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A Concept Mission: Microbots for Large‐Scale Planetary Surface and Subsurface Exploration

AIP Conference Proceedings 2005年第1期746卷

作者： S. Dubowsky K. Iagnemma S. Liberatore D. M. Lambeth J. S. Plante P. J. Boston Field and Space Robotics Laboratory Room 3‐469 Mechanical Engineering Department Massachusetts Institute of Technology Cambridge MA 02139 Cave and Karst Studies Program Earth and Environmental Sciences Department New Mexico Tech NM Institute of Mining and Technology Socorro NM 87801

This paper presents a new mission concept for planetary exploration, based on the deployment of a large number of small spherical mobile robots (“microbots”) over vast areas of a planet’s surface and subsurface, including structures such as caves and near‐surface crevasses (see Figure 1). This would allow extremely large‐scale in situ analysis of terrain composition and history. This approach represents an alternative to rover and lander‐based planetary exploration, which is limited to studying small areas of a planet’s surface at a small number of sites. The proposed approach is also distinct from balloon or aerial vehicle‐based missions, in that it would allow direct in situ measurement. In the proposed mission, a large number (i.e. hundreds or thousands) of cm‐scale, sub‐kilogram microbots would be distributed over a planet’s surface by an orbital craft and would employ hopping, bouncing and rolling as a locomotion mode to reach scientifically interesting artifacts in very rugged terrain. They would be powered by high energy‐density polymer “muscle” actuators, and equipped with a suite of miniaturized imagers, spectrometers, sampling devices, and chemical detection sensors to conduct in situ measurements of terrain and rock composition, structure, etc. Multiple microbots would coordinate to share information, cooperatively analyze large portions of a planet’s surface or subsurface, and provide context for scientific measurements.

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Microphone array for 2D sound localization and capture

Microphone array for 2D sound localization and capture

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Kagami H. Mizoguchi Y. Tamai T. Kanade CREST Program Japan Science and Technology Corporation Japan Digital Human Research Center National Institute for Advanced Industrial Science and Technology Tokyo Japan Department of Mechanical Engineering Tokyo University of Science Noda Japan Robotics Institute Carnegie Mellon University Pittsburgh PA USA

This work describes two circular microphone arrays and a square microphone array which can be used for sound localization and sound capture. Sound capture by microphone array is achieved by sum and delay beam former (SDBF). A dedicated PCI 128-channel simultaneous input analog-to-digital (AD) board is developed for a 128 ch microphone array with a maximum sampling rate of 22. 7 /spl mu/s/sample. Simulation of sound pressure distribution of 24 and 128 ch circular microphone array and 128 ch square microphone array are shown. Then a 24 ch circular microphone array and a 128 ch square microphone array have been developed. The 24 ch circular microphone array can capture sound from an arbitrary direction. The 128 ch square microphone array can capture sound from a specific point. Both systems are evaluated by using frequency components of the sound. The circular type system can be used on a mobile robot including humanoid robot and square type can be extended towards room coverage type application.

关键词： Microphone arrays Sampling methods Mobile robots Humanoid robots Speech recognition Mechanical engineering Acoustic noise Human robot interaction Man machine systems Source separation

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CIRCUIT AND BRANCH RECTIFICATION OF THE SPATIAL 4C MECHANISM

CIRCUIT AND BRANCH RECTIFICATION OF THE SPATIAL 4C MECHANISM

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ASME 2000 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2000

作者： Larochelle, Pierre M. Mechanical Engineering Program Robotics and Spatial Systems Laboratory Florida Institute of Technology MelbourneFL32904 United States

ISBN: (纸本)9780791835173

Spatial 4C mechanisms are two degree of freedom kinematic closed-chains consisting of four rigid links simply connected in series by cylindrical(C) joints. In this work we are concerned with the design of spatial 4C mechanisms which move a rigid body through a finite sequence of prescribed locations in space. This task is referred to as rigid-body guidance by Suh and Radcliffe (20) and as motion generation by Erdman and Sandor (6). When 4C mechanisms are synthesized for such a task, for example by utilizing Roth's spatial generalization of Burmester's planar methods (17;18), the result is the physical dimensions which kinematically define the mechanism. However, the motion of the mechanism which takes the work piece through the sequence of prescribed locations in space is not determined. In fact, it may be impossible for the mechanism to move the body through all of the desired locations without disassembling the mechanism. This condition is referred to as a circuit defect. Moreover, in some cases the mechanism may enter a configuration which requires an additional mechanical input to guide the moving body as desired. These are referred to as branch defects. This paper presents a methodology for analyzing spatial 4C mechanisms to eliminate circuit and branch defects in motion generation tasks. Copyright © 2000 by ASME.

