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At least 847 records · Page 47

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NASA NTRS1987

Certainty grids for mobile robots

A numerical representation of uncertain and incomplete sensor knowledge called Certainty Grids has been used successfully in several mobile robot control programs, and has proven itself to be a powerful and efficient unifying solution for sensor fusion, motion planning, landmark identification, and many other central problems. Researchers propose to build a software framework running on processors onboard the new Uranus mobile robot that will maintain a probabilistic, geometric map of the robot's surroundings as it moves. The certainty grid representation will allow this map to be incrementally updated in a uniform way from various sources including sonar, stereo vision, proximity and contact sensors. The approach can correctly model the fuzziness of each reading, while at the same time combining multiple measurements to produce sharper map features, and it can deal correctly with uncertainties in the robot's motion. The map will be used by planning programs to choose clear paths, identify locations (by correlating maps), identify well-known and insufficiently sensed terrain, and perhaps identify objects by shape. The certainty grid representation can be extended in the same dimension and used to detect and track moving objects.

Moravec, H. P.↗

NASA NTRS1987

A natural-language interface to a mobile robot

The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot.

Michalowski, S.↗

NASA NTRS1989

Proceedings of the Mobile Satellite System Architectures and Multiple Access Techniques Workshop

The Mobile Satellite System Architectures and Multiple Access Techniques Workshop served as a forum for the debate of system and network architecture issues. Particular emphasis was on those issues relating to the choice of multiple access technique(s) for the Mobile Satellite Service (MSS). These proceedings contain articles that expand upon the 12 presentations given in the workshop. Contrasting views on Frequency Division Multiple Access (FDMA), Code Division Multiple Access (CDMA), and Time Division Multiple Access (TDMA)-based architectures are presented, and system issues relating to signaling, spacecraft design, and network management constraints are addressed. An overview article that summarizes the issues raised in the numerous discussion periods of the workshop is also included.

Dessouky, Khaled↗

NASA NTRS1989

Why is CDMA the solution for mobile satellite communication

It is demonstrated that spread spectrum Code Division Multiple Access (CDMA) systems provide an economically superior solution to satellite mobile communications by increasing the system maximum capacity with respect to single channel per carrier Frequency Division Multiple Access (FDMA) systems. Following the comparative analysis of CDMA and FDMA systems, the design of a model that was developed to test the feasibility of the approach and the performance of a spread spectrum system in a mobile environment. Results of extensive computer simulations as well as laboratory and field tests results are presented.

Gilhousen, Klein S.↗

NASA NTRS1989

Mobile satellite system fade statistics for shadowing and multipath from roadside trees at UHF and L-band

Field tests related to planned mobile satellite systems were performed, and results that add to the existing database of propagation measurements at L-band (1.5 GHz) are described. They are considered particularly useful in that propagation effects were studied systematically, with repeated and controlled runs pertaining to different path elevation angles, road types, and path geometries defining shadowing and line-of-sight modes. In addition, simultaneous L-band and UHF measurements were performed for the purpose of establishing scaling factors applicable to previous UHF (870 MHz) results. The control of the experimental parameters was made possible by using a helicopter as the source platform and a mobile van to house the receiver.

Goldhirsh, Julius↗

NASA NTRS1990

Mechanically-Steered, Mobile Satellite-Tracking Antenna

Signal from satellite tracked in moving vehicle. L-band, mechanically-steered, medium-gain antenna part of prototype radio equipment mounted in vehicle to demonstrate concept of land-mobile/satellite communication system. Provides such services as mobile telephone, voice or alphanumeric dispatch, paging, position-location information, and low-rate data transmission, for users within continental United States and Alaska. Antenna rotated mechanically until it finds direction from which maximum signal comes. Rate sensors provide inertial frame of reference during acquisition, so antenna locks onto signal even when vehicle turning.

Bell, D. J.↗

NASA NTRS1990

Mobile Uninterruptible Power Supply

Proposed mobile unit provides 20 kVA of uninterruptible power. Used with mobile secondary power-distribution centers to provide power to test equipment with minimal cabling, hazards, and obstacles. Wheeled close to test equipment and system being tested so only short cable connections needed. Quickly moved and set up in new location. Uninterruptible power supply intended for tests which data lost or equipment damaged during even transient power failure.

