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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Singleplex, multiplex and pooled sample real-time RT-PCR assays for detection of SARS-CoV-2 in an occupational medicine setting

Abstract For workplaces which cannot operate as telework or remotely, there is a critical need for routine occupational SARS-CoV-2 diagnostic testing. Although diagnostic tests including the CDC 2019-Novel Coronavirus (2019-nCoV) Real-Time RT-PCR Diagnostic Panel (CDC Diagnostic Panel) (EUA200001) were made available early in the pandemic, resource scarcity and high demand for reagents and equipment necessitated priority of symptomatic patients. There is a clearly defined need for flexible testing methodologies and strategies with rapid turnaround of results for (1) symptomatic, (2) asymptomatic with high-risk exposures and (3) asymptomatic populations without preexisting conditions for routine screening to address the needs of an on-site work force. We developed a distinct SARS-CoV-2 diagnostic assay based on the original CDC Diagnostic Panel (EUA200001), yet, with minimum overlap for currently employed reagents to eliminate direct competition for limited resources. As the pandemic progressed with testing loads increasing, we modified the assay to include 5-sample pooling and amplicon target multiplexing. Analytical sensitivity of the pooled and multiplexed assays was rigorously tested with contrived positive samples in realistic patient backgrounds. Assay performance was determined with clinical samples previously assessed with an FDA authorized assay. Throughout the pandemic we successfully tested symptomatic, known contact and travelers within our occupational population with a ~ 24–48-h turnaround time to limit the spread of COVID-19 in the workplace. Our singleplex assay had a detection limit of 31.25 copies per reaction. The three-color multiplexed assay maintained similar sensitivity to the singleplex assay, while tripling the throughput. The pooling assay further increased the throughput to five-fold the singleplex assay, albeit with a subtle loss of sensitivity. We subsequently developed a hybrid ‘multiplex-pooled’ strategy to testing to address the need for both rapid analysis of samples from personnel at high risk of COVID infection and routine screening. Herein, our SARS-CoV-2 assays specifically address the needs of occupational healthcare for both rapid analysis of personnel at high-risk of infection and routine screening that is essential for controlling COVID-19 disease transmission. In addition to SARS-CoV-2 and COVID-19, this work demonstrates successful flexible assays developments and deployments with implications for emerging highly transmissible diseases and future pandemics.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2025

Respiration Signal Pattern Analysis for Doppler Radar Sensor with Passive Node and Its Application in Occupancy Sensing of a Stationary Subject

Doppler radar node occupancy sensors are promising for applications in smart buildings due to their simple circuits and price advantage compared to quadrature radar sensors. However, single-channel sensitivity limitations may result in low sensitivity and misinterpreted motion rates if the detected subject is at or close to “null” points. We designed and tested a novel method to eliminate such limits, demonstrating that passive nodes can be used to detect a sedentary person regardless of position. This method is based on characteristics of chest motion due to respiration, found via both simulations and experiments based on a sinusoidal model and a more realistic model of cardiorespiratory motion. In addition, respiratory rate variability is considered to distinguish a true human presence from a mechanical target. Sensor node data were collected simultaneously with an infrared camera system, which provided a respiration signal reference, to test the algorithm with 19 human subjects and a mechanical target. The results indicate that a human presence was detected with 100% accuracy and successfully differentiated from a mechanical target in a controlled environment. The developed method can greatly improve the occupancy detection accuracy of single-channel radar-based occupancy sensors and facilitate their adoption in smart building applications.

Song, Chenyan↗
DOE OSTI2023

Seroprevalence of Brucella spp. and Rift Valley fever virus among slaughterhouse workers in Isiolo County, northern Kenya

