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NASA Crew Earth Observations: A Long-Term Dataset for Earth System Research, Applications, and Education

Polar orbit; Sun-synchronous - designed for long term repeatability of data, Typically nadir viewing, crosses every point on Earth ~ 12-14 days near local solar noon/local midnight, Landsat series collecting data since 1972, Pointing capability, satellite constellations. Inclined Equatorial Orbit: ISS; Sun-asynchronous - similar illumination 3-4 days every 90 days, Nadir to highly oblique imagery possible from hand-held cameras, WORF, external sensors, Provides opportunity to collect unique datasets for scientific study, disaster response, Data is complementary to polar-orbiting satellite data.

Stefanov, William L.↗

A New Approach to Monitoring Solvent Extraction Processes for the Nuclear Industry

As part of an initiative to steward research, development, and innovation into the nuclear fuel cycle, Idaho National Laboratory is building the Beartooth testbed. Beartooth will include a cascade of centrifugal contactors, glove box lines, solidification, and dissolution equipment to aid in the progression of novel separation techniques and provide hands-on opportunities to early-career separation scientists. Beartooth will incorporate novel monitoring techniques using sensors and machine learning algorithms to inform a process operator of separation conditions. This research is examining monitoring technologies not typically used in nuclear separation processes such as acoustic microphones, accelerometers, infrared cameras, red-green-blue color sensors, among others. These sensors are being examined for their functionality within a separation process and their ability to detect applicable signals. Machine learning methods are being developed to determine their utility in detecting faults and alerting operators of expected and unexpected events. These methods have the potential to impact Safeguards by Design efforts and real-time decision making. This overview will detail preliminary results from acoustic, vibration, and color sensors.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Design for the Structure and the Mechanics of Moballs

The moball is envisioned to be a round, self-powered, and wind-driven multifunctioning sensor used in the Gone with the Wind ON-Mars (GOWON) [http://www.lpi.usra.edu/meetings/ marsconcepts2012/pdf/4238.pdf]: A Wind-Driven Networked System of Mobile sensors on Mars. The moballs would have sensing, processing, and communication capabilities. The moballs would perform in situ detection of key environmental elements such as vaporized water, trace gases, wind, dust, clouds, light and UV exposure, temperature, as well as minerals of interest, possible biosignatures, surface magnetic and electric fields, etc. The embedded various low-power micro instruments could include a Multispectral Microscopic Imager (to detect various minerals), a compact curved focal plane array camera (UV/Vis/NIR) with a large field of view, a compact UV/Visible spectrometer, a micro-weather station, etc. The moballs could communicate with each other and an orbiter. Their wind- or gravity-driven rolling movement could be used to harvest and store electric energy. They could also generate and store energy using the sunlight, when available, and the diurnal temperature variations on Mars. The moballs would be self-aware of their (and their neighbors ) positions, energy storage, and memory availability; they would have processing power and could intelligently cooperate with neighboring moballs by distributing tasks, sharing data, and fusing information. The major advantages of using the wind-driven and spherical moball network over rovers or other fixed sensor webs to explore Mars would be: (1) moballs could explore a much larger expanse of Mars in a much faster fashion, (2) they could explore the difficult terrains such as steep slopes and sand dunes, and (3) they would be self-energy- generating and could work together and move around autonomously. The challenge in designing the structure and the mechanics of the moball would be that it should be sturdy enough to withstand the impact of its initial fall, as well as other impacts from obstacles in its way. A mechanism would be needed that could enable hundreds of moballs to be carried while they would be deflated and compact, then would inflate them just after deploying them to their drop site. Furthermore, the moballs should also be light enough to allow them to move easily over obstacles by force of the wind. They also should have some kind of maneuvering mechanism in place to help them avoid very hazardous sharp objects or events, and to enable them to get closer to the objects of interest. The structure of the moballs was designed so that they would have different layers. The outer layer should comprise a sturdy, yet light, polymer that could withstand both the impact of the initial drop, as well as the impact of the different obstacles it would encounter while traversing the surface of Mars. This polymer should not deteriorate with the 100 K daily temperature swings on Mars. The inner layer should consist of a very light gas such as nitrogen or helium. In terms of maneuvering, six very light weights placed at strategic locations would give moballs the ability to turn, or even hop, over hazardous (e.g., sharp) obstacles, or even initiate a movement (before getting more help from the wind to be carried around) when stuck. Maneuvering would be necessary in order to get closer to objects of interest. If the weights would be allowed to move freely, they could also be used to generate energy.