Mears, Robert L.↗

NASA NTRS1986

Independent Orbiter Assessment (IOA): Analysis of the extravehicular mobility unit

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the hardware to determine failure modes, criticality, and potential critical items (PCIs). To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. This report documents the independent analysis results corresponding to the Extravehicular Mobility Unit (EMU) hardware. The EMU is an independent anthropomorphic system that provides environmental protection, mobility, life support, and communications for the Shuttle crewmember to perform Extravehicular Activity (EVA) in Earth orbit. Two EMUs are included on each baseline Orbiter mission, and consumables are provided for three two-man EVAs. The EMU consists of the Life Support System (LSS), Caution and Warning System (CWS), and the Space Suit Assembly (SSA). Each level of hardware was evaluated and analyzed for possible failure modes and effects. The majority of these PCIs are resultant from failures which cause loss of one or more primary functions: pressurization, oxygen delivery, environmental maintenance, and thermal maintenance. It should also be noted that the quantity of PCIs would significantly increase if the SOP were to be treated as an emergency system rather than as an unlike redundant element.

Raffaelli, Gary G.↗

NASA NTRS1989

Robust performance of multiple tasks by a mobile robot

While there have been many successful mobile robot experiments, only a few papers have addressed issues pertaining to the range of applicability, or robustness, of robotic systems. The purpose of this paper is to report results of a series of benchmark experiments done to determine and quantify the robustness of an integrated hardware and software system of a mobile robot.

Beckerman, Martin↗

NASA NTRS1990

Mobile transporter path planning

The use of a genetic algorithm (GA) for solving the mobile transporter path planning problem is investigated. The mobile transporter is a traveling robotic vehicle proposed for the space station which must be able to reach any point of the structure autonomously. Elements of the genetic algorithm are explored in both a theoretical and experimental sense. Specifically, double crossover, greedy crossover, and tournament selection techniques are examined. Additionally, the use of local optimization techniques working in concert with the GA are also explored. Recent developments in genetic algorithm theory are shown to be particularly effective in a path planning problem domain, though problem areas can be cited which require more research.

Baffes, Paul↗

NASA NTRS1989

Rice-obot 1: An intelligent autonomous mobile robot

The Rice-obot I is the first in a series of Intelligent Autonomous Mobile Robots (IAMRs) being developed at Rice University's Cooperative Intelligent Mobile Robots (CIMR) lab. The Rice-obot I is mainly designed to be a testbed for various robotic and AI techniques, and a platform for developing intelligent control systems for exploratory robots. Researchers present the need for a generalized environment capable of combining all of the control, sensory and knowledge systems of an IAMR. They introduce Lisp-Nodes as such a system, and develop the basic concepts of nodes, messages and classes. Furthermore, they show how the control system of the Rice-obot I is implemented as sub-systems in Lisp-Nodes.

Defigueiredo, R.↗

NASA NTRS1989

A comparison of the Shuttle remote manipulator system and the Space Station Freedom mobile servicing center

The Shuttle Remote Manipulator System is a mature system which has successfully completed 18 flights. Its primary functional design driver was the capability to deploy and retrieve payloads from the Orbiter cargo bay. The Space Station Freedom Mobile Servicing Center is still in the requirements definition and early design stage. Its primary function design drivers are the capabilities: to support Space Station construction and assembly tasks; to provide external transportation about the Space Station; to provide handling capabilities for the Orbiter, free flyers, and payloads; to support attached payload servicing in the extravehicular environment; and to perform scheduled and un-scheduled maintenance on the Space Station. The differences between the two systems in the area of geometric configuration, mobility, sensor capabilities, control stations, control algorithms, handling performance, end effector dexterity, and fault tolerance are discussed.

Taylor, Edith C.↗

NASA NTRS1988

Mobile transporter path planning using a genetic algorithm approach

The use of an optimization technique known as a genetic algorithm for solving the mobile transporter path planning problem is investigated. The mobile transporter is a traveling robotic vehicle proposed for the Space Station which must be able to reach any point of the structure autonomously. Specific elements of the genetic algorithm are explored in both a theoretical and experimental sense. Recent developments in genetic algorithm theory are shown to be particularly effective in a path planning problem domain, though problem areas can be cited which require more research. However, trajectory planning problems are common in space systems and the genetic algorithm provides an attractive alternative to the classical techniques used to solve these problems.