Brucella spp. and Rift Valley fever virus (RVFV) are classified as priority zoonotic agents in Kenya, based on their public health and socioeconomic impact on the country. Data on the pathogen-specific and co-exposure levels is scarce due to limited active surveillance. This study investigated seroprevalence and co-exposure of Brucella spp. and RVFV and associated risk factors among slaughterhouse workers in Isiolo County, northern Kenya. A cross-sectional serosurvey was done in all 19 slaughterhouses in Isiolo County, enrolling 378 participants into the study. The overall seroprevalences for Brucella spp. and RVFV were 40.2% (95% CI: 35.2–45.4) and 18.3% (95% CI: 14.5–22.5), respectively while 10.3% (95% CI 7.4%-13.8%) of individuals were positive for antibodies against both Brucella spp. and RVFV. Virus neutralisation tests (VNT) confirmed anti-RVFV antibodies in 85% of ELISA-positive samples. Our seroprevalence results were comparable to community-level seroprevalences previously reported in the area. Since most of the study participants were not from livestock-keeping households, our findings attribute most of the detected infections to occupational exposure. The high exposure levels indicate slaughterhouse workers are the most at-risk population and there is need for infection, prevention, and control programs among this high-risk group. This is the first VNT confirmation of virus-neutralising antibodies among slaughterhouse workers in Isiolo County and corroborates reports of the area being a high-risk RVFV area as occasioned by previously reported outbreaks. This necessitates sensitization campaigns to enhance awareness of the risks involved and appropriate mitigation measures.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1990

Surface electrons in inverted layers of p-HgCdTe

Anodic oxide passivation of p-type HgCdTe generates an inversion layer. Extremely high Hall mobility data for electrons in this layer indicated the presence of a two-dimensional electron gas. This is verified by use of the Shubnikov-de Haas effect from 1.45 to 4.15 K. Data are extracted utilizing a numerical second derivative of dc measurement. Three sub-bands are detected. Their relative occupancies are in excellent agreement with theory and with experimental results obtained on anodic oxide as accumulation layers of n-type HgCdTe. The effective mass derived is comparable to what was expected.

Schacham, Samuel E.↗
NASA NTRS2020

Acoustic space occupancy: Combining ecoacoustics and lidar to model biodiversity variation and detection bias across heterogeneous landscapes

There is global interest in quantifying changing biodiversity in human-modified landscapes. Ecoacoustics may offer a promising pathway for supporting multi-taxa monitoring, but its scalability has been hampered by the sonic complexity of biodiverse ecosystems and the imperfect detectability of animal-generated sounds. The acoustic signature of a habitat, or soundscape, contains information about multiple taxa and may circumvent species identification, but robust statistical technology for characterizing community-level attributes is lacking. Here, we present the Acoustic Space Occupancy Model, a flexible hierarchical framework designed to account for detection artifacts from acoustic surveys in order to model biologically relevant variation in acoustic space use among community assemblages. We illustrate its utility in a biologically and structurally diverse Amazon frontier forest landscape, a valuable test case for modeling biodiversity variation and acoustic attenuation from vegetation density. We use complementary airborne lidar data to capture aspects of 3D forest structure hypothesized to influence community composition and acoustic signal detection. Our novel analytic framework permitted us to model both the assembly and detectability of soundscapes using lidar-derived estimates of forest structure. Our empirical predictions were consistent with physical models of frequency-dependent attenuation, and we estimated that the probability of observing animal activity in the frequency channel most vulnerable to acoustic attenuation varied by over 60%, depending on vegetation density. There were also large differences in the biotic use of acoustic space predicted for intact and degraded forest habitats, with notable differences in the soundscape channels predominantly occupied by insects. This study advances the utility of ecoacoustics by providing a robust modeling framework for addressing detection bias from remote audio surveys while preserving the rich dimensionality of soundscape data, which may be critical for inferring biological patterns pertinent to multiple taxonomic groups in the tropics. Our methodology paves the way for greater integration of remotely sensed observations with high-throughput biodiversity data to help bring routine, multi-taxa monitoring to scale in dynamic and diverse landscapes.