Davoodi, Faranak↗

Rocket studies of solar corona and transition region

The XSST (X-Ray Spectrometer/Spectrograph Telescope) rocket payload launched by a Nike Boosted Black Brant was designed to provide high spectral resolution coronal soft X-ray line information on a spectrographic plate, as well as time resolved photo-electric records of pre-selected lines and spectral regions. This spectral data is obtained from a 1 x 10 arc second solar region defined by the paraboloidal telescope of the XSST. The transition region camera provided full disc images in selected spectral intervals originating in lower temperature zones than the emitting regions accessible to the XSST. A H-alpha camera system allowed referencing the measurements to the chromospheric temperatures and altitudes. Payload flight and recovery information is provided along with X-ray photoelectric and UV flight data, transition camera results and a summary of the anomalies encountered. Instrument mechanical stability and spectrometer pointing direction are also examined.

Acton, L. W.↗

Space Telescope - A versatile new instrument

The design, in-orbit operation and projected performance of the Space Telescope are discussed. The telescope will be in a moderately low earth orbit and communicate with the earth through the Tracking and Data Relay Satellite and directly for a few minutes each orbit. The optical system contains a 2.4-m mirror in a standard Cassegrain configuration, with four axial instrument positions and one radial and a fine guidance sensor which will allow the maintenance of telescope pointing during an observation to seven thousandths of an arcsec. The satellite will be launched by the Space Shuttle, and is capable of being serviced in space or recaptured and brought back to earth for more extensive modifications. The telescope employs a fairly standard Ritchey-Chretian optical design with a primary field of view of 18 arcmin and good mirror reflection of wavelengths from 1100 A to 1 mm. Image quality will be very insensitive to wavelength, with image size on the order of 0.04 arcsec. Instruments to be carried on the first launch include a guidance system for astrometry, a wide-field and planetary camera, a faint object camera, a high resolution spectrograph, a faint object spectrograph and a high-speed photometer.

Roman, N.↗

The ESA mission to Comet Halley

The Europeon Space Agency's approximately Giotto mission plans for a launch in July 1985 with a Halley encounter in mid-March 1986 4 weeks after the comet's perihelion passage. Giotto carries 10 scientific experiments, a camera, neutral, ion and dust mass spectrometers, a dust impact detector system, various plasma analyzers, a magnetometer and an optical probe. The instruments are described, the principles on which they are based are described, and the experiment key performance data are summarized. The launch constraints the helicentric transfer trajectory, and the encounter scenario are analyzed. The Giotto spacecraft major design criteria, spacecraft subsystem and the ground system are described. The problem of hypervelocity dust particle impacts in the innermost part of the coma, the problem of spacecraft survival, and the adverse effects of impact-generated plasma aroung the spacecraft are considered.

