Based on the distributed control architecture,designed the system scheme of autonomous fault diagnosis and reconfiguration control system for satellite constellation. Studied and analyzed the constellation reconfigura...
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Based on the distributed control architecture,designed the system scheme of autonomous fault diagnosis and reconfiguration control system for satellite constellation. Studied and analyzed the constellation reconfiguration control schedule under existed the backup satellites or not. Finally carried on simulation and analysis of reconfiguration control for navigational constellation applied even phase reconfiguration strategy,simulation results indicated the control scheme designed was feasible and effectively enhanced the autonomy of satellite constellation.
One of the key challenges of microsystem- and nanotechnologies is the automation of robot-based nanomanipulation. However,there is limited sensor feedback due to lack of appropriate *** feedback is required for repeat...
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ISBN:
(纸本)9781424427239
One of the key challenges of microsystem- and nanotechnologies is the automation of robot-based nanomanipulation. However,there is limited sensor feedback due to lack of appropriate *** feedback is required for repeatable actuator movements from macro- down to the *** complicates the design of reliable automation *** this paper,the development of an automated robot-based toolbox for cell injection and handling is presented. This toolbox includes several sensor methods,bridging several orders of magnitude as feedback for automation. A non-linear support vector machine(SVM) is applied for classification of the viability of cells as feedback for quality control.A visual servoing algorithm for position tracking of the injection needle as well as an injection force sensor have been *** automation results and the control system are explained.
NASA mission concepts for the upcoming decades of this century include exploration of sites such as steep cliff faces on Mars, as well as infrastructure deployment for a sustained robotic/manned presence on planetary ...
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NASA mission concepts for the upcoming decades of this century include exploration of sites such as steep cliff faces on Mars, as well as infrastructure deployment for a sustained robotic/manned presence on planetary and/or the lunar surface. Single robotic platforms, such as the Sojourner rover successfully flown in 1997 and the Mars Exploration Rovers ( MER) which landed on Mars in January of 2004, have neither the autonomy, mobility, nor manipulation capabilities for such ambitious undertakings. One possible approach to these future missions is the fielding of cooperative multi-robot systems that have the required onboard control algorithms to more or less autonomously perform tightly coordinated tasks. These control algorithms must operate under the constrained mass, volume, processing, and communication conditions that are present on NASA planetary surface rover systems. In this paper, we describe the design and implementation of distributedcontrol algorithms that build on our earlier development of an enabling architecture called CAMPOUT (controlarchitecture for Multi-robot Planetary Outposts). We also report on some ongoing physical experiments in tightly coupled distributedcontrol at the Jet Propulsion Lab in Pasadena, CA where in the first study two rovers acquire and carry an extended payload over uneven, natural terrain, and in the second three rovers form a team for cliff access.
Exploration of high risk terrain areas such as cliff faces and site construction operations by autonomous robotic systems on Mars requires a controlarchitecture that is able to autonomously adapt to uncertainties in ...
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Exploration of high risk terrain areas such as cliff faces and site construction operations by autonomous robotic systems on Mars requires a controlarchitecture that is able to autonomously adapt to uncertainties in knowledge of the environment. We report on the development of a software/hardware framework for cooperating multiple robots performing such tightly coordinated tasks. This work builds on our earlier research into autonomous planetary rovers and robot arms. Here, we seek to closely coordinate the mobility and manipulation of multiple robots to perform examples of a cliff traverse for science data acquisition, and site construction operations including grasping, hoisting, and transport of extended objects such as large array sensors over natural, unpredictable terrain. In support of this work we have developed an enabling distributed control architecture called controlarchitecture for multirobot planetary outposts (CAMPOUT) wherein integrated multirobot mobility and control mechanisms are derived as group compositions and coordination of more basic behaviors under a task-level multiagent planner. CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms. In this paper, we describe CAMPOUT, and its application to ongoing physical experiments with multirobot systems at the Jet Propulsion Laboratory in Pasadena, CA, for exploration of cliff faces and deployment of extended payloads.
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