关键词： Location

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Evolution of the autonomous surface craft AutoCat

Evolution of the autonomous surface craft AutoCat

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OCEANS

作者： J.E. Manley A. Marsh W. Cornforth C. Wiseman Research Engineer Sea Grant College Program Massachusetts Institute of Technology USA Bluefin Robotics Massachusetts Institute of Technology Cambridge MA USA Department of Ocean Engineering Undergraduate Students Massachusetts Institute of Technology Cambridge MA USA

At the MIT Sea Grant College program, autonomous surface craft (ASCs) have been under development since 1993. These systems have been designed for various missions and have demonstrated success in three separate iterations. The current goal of ASC research at MIT is to develop an easily deployed system that can serve as a tool for educational use, as a precision survey platform, and as a communications and navigation link to an AUV. In the past, this goal has been hampered by limitations in the mechanical design of the current system. Since September 1998 significant improvements have been made to the design of the current ASC. New power, propulsion, and control systems have been installed. These improve the performance of the vehicle and significantly reduce the mechanical and electronic failures that troubled the previous system. In addition, structural modifications have been made to make deployments and operations easier. These design improvements promise to make the ASC a more useful tool for, and provide greater service to, the Autonomous Underwater Vehicles Laboratory at MIT. The paper briefly presents the history of ASC development at MIT. It then documents the design changes made to the current vehicle. The problems experienced with the old designs are identified and the improvements represented by the new systems are explained. The paper concludes with a brief discussion of the next mission for the ASC.

关键词： Sea surface Remotely operated vehicles Educational institutions Navigation Propulsion Communication system control Control systems Underwater vehicles Laboratories History

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Survey of telesensation and teleoperation technology with virtual reality and force reflection capabilities

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International Journal of Modelling and Simulation 2000年第1期20卷 79-88页

作者： Batsomboon, Pattaraphol Tosunoglu, Sabri Repperger, Daniel W. Department of Mechanical Engineering Florida International University Miami FL 33199 United States Air Force Research Laboratory AFRL/HECP Wright Patterson Air Force Base Dayton OH 45433 United States Florida International University Miami FL United States Robotics and Automation Program FIU Department of Mechanical Engineering FIU FIU University of Texas Austin TX United States Robotics Research Program University of Florida Gainesville FL United States University of Florida Rensselaer Polytechnic Institute Troy NY United States Purdue University Eta Kappa Nu Tau Beta Pi Sigma Xi Wright Patterson Air Force Base Dayton OH United States US Air Force Department of Veterans Affairs

A telesensation system implies the ultimate goal of teleoperation. Such a system provides the operator with the sensational feelings of the remote site as if he/she were working in the actual environment. Thus, the performance of the system is greatly improved. This paper mainly reviews some of the existing units of the three most important elements in a telesensation system. These units are force-reflecting manual controllers, virtual reality units, and an advanced operator interface. The feel of touch is provided by the force-reflecting manual controller, while the virtual reality unit gives the operator the 3-D view of the working environment. The telesensation system, also implemented with the advanced operator interface, allows the operator to easily control, model, plan, and simulate remote systems. These features have proven to be the most significant feedback of telesensation systems.

