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检索条件"任意字段=Proceedings of the 2019 2nd International Conference on Control and Robot Technology"

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Model-based anomaly management for spacecraft mission operations at the NASA Ames Space technology Center

Model-based anomaly management for spacecraft mission operat...

引用

2nd IEEE international conference on Space Mission Challenges for Information technology

作者： Kitts, Christopher Rasay, Mike Mas, Ignacio Mall, P. J. Van Buskirk, Tom Santa Clara Univ Robot Syst Lab 500 El Camino Real Santa Clara CA 95053 USA

ISBN: (纸本)0769526446

Anomalies are unexpected conditions that occur in a functional engineering system. They must be detected, diagnosed and resolved in order to maintain the system in its functional role. Managing anomalies in space systems is particularly challenging given their complexity and their remote orbital environment. In this article, we describe our recent work in extending first principles reasoning approaches for the broad types of anomalies often encountered in complex space systems [1]. We also describe the software algorithms we've developed to implement this approach. In addition, we review our new efforts to integrate these algorithms with industry-standard system modeling environments such as Matlab / Simulink and Satellite ToolKit. We also describe how the resulting processing system is being incorporated into the mission operations network that has been fielded by Santa Clara University and which is used to manage a variety of university-class and research-grade small satellite missions (as well as other robotic missions such as UAVs, rover clusters, underwater vehicles, etc.) [2-4]. This network includes a centralized mission control complex in the Space technology Building in the NASA Ames Research Park in Moffett Field, California. The network also includes a set of geographically distributed communications stations. These stations are operated remotely via the internet, employ amateur and unlicensed frequency bands, and use tracking antennae such as an OSCAR-class dual Yagi antennae or a 60-foot parabolic antenna. Finally, we review our initial results from using this reasoning system while conducting mission operations [1,5]. This work includes on-orbit results for the Sapphire spacecraft (launched in 2001), interaction with a hardware-in-the-loop lab-based satellite simulator, and preparatory development and testing for several spacecraft to include the NASA Genesat-1 satellite, the two-satellite U.T. Austin FASTRAC mission, and the Santa Clara University ONY

关键词： Spacecraft

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Identical visual cues based tracking system of humanoid robot

Identical visual cues based tracking system of humanoid robo...

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2nd international conference on Emerging Technologies

作者： Rajpar, Altaf Hussain Keerio, Mohammad Usman Chandio, Abdul Fattah Kawaja, Attaullah Beijing Inst Technol Dept Mech Engn Beijing 100081 Peoples R China Beijing Inst Technol Dept Comp Sci Beijing 100081 Peoples R China Beijing Inst Technol Dept Elect Engn Beijing 100081 Peoples R China

ISBN: (纸本)9781424405039

This paper describe robust approach to track the object, by utilizing visual features. Identical visual features such as color, disparity and shape parameters are used to detect and track the object in unstructured and cluttered environment robustly. An improved active search method is used in order to realize effective tracking. Active search stereo based visual tracking system of humanoid is designed. Two computers are embedded in to the I stein to realize real time robust tracking of object. One computer is used for processing visual information and other one is responsible for visual servo control of pan-tilt platform on which CCD cameras are mounted. The performance of the developed visual cues based tracking of an object is exploited through experiments.

关键词： object tracking disparity shape parameter and active search stereo platform

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Curriculum of embedded system for software colleges

Curriculum of embedded system for software colleges

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IEEE/ASME international conference on Mechatronic and Embedded Systems and Applications

作者： Wei Hongxing Wang Tianmiao Beihang Univ Inst Robot Beijing 100083 Peoples R China

ISBN: (纸本)9780780397200

Embedded system has already been applied in numerous fields, such as the industry control system, information appliances, communication equipments, medical instruments, intelligence instruments and so on. As processors become more powerful, electronic products become more complex. Embedded system designers are able to include design features traditionally associated with personal computer (PC) including graphical user interfaces, TCP/IP networking, and database management. For introducing knowledge of embedded system to student of master of software engineering (MSE), the Software College at Tsinghua university and Beihang university had an opportunity to add technical electives for embedded system, the author received approval to teach embedded system design course. This paper describes the development and implementation of that course toward the goal of teaching students the hardware considerations, software considerations, and design processes involved in embedded system design. In the end, the teaching effect of course for embedded system design is analyzed.