Airborne lidar↗
DOE OSTI2023

Spatially Adaptive Tunable Lighting Control System with Expanded Wellness and Energy Saving Benefits

Lighting design is becoming increasingly complex, including active dimming for energy savings and spectral tuning for human wellbeing. Modern commercial lighting control systems are already difficult to use, and maintain, and even with so-called Smart Lighting, optimizing light settings is rapidly exceeding the capabilities of direct human control, limiting the adoption of lighting control systems. The growing importance of Occupancy Centric Controls (OCC) for advanced building management systems can be applied to the development of autonomous lighting system controls needed to drive the adoption of advanced lighting controls for improved adaptive “sculpted illumination” for both greater energy savings and broader human wellbeing perspectives. This project, led by Rensselaer Polytechnic Institute, entitled “Spatially adaptive tunable lighting control system with expanded wellness and energy saving benefits” will develop and test an entirely new platform for automated optimized lighting design and control that requires little or no human engagement, yet contours lighting profiles automatically to minimize lighting energy use. We call this approach to lighting control “dynamic light sculpting” since the right amount of illumination is automatically delivered to occupants in real time. Since the system uses new, privacy-preserving occupant position and pose detection technologies developed by Rensselaer for broad OCC building applications, the control system will analyze how to deliver the right amount of the right type of illumination only where and when it is needed based these OCC platforms. To create these powerful autonomous lighting control platforms, the project will integrate evolving augmented reality (AR) and virtual reality (VR) tools with sophisticated lighting and interior design toolkits to create interactive lighting design and control simulators. Using the quickly growing paradigm of digital twins, these tools will integrate light fixture properties, occupancy sensor data, interior design data, and lighting specifications to accurately visualize how various design concepts interact with simulated yet realistic human activities that occur in commercial office buildings of various types. These advanced digital twin design and simulation tools will be combined with a new class of digitally-programmable LED lighting fixtures that can dynamically change the spectral content and direction of light emission. When fully integrated, the new autonomous lighting control system will take all of the guesswork out of optimizing light quality while minimizing energy consumption. Digital twin tools will simplify the design, installation, commissioning, operation, and maintenance of future energy-efficient lighting systems. It should be possible to reduce lighting energy costs from 40% to 70% with OCC based dynamic light sculpting systems. The work will be led by the Center for Lighting Enabled Systems and Applications (LESA) and the Center for Architectural Science and Ecology (CASE), both at Renssealer Polytechnic Institute; Lumileds, a global leader in the development of advanced LED systems; and HKS, a leading global architecture design firm. This interdisciplinary project team’s experience includes all of the design simulation tools, VR/AR digital twin visualization technology, advanced occupancy sensing technology, and complex control system design capabilities that will revolutionize lighting design and control technology to autonomously deliver high-quality lighting that improves human health and wellbeing while simultaneously maximizing lighting energy savings.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2021

Indoor Occupant Counting by RF Backscattering

Building HVAC (heating, ventilation and air conditioning) consumes approximately 13% of all energy consumption in USA. Motion detectors, cameras and user programmable thermostats have been shown to be ineffective for HVAC controls to save energy, mostly due to the user concerns of comfort, reliability and privacy. A new HVAC control system based on real-time occupant counting that is fully automated, highly accurate, economically sensible and preserving privacy and aesthetics can thus bring forth a disruptive impact to this large energy sector. Our indoor occupant monitoring technology is based on the radio-frequency identification system (RFID), deployed in the room, not on the occupants. One reader with four antennas can be deployed on the ceiling or behind the ceiling panels for every thousand square feet in home, office and assisted living, with or without room partitions. The sticker-like passive tag, 10 cents each and maintenance-free, are profusely hidden on the wall or inside the furniture at arbitrary position, preserving privacy and aesthetics. The large number of tags can realize diverse observation points to accommodate arbitrary room layouts, which is impractical by other active units of camera, infrared, radar or lidar. With 20 tags, the system can reliably detect the number of occupants. For 100 tags, occupant posture and location can be known. The technology has been verified in the research labs and test buildings with very high accuracy. When the real-time occupant number can be accurately known without assuming devices on occupants or occupant motion, the building HVAC system can be automated to achieve building energy saving without sacrificing occupant comfort. According to our limited testing in a few types of building models and the simplified cost calculation, the RFID system has low overall cost in production, deployment, operation and maintenance. The signal processing algorithm based on machine learning requires very small number of training cases as most learning is transferrable for various layouts, and very low computational needs during operation, according to our testing in four different room sizes and layouts. In our preliminary estimate from HVAC saving alone, the RFID system can potentially pay for itself within 1.5 years, in addition to the other enhancement in building automation systems (BAS). Our commercialization strategy and business pitch deck focus on venturing this Cornell occupant monitoring technology into BAS and energy management markets. We have identified three broad BAS market segments of senior living, residential buildings, and office buildings. We have put together the minimum viable product characteristics for these identified segments, including analyses on total cost and competing technologies, as well as the fit and technical gaps for these market segments. We intend to bring the technology to market by licensing or partnering with existing BAS vendors. A list of potential collaborators and licensing partner candidates was assembled for different aspects of integrating our technology into a potential product that can be used with BAS.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2020

