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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Ballesteros, Erik Carpenter, Kalind Asada, H. Harry Department of Mechanical Engineering Massachusetts Institute of Technology Course 2 CambridgeMA02139 United States Advanced Robotics Systems Group 347Z NASA Jet Propulsion Laboratory PasadenaCA91011 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper investigates the effectiveness of a type of wearable robot, known as Supernumerary Robotic Limbs (SuperLimbs) in assisting an astronaut performing partial-gravity ExtraVehicular Activities (EVAs). SuperLimbs can directly address a key technology gap identified by NASA concerning that of incapacitated crew rescue devices during partial-gravity EVAs. To contextualize SuperLimbs in human spaceflight application, we start by reviewing other forms of wearable robotics technologies and perform a qualitative comparison with SuperLimbs. From there, we present a suite of operational modes that SuperLimbs is capable of delivering in a suited partial-gravity EVA. Within the operational mode suite, we selected the most urgent use-case: that of performing a post-fall recovery, and reviewed the results from a pilot-human study. To validate the effectiveness of SuperLimbs in providing the necessary assistive forces needed for a post-fall recovery, a series of validation experiments was performed with a prototype SuperLimbs system. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： NASA

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Autonomous Geolocation of RF Emitters Using Small, Unmanned Platforms

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JOHNS HOPKINS APL TECHNICAL DIGEST 2013年第3期32卷 636-646页

作者： Bamberger, Robert J. Moore, Jay G. Goonasekeram, Ravi P. Scheidt, David H. APL Robotics and Autonomous Systems Group Research and Exploratory Development Department (REDD) Advanced RF Capabilities Group Asym metric Operations Sector APL Electrical Engineering Systems Analysis and Design Group REDD RF & Optical Systems Se

Autonomous geolocation of RF emitters using small, unmanned systems is a game-changing technology for military, government, and commercial missions. This technique employs a novel application of a common RF direction-finding technique called pseudo-Doppler. Emergent autonomous control concepts are used to control the sensor platform and optimize flight trajectories for efficient and rapid geolocation of the target. The basic components of this concept, from sensor development to unmanned system autonomous behaviors, were tested in simulation and subsequently demonstrated in flight during the Tactical Network Topology experiment.

关键词： Network topology

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Bond graph representation of convection by fluid flow along an elastic surface

Bond graph representation of convection by fluid flow along ...

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2016 International Conference on Bond Graph Modeling and Simulation, ICBGM 2016, Part of the 2016 Summer Simulation Multi-Conference, SummerSim 2016

作者： Breedveld, Peter C. Zanj, Amir Robotics and Mechatronics Group University of Twente Enschede Netherlands Advanced Control Systems Group Flinders University Adelaide Australia

ISBN: (纸本)9781510824256

This paper discusses the non-trivial extension of a generic bond graph model structure for convection by a fluid flow (gas, liquid or mixture) along a rigid surface to a generic bond graph model in which the physical fluid boundary (solid) can move in the same direction as the flow, e.g. due to elasticity. © 2016 Society for Modeling & Simulation International (SCS).

关键词： Elasticity

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GPS/INS integration based on dynamic ANFIS network

International Journal of Control and Automation

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International Journal of Control and Automation 2012年第3期5卷 1-22页

作者： Hasan, Ahmed Mudheher Samsudin, Khairulmizam Ramli, Abdul Rahman Computer Systems Research Group Department of Computer and Communication Systems Universiti Putra Malaysia 43400 UPM-Serdang Malaysia Intelligent Systems and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia 43400 UPM-Serdang Malaysia

This article presents a new structure for solving global positioning system (GPS) outages for long periods without requiring any prior information about the characteristics of the inertial navigation system (INS) and GPS. Kalman filter (KF) is widely used in INS and GPS integration to present a forceful navigation solution by overcoming the GPS outage problems. However, KF is usually criticized for working under predefined models and for its observability problem of hidden state variables, sensor dependency, and linearization dependency. Therefore, this article proposes a dynamic adaptive neuro-fuzzy inference system (DANFIS) to predict the INS error during GPS outages based on the current and previous raw INS data. The proposed integrated system is evaluated using a real field test data. The performance of the proposed technique is also compared with the traditional artificial intelligence (AI) technique and KF. The results showed great improvements in positioning and especially in velocity for MEMS grade IMU and for different length of GPS outages.

