maps. Various kinds of methods such as odometry measurement, landmark matching, laser range image matching and scale invariant feature (SIFT) based algorithm have already been proposed to solve this kind of research problems, but they suffer from inevitable drawbacks. For example, range image matching may suffer from local minimum problem and thus can not get a good location estimation sometimes, and SIFT algorithm can not work if few SIFT intensity features exist in the environment. Furthermore, the map built by laser range image matching is not good for localization when the robot returns to the prior map built by itself, and the map built by SIFT could not be used for obstacle avoidance and next view generation. To solve these problems, in this paper, we propose a sensor fusion method, which makes use of Dempster Shafer algorithm to fuse both of the laser range information and SIFT features information for SLAM. Through a series of experiments, the proposed method is tested and evaluated

关键词： Sensor fusion Mobile robots Navigation Image matching Simultaneous localization and mapping Laser fusion Robot sensing systems Fusion power generation Fuses Testing

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Stepping motion for a human-like character to maintain balance against large perturbations

Stepping motion for a human-like character to maintain balan...

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IEEE International conference on Robotics and Automation (ICRA)

作者： Shunsuke Kudoh T. Komura K. Ikeuchi University of Tokyo Tokyo Japan City University of Hong Kong Hong Kong China

We propose a method of maintaining balance for a human-like character against large perturbations. The method enables a human-like model to maintain its balance with active whole-body motion, such as rotating its arms, bending down, and taking a step, if necessary. First, we capture the human motions of maintaining balance and abstract essential mechanisms from these motions. next, we construct a model of maintaining balance that has a simple structure, such as an inverted pendulum. This model has two modes of maintaining balance: keeping the feet on the ground, and stepping. In this paper, the stepping mode is mainly described. Finally, we generate whole-body motion based on the model against several perturbations, and we discuss the validity of our method

关键词： Humans Humanoid robots Arm Large-scale systems Motion analysis Character generation Computer graphics Animation Biological system modeling Robustness

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Semantic Framework for Biometric-Based Access Control systems

Semantic Framework for Biometric-Based Access Control System...

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IEEE International conference on Computational Intelligence for Homeland Security and Personal Safety (CIHSPS)

作者： S. N. Yanushkevich A. Stoica V. P. Shmerko Biometric Technology Laboratory ECE Department University of Calgary Canada Humanoid Robotics Laboratory California National Aeronautics and Space Administration NASA USA Biometric Technology Laboratory ECE Department University of Calgary Canada

The variability of biometric data is one of the most significant sources of errors in the application of biometric devices. In some specific-area applications, the problem of errors and the minimization of wrong decisions caused by these errors, can be alleviated by using friendly interfaces between biometric devices, as well as decision making procedure. These interfaces are based on the semantic representation of biometric data. This paper aims to contribute to the genesis of biometric technologies using semantic interpretations of biometric data. It provides the preliminaries of the theoretical concept, including examples for practitioners. This concept has been developed during the design and prototyping of the biometric-based early warning component for the next-generation security access control system. The research work is being conducted in the Biometric Technologies Laboratory of the University of Calgary, and in the Humanoid Robotics Laboratory, at the NASA's Jet Propulsion Laboratory, California Institute of Technology

关键词： Access control Biometrics Laboratories Security Space technology Humanoid robots Bioinformatics Personnel Airports Propulsion

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High Performance Evolutionary Computing

High Performance Evolutionary Computing

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Users Group conference

作者： Edwin Nunez Edwin Roger Banks Paul Agarwal Marshall McBride Ron Liedel USASMDC Advanced Research Center COLSA Corporation Huntsville AL USA U.S. Army Space and Missile Defence Command AL USA

Evolutionary computing (EC) comprises a family of global optimization techniques that start with a random population of potential solutions and then evolve more fit solutions over many generations. To accomplish this increase in fitness, EC uses basic operations like selection, recombination, and mutation. Because of its compute- intensive nature, EC research is an obvious candidate for hosting on HPC clusters or systems. EC requires high performance computers (HPC) because the selection process needs to evaluate the fitness of each member of a population of solutions, so the more fit individuals may propagate their characteristics to the next generation of solutions. This requirement becomes even more acute because the evaluation process must be iterated over a very large number of generations. In this paper, we provide a general overview of EC, its applicability to a broad range of problems. In particular, we focus on some subclasses of EC known as genetic programming (GP), genetic algorithms (GA), hybrids, and other EC forms. This paper also discusses the architectural issues of hosting EC on a HPC cluster, and the related issue of population management. Two possible EC architectures are presented: (1) a single chromosome evaluator that treats a pool of cluster nodes as evaluators for an individual solution, and (2) a parallel evolver that manages a sub-population of solutions at each node. Advantages and disadvantages of each approach will be discussed. EC may be applied to a wide variety of problems. Applications of EC include schedule optimization, robotic navigation, image enhancement/processing, discrimination of buried unexploded ordnance, discovery of innovative electronic filter and controller designs, lens design optimization, radar response modeling, and many more. EC excels at solving high-dimensional and nonlinear problems. HPC resources have enabled the broader application of EC optimization techniques. However, at present, EC is underutilized in the

关键词： High performance computing Genetic programming Design optimization Genetic mutations Genetic algorithms Biological cells Optimal scheduling robots Navigation Image enhancement

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Development of robotic wall system to protect victims

Development of robotic wall system to protect victims

引用

International conference on Advanced Robotics (ICAR)

作者： H. Amano K. Osuka Y. Iwano National Research Institute of Fire and Disaster Mitaka Tokyo Japan Kobe University Kobe Japan