Baffes, Paul↗

NASA NTRS1990

Signalling design and architecture for a proposed mobile satellite network

In a frequency-division/demand-assigned multiple-access (FD/DAMA) architecture, each mobile subscriber must make a connection request to the Network Management Center before transmission for either open-end or closed-end services. Open-end services are for voice calls and long file transfer and are processed on a blocked-call-cleared basis. Closed-end services are for transmitting burst data and are processed on a first-come first-served basis. This paper presents the signalling design and architecture for non-voice services of an FD/DAMA mobile satellite network. The connection requests are made through the recently proposed multiple channel collision resolution scheme which provides a significantly higher throughput than the traditional slotted ALOHA scheme. For non-voice services, it is well known that retransmissions are necessary to ensure the delivery of a message in its entirety from the source to destination. Retransmission protocols for open-end and closed-end data transfer are investigated. The signal structure for the proposed network is derived from X-25 standards with appropriate modifications. The packet types and their usages are described in this paper.

Yan, T.-Y.↗

NASA NTRS1989

A FD/DAMA network architecture for the first generation land mobile satellite services

A frequency division/demand assigned multiple access (FD/DAMA) network architecture for the first-generation land mobile satellite services is presented. Rationales and technical approaches are described. In this architecture, each mobile subscriber must follow a channel access protocol to make a service request to the network management center before transmission for either open-end or closed-end services. Open-end service requests will be processed on a blocked call cleared basis, while closed-end requests will be processed on a first-come-first-served basis. Two channel access protocols are investigated, namely, a recently proposed multiple channel collision resolution scheme which provides a significantly higher useful throughput, and the traditional slotted Aloha scheme. The number of channels allocated for either open-end or closed-end services can be adaptively changed according to aggregated traffic requests. Both theoretical and simulation results are presented. Theoretical results have been verified by simulation on the JPL network testbed.

Yan, T.-Y.↗

NASA NTRS1990

A Mobile Satellite Experiment (MSAT-X) network definition

The network architecture development of the Mobile Satellite Experiment (MSAT-X) project for the past few years is described. The results and findings of the network research activities carried out under the MSAT-X project are summarized. A framework is presented upon which the Mobile Satellite Systems (MSSs) operator can design a commercial network. A sample network configuration and its capability are also included under the projected scenario. The Communication Interconnection aspect of the MSAT-X network is discussed. In the MSAT-X network structure two basic protocols are presented: the channel access protocol, and the link connection protocol. The error-control techniques used in the MSAT-X project and the packet structure are also discussed. A description of two testbeds developed for experimentally simulating the channel access protocol and link control protocol, respectively, is presented. A sample network configuration and some future network activities of the MSAT-X project are also presented.

Wang, Charles C.↗

NASA NTRS1990

Situationally Driven Local Navigation for Mobile Robots

For mobile robots to autonomously accommodate dynamically changing navigation tasks in a goal-directed fashion, they must employ navigation plans. Any such plan must provide for the robot's immediate and continuous need for guidance while remaining highly flexible in order to avoid costly computation each time the robot's perception of the world changes. Due to the world's uncertainties, creation and maintenance of navigation plans cannot involve arbitrarily complex processes, as the robot's perception of the world will be in constant flux, requiring modifications to be made quickly if they are to be of any use. This work introduces navigation templates (NaT's) which are building blocks for the construction and maintenance of rough navigation plans which capture the relationship that objects in the world have to the current navigation task. By encoding only the critical relationship between the objects in the world and the navigation task, a NaT-based navigation plan is highly flexible; allowing new constraints to be quickly incorporated into the plan and existing constraints to be updated or deleted from the plan. To satisfy the robot's need for immediate local guidance, the NaT's forming the current navigation plan are passed to a transformation function. The transformation function analyzes the plan with respect to the robot's current location to quickly determine (a few times a second) the locally preferred direction of travel. This dissertation presents NaT's and the transformation function as well as the needed support systems to demonstrate the usefulness of the technique for controlling the actions of a mobile robot operating in an uncertain world.

Slack, Marc Glenn↗

NASA NTRS1990

Vibration transmission through periodic structures using a mobility power flow approach

The transmission of vibrational power (time averaged) through multiple coupled (periodic) structures is examined. The analysis is performed in the frequency domain and the coupling between the sub-elements of the periodic structure is expressed in terms of structural mobility functions for the junction points and between the junction points of the sub-elements. Equal length spans between stiffeners or supports of the periodic structure are considered. Through the use of the mobility power flow approach, the influence of sub-element and junction parameters, including damping at the joints, can be investigated. The results from the analysis can be in the form of either structural intensity or alternatively structural power content for each of the sub-elements. The examples discussed are for a thin, perfectly periodic beam with a finite number of spans with different types of stiffeners and/or supports between the spans. The excitation of the structure is by a point load located midway along the first span.

Cuschieri, J. M.↗