Reinhard, R.↗

Physics of Hard Spheres Experiment: Significant and Quantitative Findings Made

Direct examination of atomic interactions is difficult. One powerful approach to visualizing atomic interactions is to study near-index-matched colloidal dispersions of microscopic plastic spheres, which can be probed by visible light. Such spheres interact through hydrodynamic and Brownian forces, but they feel no direct force before an infinite repulsion at contact. Through the microgravity flight of the Physics of Hard Spheres Experiment (PHaSE), researchers have sought a more complete understanding of the entropically driven disorder-order transition in hard-sphere colloidal dispersions. The experiment was conceived by Professors Paul M. Chaikin and William B. Russel of Princeton University. Microgravity was required because, on Earth, index-matched colloidal dispersions often cannot be density matched, resulting in significant settling over the crystallization period. This settling makes them a poor model of the equilibrium atomic system, where the effect of gravity is truly negligible. For this purpose, a customized light-scattering instrument was designed, built, and flown by the NASA Glenn Research Center at Lewis Field on the space shuttle (shuttle missions STS 83 and STS 94). This instrument performed both static and dynamic light scattering, with sample oscillation for determining rheological properties. Scattered light from a 532- nm laser was recorded either by a 10-bit charge-coupled discharge (CCD) camera from a concentric screen covering angles of 0 to 60 or by sensitive avalanche photodiode detectors, which convert the photons into binary data from which two correlators compute autocorrelation functions. The sample cell was driven by a direct-current servomotor to allow sinusoidal oscillation for the measurement of rheological properties. Significant microgravity research findings include the observation of beautiful dendritic crystals, the crystallization of a "glassy phase" sample in microgravity that did not crystallize for over 1 year in 1g (Earth's gravity), and the emergence of face-centered-cubic (FCC) crystals late in the coarsening process (as small crystallites lost particles to the slow ripening of large crystallites). Significant quantitative findings from the microgravity experiments have been developed describing complex interactions among crystallites during the growth process, as concentration fields overlap in the surrounding disordered phase. Time-resolved Bragg scattering under microgravity captures one effect of these interactions quite conclusively for the sample at a volume fraction of 0.528. From the earliest time until the sample is almost fully crystalline, the size and overall crystallinity grow monotonically, but the number of crystallites per unit volume (number density) falls. Apparently nucleation is slower than the loss of crystallites because of the transfer of particles from small to large crystals. Thus, coarsening occurs simultaneously with growth, rather than following the completion of nucleation and growth as is generally assumed. In the same sample, an interesting signature appears in the apparent number density of crystallites and the volume fraction within the crystallites shortly before full crystallinity is reached. A brief upturn in both indicates the creation of more domains of the size of the average crystallite simultaneous with the compression of the crystallites. Only the emergence of dendritic arms offers a reasonable explanation. The arms would be "seen" by the light scattering as separate domains whose smaller radii of curvature would compress the interior phase. In fiscal year 1999, numerous papers, a doctoral dissertation, and the PHaSE final report were produced. Although this flight project has been completed, plans are in place for a follow-on colloid experiment by Chaikin and Russel that employs a light microscope within Glenn's Fluids and Combustion Facility on the International Space Station. PHaSE is providing us with a deeper understanding of the nure of phase transitions. The knowledge derived has added to the understanding of condensed matter. In addition, the burgeoning study of the dynamics of colloidal self-assembly may lead to the development of a range of photonic materials that control the desirable properties of light. Thus, applications of ordered colloidal structures include not only ultrastructure ceramics, but also photonic crystals and photothermal nanosecond light-switching devices. Industries dealing with semiconductors, electro-optics, ceramics, and composites stand to benefit from such advancements.

Doherty, Michael P.↗

A Perfect View of Vesta: Creating Pointing Observations for the Dawn Spacecraft on Asteroid 4 Vesta

The Dawn spacecraft has a timely and clever assignment in store. It will take a close look at two intact survivors from the dawn of the solar system (asteroids 4 Vesta and 1 Ceres) to understand more about solar system origin and evolution. To optimize science return, Dawn must make carefully designed observations on approach and in survey orbit, high altitude mapping orbit, and low altitude mapping orbit at each body. In this report, observations outlined in the science plan are modeled using the science opportunity analyzer program for the Vesta encounter. Specifically, I encoded Dawn's flight rules into the program, modeled pointing profiles of the optical instruments (framing camera, visible infrared spectrometer) and mapped their fields of view onto Vesta's surface. Visualization of coverage will provide the science team with information necessary to assess feasibility of alternative observation plans. Dawn launches in summer 2006 and ends its journey in 2016. Instrument observations on Vesta in 2011 will supply detailed information about Vesta's surface and internal structure. These data will be used to analyze the formation and history of the protoplanet and, therefore, complete an important step in understanding the development of our solar system.

Hay, Katrina M.↗

Spacecraft hazard avoidance utilizing structured light

At JPL, a <5 kg free-flying micro-inspector spacecraft is being designed for host-vehicle inspection. The spacecraft includes a hazard avoidance sensor to navigate relative to the vehicle being inspected. Structured light was selected for hazard avoidance because of its low mass and cost. Structured light is a method of remote sensing 3-dimensional structure of the proximity utilizing a laser, a grating, and a single regular APS camera. The laser beam is split into 400 different beams by a grating to form a regular spaced grid of laser beams that are projected into the field of view of an APS camera. The laser source and the APS camera are separated forming the base of a triangle. The distance to all beam intersections of the host are calculated based on triangulation.

remote sensing↗

Assessment of Spatial Navigation and Docking Performance During Simulated Rover Tasks