关键词： Telecontrol equipment

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Development and application of a fault tolerance measure for serial and parallel robotic structures

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International Journal of Modelling and Simulation 1999年第1期19卷 45-51页

作者： Monteverde, V. Tosunoglu, S. Department of Mechanical Engineering Florida International University Miami FL 33199 United States Florida International University Miami FL United States Dimensional Control Systems Inc. Troy MI United States Department of Mechanical Engineering Florida International University University of Texas Robotics Research Program Austin TX United States University of Florida Gainesville FL United States ASME IEEE SME

As fault-tolerant systems develop, higher levels of reliability in robotic become achievable. With greater levels of fault tolerance and higher accessibility of robots in general, fault-tolerant characteristics of robotic systems will have to be distinguished. This paper develops and utilizes a fault-tolerant capacity measure to rank serial and parallel robotic architectures according to their inherent fault-tolerant capabilities. Four levels of fault-tolerant robotic architectures are distinguished at the joint, link, subsystem, and system levels. Robotic systems ranging from the most basic to the more complicated architectures are evaluated using the measure to provide a basis for comparison of their fault tolerance capabilities. The measure presents a tool for the designer to guide the robotic architecture and component selection process.

关键词： Fault tolerant computer systems

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Spades: Software for synthesizing spatial 4c mechanisms

Spades: Software for synthesizing spatial 4c mechanisms

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ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Larochelle, Pierre M. Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology MelbourneFL32901 United States

ISBN: (纸本)9780791880319

In this paper we present SPADES, an interactive graphics based software package for SPAtial mechanismDESign. The program provides a platform for the synthesis of a mechanism that guides a body through either three or four prescribed positions in space. The purpose of this work is to assemble the current spatial 4C synthesis theory into a software package that is useful for spatial mechanism design and research. © 1998 by ASME.

关键词： Software packages

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A new method of task specification for spherical mechanism design

A new method of task specification for spherical mechanism d...

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ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Tse, David M. Larochelle, Pierre M. Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology MelbourneFL32901 United States

ISBN: (纸本)9780791880319

In this paper we present a novel method for motion generation task specification for spherical mechanisms. This is accomplished with a new methodology for determining the optimal design sphere and the orientations on this design sphere for a finite set of desired spatial positions. In addition, we include a modification to the method which enables the designer to require that one of the n desired spatial positions be exactly preserved. The result is that designers can now specify spherical mechanismmotion generation tasks without having to introduce into the design space an artificial design sphere. They are now free to work in unconstrained three-dimensional space. The application of this new task specification technique is discussed in a design case study. © 1998 by ASME.

关键词： Spheres

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Sphinxcam: Computer-aided manufacturing for spherical mechanisms

Sphinxcam: Computer-aided manufacturing for spherical mechan...

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ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Ketchel, John S. Larochelle, Pierre M. Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology MelbourneFL32901 United States

ISBN: (纸本)9780791880319

In this paper we present SPHINXCAM, a computer-aided manufacturing software for spherical four-bar mechanisms. The kinematics of spherical mechanisms are reviewed as they pertain to their manufacture. This is followed by a brief review of some of the current computer-aided design (CAD) software for spherical four-bar mechanisms, e.g. SPHINX, SPHINXPC, and ISIS. These software packages provide the three-dimensional visualization and computational capabilities necessary to design spherical four-bar mechanisms. However, to date no tools exist to aid in the manufacture of spherical mechanisms. SPHINXCAM, when used with the CAD tools mentioned above, facilitates the design, visualization, and manufacture of spherical four-bar mechanisms. © 1998 by ASME.

关键词： Visualization

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A classification scheme for planar 4r, spherical 4r, and spatial rccc linkages to facilitate computer animation

A classification scheme for planar 4r, spherical 4r, and spa...

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ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Murray, Andrew P. Larochelle, Pierre M. Department of Mechanical and Aerospace Engineering University of Dayton DaytonOH45469-0210 United States Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology Melbourne FL32901 United States

ISBN: (纸本)9780791880319

In this paper we develop a complete classification scheme for planar, spherical and spatial four-bar linkages. The goal of this classification is to note all of the subtleties of motion that an arbitrary set of four link lengths can define. A classification should exist only between the mechanisms that exhibit similar ranges of motion at both the input and output. In the planar case, three parameters being identified as either positive, negative, or zero are necessary to completely characterize all possible ranges of motion. In the spherical and spatial cases, four parameters being identified as positive, negative or zero are needed. The result is 27 classifications of planar mechanisms and 81 for spherical and spatial RCCC mechanisms. © 1998 by ASME.

关键词： Spheres

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