关键词： embedded system embedded software curriculum microprocessor real time operating system software colleges

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An SoC system for the Image Grabber capable of 2D scanning

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2nd international conference on Natural Computation (ICNC 2006)

作者： Moon, Cheol-Hong Kim, Sung-Oh Gwangju Univ Kwangju South Korea

ISBN: (纸本)3540459073

This paper reports the implementation of an SoC (System on a Chip) IP(Intellectual Property) design for an Image Grabber that is capable of 2D scanning. The vast improvements in integrated circuit technology and semiconductor industry have allowed complicated hardware systems to be implemented into a single Chip. Previously, hardware designed by external buses was slow. However, the speed of the system has been improved by peripheral logics that are designed on a single chip. In addition, both hardware and software can be constructed together resulting in a significant decrease in research and development time. Four IPs were created in this study. 12C IP was developed for the Image Decoder. The NTSC analog signal from a CCD camera was converted to YUV422 using an image decoder and stored in a frame buffer by IMAGE IP. TFT-LCD IP was developed to display the data on an LCD. A robot IP was developed to control a perpendicular coordinate robot. Finally, system level software and PC software was developed to examine the SoC system.

关键词： SoC IMAGE IP Perpendicular Coordinate robot IP TFT-LCD IP

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A client/server approach to open-architecture, behavior-based robot programming

A client/server approach to open-architecture, behavior-base...

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IEEE international conference on Space Mission Challenges for Information technology, SMC-IT

作者： W. Newman A. Covitch R. May Department of Electrical Engineering and Computer Science Case Western Reserve University Cleveland OH USA

This paper describes our progress in the development of a behavior-based, stimulus-response robot control software architecture that is expressly designed to program and execute interactive tasks, including assembly, multi-robot collaborative manipulation, and exploration. The system has been designed to assure stability and safety while maintaining flexibility and achieving expert performance. The architecture incorporates a reactive controller as a behavior server, and applications are written as client programs that can operate either locally or across a network. This organization has been demonstrated to be sufficiently open to support teleoperation tasks as well as human-guided supervisory control and full autonomous functionality

关键词： robot programming robot control Software architecture robotic assembly Collaborative software Stability Safety Computer architecture Network servers Application software

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Integrated planning for telepresence with time delays

Integrated planning for telepresence with time delays

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IEEE international conference on Space Mission Challenges for Information technology, SMC-IT

作者： M.D. Johnston K.J. Rabe Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA

Teleoperation of remote robotic systems over time delays in the range of 2-10 seconds poses a unique set of challenges. In the context of a supervisory control system for the JSC Robonaut humanoid robot, we have developed an "intelligent assistant" that integrates an artificial intelligence planner (JSH0P2) with execution monitoring of the state of both the human supervisor and the remote robot. The assistant reasons simultaneously about the world state on both sides of the time delay, which represents a novel application of this technology. The purpose of the assistant is to provide advice to the human supervisor about current and future activities, derived from a sequence of high-level goals to be achieved. To do this, the assistant must simultaneously monitor and react to various data sources, including actions taken by the supervisor who is issuing commands to the robot (e.g. with a data glove), actions taken by the robot, and the environment of the robot, both as currently perceived over the time delay, along with the current sequence of goals. We have developed a "leader/follower" software architecture to handle the dual time-shifted streams of execution feedback. In this paper we describe the integrated planner and its executive, and how it operates in normal and anomaly situations

关键词： Delay effects Humanoid robots Artificial intelligence Intelligent robots Humans Supervisory control Remote monitoring Data gloves Software architecture Feedback

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An XML-Driven Component-Based Software Framework for Mobile robotic Applications

An XML-Driven Component-Based Software Framework for Mobile ...