INTRODUCTION: Following long-duration exploration transits, pressurized rovers will enhance surface mobility to explore multiple sites across Mars and other planetary bodies. Multiple rovers with docking capabilities are envisioned to expand the range of exploration. However, adaptive changes in sensorimotor and cognitive function may impair the crew s ability to safely navigate and perform docking tasks shortly after transition to the new gravitoinertial environment. The primary goal of this investigation is to quantify post-flight decrements in spatial navigation and docking performance during a rover simulation. METHODS: Eight crewmembers returning from the International Space Station will be tested on a motion simulator during four pre-flight and three post-flight sessions over the first 8 days following landing. The rover simulation consists of a serial presentation of discrete tasks to be completed within a scheduled 10 min block. The tasks are based on navigating around a Martian outpost spread over a 970 sq m terrain. Each task is subdivided into three components to be performed as quickly and accurately as possible: (1) Perspective taking: Subjects use a joystick to indicate direction of target after presentation of a map detailing current orientation and location of the rover with the task to be performed. (2) Navigation: Subjects drive the rover to the desired location while avoiding obstacles. (3) Docking: Fine positioning of the rover is required to dock with another object or align a camera view. Overall operator proficiency will be based on how many tasks the crewmember can complete during the 10 min time block. EXPECTED RESULTS: Functionally relevant testing early post-flight will develop evidence regarding the limitations to early surface operations and what countermeasures are needed. This approach can be easily adapted to a wide variety of simulated vehicle designs to provide sensorimotor assessments for other operational and civilian populations.

Wood, S. J.↗

Analytic Method for Computing Instrument Pointing Jitter

A new method of calculating the root-mean-square (rms) pointing jitter of a scientific instrument (e.g., a camera, radar antenna, or telescope) is introduced based on a state-space concept. In comparison with the prior method of calculating the rms pointing jitter, the present method involves significantly less computation. The rms pointing jitter of an instrument (the square root of the jitter variance shown in the figure) is an important physical quantity which impacts the design of the instrument, its actuators, controls, sensory components, and sensor- output-sampling circuitry. Using the Sirlin, San Martin, and Lucke definition of pointing jitter, the prior method of computing the rms pointing jitter involves a frequency-domain integral of a rational polynomial multiplied by a transcendental weighting function, necessitating the use of numerical-integration techniques. In practice, numerical integration complicates the problem of calculating the rms pointing error. In contrast, the state-space method provides exact analytic expressions that can be evaluated without numerical integration.

Bayard, David↗

The Hitomi X-Ray Observatory, Part 2

When it was launched on 17 February 2016, the Hitomi X-ray Observatory carried four kinds of new-generation x-ray instruments—the Soft X-ray Spectrometer (SXS), the Soft X-ray Imager (SXI), the Hard X-ray Imager (HXI), and the Soft Gamma-ray Detector (SGD). All four instruments were turned on and were in the process of activation at the time of loss of contact on 26 March 2016. In the time it was operational, Hitomi was able to provide researchers with a trove of ground-breaking scientific results. Initial results demonstrated that the instruments were meeting or exceeding requirements and that Hitomi was on its way to pioneering a new era of broad-band and high-resolution x-ray spectroscopy. The results published here summarize the in-flight instrument performance, calibration, and data processing accomplishments of the observatory. Of the papers accepted for publication in this special section, 17 were presented in Part 1 in the January-March 2018 issue of JATIS (Journal of Astronomical Telescopes, Instruments, and Systems). Ten more papers are presented here as Part 2 in the April-June 2018 issue. These papers cover the detailed in-flight performance of the four state-of the-art instruments on-board the Hitomi X-Ray Observatory. These instruments were extremely diverse in their design and principles of operation, ranging from low temperature x-ray calorimeters for high-resolution spectroscopy, CCDs (Charge-Coupled Devices) for wide field imaging, high fill-factor grazing incidence x-ray optics, including multilayer x-ray optics and silicon strip and CdTe strip detectors for high-energy imaging, and a Si/CdTe Compton cameras for extending the bandpass out to 600 kiloelectronvolts. All of these instruments operated as expected and for sufficient time to validate their operating principles and carry out first light scientific investigations, published elsewhere. Collectively, these instruments, all co-aligned and operated simultaneously, provided a tool for astronomers with unprecedented resolution and broadband sensitivity for investigating high-energy processes throughout the universe. These papers serve as part of the Hitomi legacy and will guide the next generation of instruments planned for future missions.