Disasters or accidents counter activities and rescue activities are good and suitable subject for robots, because, the activity is accomplishable without the fire fighters getting into dangerous environments by using robots. However, the trade-off between the robots' size and performance are serious problem in actual activities. We resulted to that a small mobile robots group is the one of the effective systems for the activities. Here, we focused on nuclear plant accidents or huge fire in plant, because radiation exposure or radiation heat, for victims who can't evacuate by themselves, is one of serious problems. Then we developed robotic wall system that is a system to build up a shielding wall between victims and the radiation source or the fire. Therefore we developed the group system consists of small mobile robots that build up wall. The development three technological elements in this research work, first we developed the effective moving method of multiple mobile robots in the accidental situation. next, the robots connect each other, and building up wall finally. We confirmed the effectiveness of the robotic wall system that we developed experimentally

关键词： Protection Fires Mobile robots Accidents Service robots Power generation Robot control Radiation detectors Industrial plants Safety

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next-generation emergency response robots

Next-generation emergency response robots

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conference on Unmanned Ground Vehicle Technology VI

作者： Buzan, F Paul, G Dunten, S Kennedy, W Dietsch, JA ActivMedia Robotics (United States)

ISBN: (纸本)0819453455

As reported by Blitch, current Search and Rescue robots have proven inadequate in the field. Shortfalls in mobility include: inadequate relationship between traction and drag, inadequate self-righting, inadequate sensor protection and too many protrusions to snag. Because autonomous navigation is often impossible but tele-operation may be difficult, sliding autonomy is critical. In addition, next generation SR robots need plug-n-play sensor options and modular cargo holds to deliver daughter-bots or other specialized rescue equipment. Finally, dust and smoke have caused both sensors and robots to fail in the field. Many of the needs of Search and Rescue teams are shared by all Emergency Response robots: EOD, SWAT, HazMat and other law enforcement officers. We discuss how next-generation designs solve many of the problems currently facing ER robots.

关键词： robots Sensors Cameras Commercial off the shelf technology Control systems Control systems design Robotics X-rays Microcontrollers Visibility

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A user-oriented framework for the design and implementation of pet robots

A user-oriented framework for the design and implementation ...

引用

2004 IEEE International conference on systems, Man and Cybernetics, SMC 2004

作者： Su, Ming-Hsiang Lee, Wei-Po Wang, Jian-Hsin Dept. of Mgmt. Information Systems Natl. Pingtung Univ. Sci./Technol. Pingtung Taiwan Department of Information Management National University of Kaohsiung Kaohsiung Taiwan

In recent years, application of intelligent autonomous robots for home amusement has become an important research criterion, and pet robots have been designed to become the electronic toys for the next generation. To develop pet robots that can act in real time in the real world, this work adopts the behavior-based control architecture. In our control framework, an imitation-based learning system is included to build robot behaviors. Moreover an emotional model is embedded to the control architecture. By giving the pet robot an emotional model, it can explicitly express its internal conditions through its various external behaviors, as the real living creature does. To evaluate the proposed framework, we have developed an interactive environment and successfully used it to design a pet robot. © 2004 IEEE.

关键词： Intelligent robots

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A running experiment of humanoid biped

A running experiment of humanoid biped

引用

2004 IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Nagasaki, Takashi Kajita, Shuuji Kaneko, Kenji Yokoi, Kazuhito Tanie, Kazuo Grad. Sch. of Syst. and Info. Eng. University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki 305-0047 Japan Intelligent Systems Institute Natl. Inst. Adv. Indust. Sci./T. Tsukuba Central 2 1-1-1 Umezono Tsukuba Ibaraki 305-8568 Japan

ISBN: (纸本)0780384636

Aiming for a humanoid robot of the next generation, we have been developing a biped which can jump and run. This paper introduces a method of running pattern generation and running experiment of biped robot HRP-2LR. Based on the physical parameters of HRP-2LR, running patterns are pre-calculated so that it follows the desired profiles of the total linear and angular momentum. For this purpose we used Resolved Momentum Control [16]. The vertical momentum is calculated considering the compliant elements in order to realize accurate flight duration. The horizontal momentum is calculated to satisfy the ZMP patterns given in advance. Using our pattern, HRP-2LR could successfully run with average speed of 0.16[m/s] with repeat flight phase 0.06 [s] and support phase 0.3 [s].

关键词： Mobile robots

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Optimal trajectory generation for a biped robot walking a staircase based on genetic algorithms

Optimal trajectory generation for a biped robot walking a st...

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2004 IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Jeon, Kweon Soo Kwon, Ohung Park, Jong Hyeon Dept. of Prec. Mech. Engineering Hanyang University Seoul 133-791 Korea Republic of School of Mechanical Engineering Hanyang University Seoul 133-791 Korea Republic of

ISBN: (纸本)0780384636

In this paper, we propose optimal trajectories of biped robots to move a staircase up and down using genetic algorithms and computed-torque controller to be dynamically stable. Firstly, in order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA)which of Operators are composed of the reproduction, crossover and mutation is used. Constraints are divided into equalities and inequalities: Equality constraints consist of position conditions at the start and end of stride period and repeatability conditions related to each joint angle and angular velocity. next, inequality constraints include the collision avoidance conditions of swing leg at the face and edge of a stair, the knee joint conditions with respect to the singular avoidance, and the zero moment point condition with respect to the stability into the going direction. Finally, in order to approximate the walking gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. In the computer simulation used 6 degree of freedom biped robot model that consists of seven links, we analyze the energy efficiency of proposed optimal trajectories about the following cases:walking a ground, ascending stairs, and descending stairs.

关键词： Mobile robots

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