关键词： Inertial navigation systems

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Graduated automation for humanoid manipulation

Graduated automation for humanoid manipulation

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2016 IEEE International Conference on Automation Science and Engineering, CASE 2016

作者： Gray, Steven Chevalier, Robert Caimano, Benjamin Scatena, Jason Robotics and Intelligent Systems Group Lockheed Martin's Advanced Technology Laboratories Cherry HillNJ08002 United States

ISBN: (纸本)9781509024094

The challenges posed by humanoid robotic manipulation in complex, remote environments have shown that fully-autonomous and fully-teleoperated approaches are impractical. In real-world environments, one encounters rapidly changing situations, localization drift, and other errors that break autonomy. Pure teleoperation is impractical due to the sheer number of degrees-of-freedom, real-time constraints such as balancing, and potentially low-bandwidth or unreliable communications between operator and platform. To address these issues, the operator must be able to seamlessly interact with the platform across multiple levels of abstraction. In this paper we present a manipulation framework underpinned by a novel system for applying graduated levels of automation to humanoid control. The level of automation used by the operator is dictated both by their preference as well as the system's own confidence in succeeding autonomously. We present experimental results using the Boston Dynamics Atlas humanoid platform. © 2016 IEEE.

关键词： Degrees of freedom (mechanics)

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Variable interface dynamic adjustment (VIDA) technique: A novel approach to adjust lagrangian frame and eulerian frame at flattering interface 8th

Variable interface dynamic adjustment (VIDA) technique: A no...

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8th AIAA Theoretical Fluid Mechanics Conference, 2017

作者： Zanj, Amir He, Fangpo Breedveld, Peter C. College of Science and Engineering Advanced Control Systems Research Group Flinders University Adelaide Australia Department of Mechanical engineering Robotics and Mechatronics Group University of Twente Enschede Netherlands

ISBN: (纸本)9781624104978

In the current study to address the incompatibility issue of the Eulerian and Lagrangian frame at FSI problems, a novel physical approach is proposed. According to this approach, the motion of the Lagrangian frame is physically translated to a virtual volumetric flow for the Eulerian frame. As thus, the shared spatial boundary of the two frame at the interface remains unique in spite of the motion of the interface. This capability provides the possibility of dynamic data transactions between the two frames, which guarantees the continuity of these transformation (e. g., the power interactions of the system on the interface). The obtained capability can be a desirable tool in multiple-field dynamic investigations. Also, the proposed method by elimination of mesh regeneration in FSI transient solutions can open a new window in dynamic mesh techniques which leads to reducing the time cost of the solution. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Lagrange multipliers

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Wavelet-based pre-filtering for low cost inertial sensors

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Journal of Applied Sciences 2010年第19期10卷 2217-2230页

作者： Hasan, Ahmed M. Samsudm, K. Ramli, A.R. Azmir, R.S. Computer Systems Research Group Department of Computer and Communication Systems Universiti Putra Malaysia 43400 UPM-Serdang Malaysia Intelligent Systems and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia 43400 UPM-Serdang Malaysia Research Center of Excellence Universiti Putra Malaysia 43400 UPM-Serdang Malaysia

This study proposed to de-noise the IMU signal by effectively band-limiting the signal at the output of each inertial measurement sensor prior to its mechanization and further processing by the Strapdown INS (SDINS) algorithm. Wavelet Multi-Resolution Algorithm (WMRA) is utilized to improve the performance of the inertial sensors by removing their short term noise. The aim of this study is to reveal how WMRA is utilized to improve the performance of the inertial measurement unit systems and investigate how wavelet analysis can be used to analyse and de-noise output of the low-cost inertial sensors. The proposed multi-level decomposition was applied to real accelerometer and gyroscopes data obtained from MEMS IMU (MotionPak II). Different level of decomposition and thresholding filter was evaluated to obtain optimal results. Analysis of the results demonstrate reducing the INS position and velocity error for the specific IMU. © 2010 Asian Network for Scientific Information.