Literature Review for Sensor Impact Evaluation and Verification Use Cases - Building Controls and Fault Detection and Diagnosis (FDD)

This report summarizes a comprehensive literature review for the selected sensor suites used in building controls and fault detection and diagnostics (FDD), which is a Q2 deliverable of the Sensor Impact Evaluation and Verification project. The project’s overarching goal is to develop a framework for investigating the impact of sensor deployment and configuration for building energy optimization, fault detection and diagnosis (FDD), occupants’ thermal comfort, and potential grid efficiency. While the first phase of the literature review performed in Q1 reviewed the current methods of various sensor selection and placements and their impact, this report focuses on high impactful potential use cases for the selected sensor suites in building control and FDD. The use cases identified in this literature review will be further investigated and be included in the final sensor impact evaluation framework. For the review, the multi-laboratory team reviewed 241 research papers, technical reports, and books to identify existing technologies, the potential impact on energy savings and thermal comfort, and future research opportunities for the selected use cases in building controls and FDD. Along with the literature review, the team conducted a series of interviews with experts in sensors and controls area to identify the state-of-art sensor technologies, and the most impactful use cases in controls and FDD areas. The interview results will also be incorporated with the findings from the literature review in the next quarter, and the final use cases to be evaluated will be selected.

47 OTHER INSTRUMENTATION↗
NASA NTRS1972

Mg/2+/-Fe/2+/ order-disorder in cummingtonite, /Mg, Fe/7Si8O22/OH/2 - A new geothermometer.

Determination of the temperature dependence of the Mg(2+)-Fe(2+) distribution between the M4 site and the M1, M2 and M3 sites in magnesium-rich cummingtonites by Fe-57 Mossbauer resonance spectroscopy. For the basic reversible ion-exchange reaction involved, the Gibbs free energy is estimated to be 3.6 to 4.1 kcal/mole, assuming an ideal solution model at each set of sites. The crystallization temperatures of two cummingtonite-bearing metamorphosed ultrabasic rocks are estimated to be 265 and 290 deg C. The Mossbauer resonance spectra are found to be an effective basis for detecting changes in site occupancies as a function of temperature.

Ghose, S.↗
NASA NTRS1996

Monitoring occupational exposure to cancer chemotherapy drugs

Reports of the health effects of handling cytotoxic drugs and compliance with guidelines for handling these agents are briefly reviewed, and studies using analytical and biological methods of detecting exposure are evaluated. There is little conclusive evidence of detrimental health effects from occupational exposure to cytotoxic drugs. Work practices have improved since the issuance of guidelines for handling these drugs, but compliance with the recommended practices is still inadequate. Of 64 reports published since 1979 on studies of workers' exposure to these drugs, 53 involved studies of changes in cellular or molecular endpoints (biological markers) and 12 described chemical analyses of drugs or their metabolites in urine (2 involved both, and 2 reported the same study). The primary biological markers used were urine mutagenicity, sister chromatid exchange, and chromosomal aberrations; other studies involved formation of micronuclei and measurements of urinary thioethers. The studies had small sample sizes, and the methods were qualitative, nonspecific, subject to many confounders, and possibly not sensitive enough to detect most occupational exposures. Since none of the currently available biological and analytical methods is sufficiently reliable or reproducible for routine monitoring of exposure in the workplace, further studies using these methods are not recommended; efforts should focus instead on wide-spread implementation of improved practices for handling cytotoxic drugs.