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IEEE/ASME international conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Xiaoming Li Yuzhen Jin Xudong Hu Zhejiang Provincial Key Laboratory of Modern Textile Machinary Zhejiang Science and Technology University Hangzhou China

In this paper, we analyze the difficulties in building mobile robotic control softwares, and put forward a lightweight component-based software framework, which can facilitate the construction of mobile robotic applications, and make the job timesaving. With this framework, the designers of mobile robotic applications are no longer bothered by multithreaded programming skills, communications, robustness of the software, etc. This framework also gets benefits from component based software engineering (CBSE), which ensures the modularity and reusability to the greatest extent. XML technology is adopted to describe the components and their connections, therefore the behavior of the application can be controlled through a single XML configuration file, which brings a great flexibility in system design. More topics about this frame are also discussed in this paper

关键词： Mobile robots Application software Communication system control XML Buildings Lighting control robot control robot programming Mobile communication Robustness

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A high level teleoperation platform for space robotic missions

A high level teleoperation platform for space robotic missio...

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IEEE international conference on Space Mission Challenges for Information technology, SMC-IT

作者： M. Chacin E. Rohmer A. Mora K. Yoshida Department of AeroSpace Engineering University of Tohoku Sendai Japan

This paper describes the ongoing development of a tele-operation platform for space robotic missions. The proposed platform consists of a ground control station, an offline simulation environment, a full-scale working model of the robot and the actual robot on the mission. From the simulation environment a path strategy is obtained and a set of commands is generated and sent to the ground control station using standardized files (XML) to describe how commands and data move between functional units, this way it is no longer needed to create custom software, and/or distributed objects to communicate with new systems. Instead, only providing an XML description of how the communication takes place will be required. Then the systems can parse and interpret the XML to generate the required commands to control the unit, interface with it, construct messages and display the data that is returned. A software prototype is developed for an asteroid exploration mission to evaluate the proposed platform

关键词： Space missions Orbital robotics XML Computer displays Communication system control Humans Manipulators Graphical user interfaces Communication system software control systems

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Design and Simulation of Multi-robot Logistic System

Design and Simulation of Multi-robot Logistic System

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IEEE/ASME international conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Jianhua Gao Xudong Hu Chuanyu Wu Research Institute of Mechatronic Engineering Zhejiang Science and Technology University Hangzhou China School of Mechanical Engineering Zhejiang Science and Technology University Hangzhou China Provincial Key Laboratory of Modern Textile Machinery Hangzhou China

Modern logistic automation systems need the ability to cooperatively execute some complicated tasks in an efficient way. In order to meet this requirement, a kind of cooperative multi-robot logistic system based on agent is proposed, and the distributed multi-agent architecture for such intelligent production system is designed. The architecture consists of information agent, object agent, decision-making agent, cooperative agent, executive agent, monitor agent and interface agent in network environment, which can guarantee high efficiency and convenient expansibility. The generalized stochastic Petri net model of multi-agent logistic system is established to exhibit the inherent dynamic characteristics. In addition, task cooperation of multi-agent logistic system is discussed, and some details including formal description, algorithm, behaviour rules and agent realization are given. According to the provided architecture and algorithm, one small cooperative logistic system is developed. Simulation result shows that agent-based method is helpful to develop the intelligent multi-robot logistic system

关键词： Logistics robot kinematics Decision making Multirobot systems Enterprise resource planning Supply chain management Centralized control Intelligent agent Resource management technology management

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Adaptive inner-loop rover control

Adaptive inner-loop rover control

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IEEE international conference on Space Mission Challenges for Information technology, SMC-IT

作者： N. Kulkarni C. Ippolito K. Krishnakumar K.M. Al-Ali NASA Ames Research Center Moffett Field CA USA Chinese Academy and Sciences Moffett Field CA USA

Adaptive control technology is developed for the inner-loop speed and steering control of the MAX Rover. MAX, a CMU developed Rover, is a compact low-cost 4-wheel drive, 4-wheel steer (double Ackerman), with high-clearance agile durable chassis. It is outfitted with sensors and electronics that make it ideally suited for supporting research relevant to intelligent teleoperation, and as a low-cost autonomous robotic test bed and appliance. The control design consists of a feedback linearization based controller with a proportional-integral (PI) feedback that is augmented by an online adaptive neural network. The adaptation law has guaranteed stability properties for safe operation. The control design is retrofit in nature so that it fits below the outer-loop path planning algorithms. Successful hardware implementation of the controller is illustrated for several scenarios consisting of actuator failures and modeling errors in the nominal design

关键词： Programmable control Adaptive control Intelligent sensors Intelligent robots Electronic equipment testing control design Neurofeedback robot sensing systems Home appliances Linear feedback control systems

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