关键词： Inertial navigation systems

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Development and testing of the Dawn ion propulsion system

Development and testing of the Dawn ion propulsion system

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AIAA/ASME/SAE/ASEE 42nd Joint Propulsion Conference

作者： Brophy, John R. Etters, Michael A. Gates, Jason Garner, Charles E. Klatte, Marlin John Lo, C. Marcucci, Michael G. Mikes, Steve Pixler, Greg Nakazono, Barry Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 Propulsion and Materials Engineering Section AIAA Robotics and Mechanisms Group Electronic Design Group Advanced Propulsion Technology Group Propulsion and Flight Systems Group ASIC Design Group

ISBN: (纸本)1563478188

All of the Dawn ion propulsion system (IPS) components have been fabricated and all have passed acceptance testing. The entire xenon feed system, both digital control and interface units (DCIUs), two of the three thruster gimbal assemblies (TGAs), and both power processor units (PPUs) have been integrated with the spacecraft. Both PPUs recently completed a long-duration run-in tests in vacuum at JPL, and both flight PPUs have successfully demonstrated the ability to operate a flight thruster over its full input power range. All three ion thrusters are in storage at JPL waiting for their delivery and integration which are scheduled for later this year. The third TGA has been delivered to the flight system contractor (Orbital Sciences Corporation) and will also be integrated later this year. All planned subsystem integration tests between the DCIU and the other IPS components were successfully completed prior to the delivery of the components to Orbital.

关键词： Ion propulsion

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3D visual perception system for bin picking in automotive sub-assembly automation

3D visual perception system for bin picking in automotive su...

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2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Lee, Sukhan Kim, Jaewoong Lee, Moonju Yoo, Kyeongdae Barajas, Leandro G. Menassa, Roland School of Information and Communication Engineering Sungkyunkwan University Suwon Korea Republic of Advanced Robotics Group Manufacturing Systems Research Laboratory General Motors Global RandD Center Warren MI 48090 United States

ISBN: (纸本)9781467304283

Industries are being swept up by the tide of market innovations originated from pervasive application of robotics and Automation (RA). Given the critical role of RA in industry, it has become relevant for RA to have human-like decision making capabilities. Such enablers intrinsically require the use of flexible and robust 3D perception and control systems. In the process of automating complex automotive sub-assemblies, 3D vision-based recognition as well as grasping of complex objects is required not only for detection and categorization but also for pose estimation and robotic pick-and-place operations. In this paper, we propose a novel 3D visual perception system for sub-assembly automation based on a structured light 3D vision system. We use a novel geometric surface primitive patch segmentation approach based on Hough transforms to obtain accurate surface normal estimations from 3D point clouds for the identification of patch primitives. The most relevant primitives for our application include planar, cylindrical, conic and spherical surface patches. We extract primitive surface patches from automotive CAD models in DXF format. The models are then decomposed to simple entities such as planar polygons, vertexes and lines. Our resulting models based on the 3D point clouds are composed only by simple planes and cylinders. Our system takes advantage of the available CAD data for both object recognition and for pose estimation. Our experimental results demonstrate that we can achieve, in only a few seconds, a highly accurate pose and object class estimation. © 2012 IEEE.

关键词： robotics

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Determining intent using hard/soft data and Gaussian process classifiers

Determining intent using hard/soft data and Gaussian process...

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作者： Reece, Steven Roberts, Stephen Nicholson, David Lloyd, Chris Robotics Research Group Dept. Engineering Science Oxford University United Kingdom BAE Systems Advanced Technology Centre PO Box 5 Filton Bristol United Kingdom

ISBN: (纸本)9781457702679

Modern applications of data fusion are rarely starved of data but they look more challenging because the data can be diverse (hard and soft), uncertain and ambiguous, and often swamped by irrelevant detail. This paper presents a mathematical framework for dealing with these issues. It manages diverse data by representing it in the common format of a kernel matrix. Uncertainty is managed by interpreting the kernels as the covariance matrices of Bayesian Gaussian Processes. Finally, irrelevant detail is managed by automatically detecting the relevant (or, conversely, the irrelevant) components within a multi-source dataset. The framework is illustrated by applying it to a synthetic vehicle-borne Improvised Explosive Device intent recognition scenario. The results provide a proof-of-principle and encourage future work to develop practical implementations of algorithms in support of sense making and intelligence analysis. © 2011 IEEE.

关键词： Data fusion

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