Review, Academic↗
DOE OSTI2022

Integrating Public Health Surveillance and Environmental Data to Model Presence of Histoplasma in the United States

In the United States, the true geographic distribution of the environmental fungus Histoplasma capsulatum remains poorly understood but appears to have changed since it was first characterized. Histoplasmosis is caused by inhalation of the fungus and can range in severity from asymptomatic to life-threatening. Due to limited public health surveillance and under detection of infections, it is challenging to directly use reported case data to characterize spatial risk. Using monthly and yearly county-level public health surveillance data and various environmental and socioeconomic characteristics, we use a spatio-temporal occupancy model to estimate latent, or unobserved, presence of H. capsulatum , accounting for imperfect detection of histoplasmosis cases. We estimate areas with higher probabilities of the presence of H. capsulatum in the East North Central states around the Great Lakes, reflecting a shift of the endemic region to the north from previous estimates. The presence of H. capsulatum was strongly associated with higher soil nitrogen levels. In this investigation, we were able to mitigate challenges related to reporting and illustrate a shift in the endemic region from historical estimates. This work aims to help inform future surveillance needs, clinical awareness, and testing decisions for histoplasmosis.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2021

Large Game Distribution Camera Study at Los Alamos National Laboratory [Poster]

The unique habitats at the Laboratory support a diverse community of wildlife. The habitat types that include Pinon Juniper, Ponderosa Pine, and Mixed-conifer forests each provide different resources important for a variety of species. Wildlife monitoring for large game animals can be challenging because they avoid interactions with humans, and prefer undeveloped areas. This study was conducted to analyze the distribution of predators and other game animals seasonally across the Laboratory. The data gathered will be used to make recommendations regarding wildlife management for conservation and protection. Utilizing game cameras to remotely monitor wildlife was determined to be the most effective, noninvasive method to gather the necessary data. As camera technology has advanced, game cameras have become adequate for documenting individuals, and are commonly used in wildlife studies on predation, abundance, occupancy, diversity, and endangered species detection. Twenty cameras were placed across the LANL landscape using a modified systematic sampling design. They were deployed in February 2018 and retrieved in January 2019, thus each camera sampled for one full year. All images were reviewed and the species, number, age, and sex of all animals in the photo were recorded. Here we present data for the most abundant species encountered: deer, elk, coyote, bear, bobcat, mountain lion, and fox respectively. The data were summarized by species and season. Future work will include occupancy modelling for each species. This will allow the development of heat maps showing species distributions across the Laboratory.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

Large Game Distribution Camera Study at Los Alamos National Laboratory

The unique habitats at the Laboratory support a diverse community of wildlife. The habitat types that include Pinon Juniper, Ponderosa Pine, and Mixed-conifer forests each provide different resources important for a variety of species. Wildlife monitoring for large game animals can be challenging because they avoid interactions with humans, and prefer undeveloped areas. This study was conducted to analyze the distribution of predators and other game animals seasonally across the Laboratory. This research informs decisions regarding wildlife management recommendations for conservation and protection. This study utilized game cameras to remotely monitor wildlife. As camera technology has advanced, game cameras have become adequate for documenting individuals, and are commonly used in wildlife studies on predation, abundance, occupancy, diversity, and endangered species detection. Twenty cameras were placed across the LANL landscape using a modified systematic sampling design. They were deployed in February 2018 and retrieved in January 2019, thus each camera sampled for one full year. All images were reviewed and the species, number, age, and sex of all animals in the photo were recorded. Here we present data for the most abundant species encountered: deer, elk, coyote, bear, bobcat, mountain lion, and fox respectively. The data were summarized by species and season. Future work will include occupancy modelling for each species. This will allow the development of heat maps showing species distributions across the Laboratory.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2023

The Integration of Wi-Fi Location-Based Services to Optimize Energy Efficient Commercial Building Operations

This project investigated and demonstrated the use of Wi-Fi Location-Based Services (LBS) to perform occupancy sensing in commercial buildings. Wi-Fi LBS can be used to detect the presence of Wi-Fi enabled mobile devices and laptops that accompany occupants as they move through the building. These signals can be used to determine occupant presence, head count, and location. When integrated with the building automation system, this emerging technology approach can be used to manage other connected systems such as lighting and HVAC to reduce energy usage in the building and improve occupant comfort. An open source location detection algorithm was developed, which uses data collected from three or more Wi-Fi access points to determine the presence and estimate the location of mobile devices and laptops. Access points can detect Wi-Fi enabled devices even if they are not connected to the existing Wi-Fi network. Building occupancy is determined based on the presence, location, and movement of these devices through the space. From lab and small-scale in-situ testing, the Location Detection Algorithm (LDA) was found to be accurate to within 10 feet and could be further refined by tuning the algorithm for the specific space characteristics such as layout and obstructions (walls, furniture, etc.). An open source method to integrate the occupancy data with existing building automations systems was investigated. The Wi-Fi occupancy sensing approach was then demonstrated and validated at commercial buildings located in Saint Paul, MN; Madison, WI; New York City; and Fort Worth, TX.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2022

Using Wi-Fi Location-Based Services (LBS) for Commercial Building Occupancy Sensing

From May 2019 through October 2022, this DOE-funded project investigated and demonstrated the use of Wi-Fi Location-Based Services (LBS) to perform occupancy sensing in commercial buildings. Wi-Fi LBS can be used to detect the presence of Wi-Fi enabled mobile devices and laptops that accompany occupants as they move through the building. These signals can be used to determine occupant presence, head count, and location. When integrated with the building automation system, this emerging technology approach can be used to manage other connected systems such as lighting and HVAC to reduce energy usage in the building and improve occupant comfort. An open source location detection algorithm was developed, which uses data collected from three or more Wi-Fi access points to determine the presence and estimate the location of mobile devices and laptops. Access points can detect Wi-Fi enabled devices even if they are not connected to the existing Wi-Fi network. Building occupancy is determined based on the presence, location, and movement of these devices through the space. From lab and small-scale in-situ testing, the Location Detection Algorithm (LDA) was found to be accurate to within 10 feet and could be further refined by tuning the algorithm for the specific space characteristics such as layout and obstructions (walls, furniture, etc.). An open source method to integrate the occupancy data with existing building automations systems was investigated. The Wi-Fi occupancy sensing approach was then demonstrated and validated at two commercial buildings located in Minnesota and Wisconsin.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2020

Visualization of the HIV-1 Env glycan shield across scales

The dense array of N-linked glycans on the HIV-1 envelope glycoprotein (Env), known as the “glycan shield,” is a key determinant of immunogenicity, yet intrinsic heterogeneity confounds typical structure–function analysis. Here, we present an integrated approach of single-particle electron cryomicroscopy (cryo-EM), computational modeling, and site-specific mass spectrometry (MS) to probe glycan shield structure and behavior at multiple levels. We found that dynamics lead to an extensive network of interglycan interactions that drive the formation of higher-order structure within the glycan shield. This structure defines diffuse boundaries between buried and exposed protein surface and creates a mapping of potentially immunogenic sites on Env. Analysis of Env expressed in different cell lines revealed how cryo-EM can detect subtle changes in glycan occupancy, composition, and dynamics that impact glycan shield structure and epitope accessibility. Importantly, this identified unforeseen changes in the glycan shield of Env obtained from expression in the same cell line used for vaccine production. Finally, by capturing the enzymatic deglycosylation of Env in a time-resolved manner, we found that highly connected glycan clusters are resistant to digestion and help stabilize the prefusion trimer, suggesting the glycan shield may function beyond immune evasion.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1993

Cross-cultural attitudes of flight crew regarding CRM

This study asks if the Cockpit Management Attitude Questionnaire (CMAQ) can detect differences across countries, and/or across occupations. And if so, can those differences be interpreted? Research has shown that the CMAQ is sensitive to attitude differences between and within organizations, thereby demonstrating its effectiveness with American populations. But the CMAQ was originally designed by American researchers and psychometrically refined for American pilots. The items in the questionnaire, though general in nature, still reflect the ubiquitous Western bias, because the items were written by researchers from and for the one culture. Recognizing this constraint, this study is nonetheless interested in attitudes toward crew behavior, and how those attitudes may vary across country and occupation.

Merritt, Ashleigh↗
NASA NTRS2005

Autonomous Navigation by a Mobile Robot

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

Huntsberger, Terrance↗