Kelley, Richard L.↗

High-speed Focal Plane Wave Front Sensing with an Optical Chopper

Focal plane wave front sensing and control is a critical approach to reducing noncommon path errors between a conventional astronomical adaptive optics (AO) wave front sensor (WFS) detector and a science camera. However, in addition to mitigating noncommon path errors, recent focal plane wave front sensing techniques have been developed to operate at speeds fast enough to enable "multi-WFS" AO, where residual atmospheric errors are further corrected by a focal plane WFS. Although a number of such techniques have been recently developed for coronagraphic imaging, here we present one designed for noncoronagraphic imaging. Utilizing conventional AO system components, this concept additionally requires (1) a detector imaging the focal plane of the WFS light source and (2) a pupil plane optical chopper device that is the noncommon path to the first WFS and is synchronized to the focal plane imager readout. These minimal hardware requirements enable the temporal amplitude modulation to resolve the sine ambiguity of even wave-front modes for low, mid, and high wave front spatial frequencies. Similar capabilities have been demonstrated with classical phase diversity by defocusing the detector, but such techniques are incompatible with simultaneous science observations. This optical chopping technique, however, enables science imaging at up to 50% duty cycle. In conclusion, we present both simulations and laboratory validation of this concept on SEAL, the Santa Cruz Extreme AO Laboratory testbed.

79 ASTRONOMY AND ASTROPHYSICS↗

Algorithms for detection of objects in image sequences captured from an airborne imaging system

This research was initiated as a part of the effort at the NASA Ames Research Center to design a computer vision based system that can enhance the safety of navigation by aiding the pilots in detecting various obstacles on the runway during critical section of the flight such as a landing maneuver. The primary goal is the development of algorithms for detection of moving objects from a sequence of images obtained from an on-board video camera. Image regions corresponding to the independently moving objects are segmented from the background by applying constraint filtering on the optical flow computed from the initial few frames of the sequence. These detected regions are tracked over subsequent frames using a model based tracking algorithm. Position and velocity of the moving objects in the world coordinate is estimated using an extended Kalman filter. The algorithms are tested using the NASA line image sequence with six static trucks and a simulated moving truck and experimental results are described. Various limitations of the currently implemented version of the above algorithm are identified and possible solutions to build a practical working system are investigated.

Kasturi, Rangachar↗

Walking a Fine Line

My division was charged with building a suite of cameras for the Mars Exploration Rover (MER) project. We were building the science cameras on the mass assembly, the microscope camera, and the hazard and navigation cameras for the rovers. Not surprisingly, a lot of folks were paying attention to our work - because there's really no point in landing on Mars if you can't take pictures. In Spring 2002 things were not looking good. The electronics weren't coming in, and we had to go back to the vendors. The vendors would change the design, send the boards back, and they wouldn't work. On our side, we had an instrument manager in charge who I believe has the potential to become a great manager, but when things got behind schedule he didn't have the experience to know what was needed to catch up. As division manager, I was ultimately responsible for seeing that all my project and instrument managers delivered their work. I had to make the decision whether or not to replace him.

Bothwell, Mary↗

Metrology of Large Parts

As discussed in the first chapter of this book, there are many different methods to measure a part using optical technology. Chapter 2 discussed the use of machine vision to measure macroscopic features such as length and position, which was extended to the use of interferometry as a linear measurement tool in chapter 3, and laser or other trackers to find the relation of key points on large parts in chapter 4. This chapter looks at measuring large parts to optical tolerances in the sub-micron range using interferometry, ranging, and optical tools discussed in the previous chapters. The purpose of this chapter is not to discuss specific metrology tools (such as interferometers or gauges), but to describe a systems engineering approach to testing large parts. Issues such as material warpage and temperature drifts that may be insignificant when measuring a part to micron levels under a microscope, as will be discussed in later chapters, can prove to be very important when making the same measurement over a larger part. In this chapter, we will define a set of guiding principles for successfully overcoming these challenges and illustrate the application of these principles with real world examples. While these examples are drawn from specific large optical testing applications, they inform the problems associated with testing any large part to optical tolerances. Manufacturing today relies on micrometer level part performance. Fields such as energy and transportation are demanding higher tolerances to provide increased efficiencies and fuel savings. By looking at how the optics industry approaches sub-micrometer metrology, one can gain a better understanding of the metrology challenges for any larger part specified to micrometer tolerances. Testing large parts, whether optical components or precision structures, to optical tolerances is just like testing small parts, only harder. Identical with what one does for small parts, a metrologist tests large parts and optics in particular to quantify their mechanical properties (such as dimensions, mass, etc); their optical prescription or design (i.e. radius of curvature, conic constant, vertex location, size); and their full part shape. And, just as with small parts, a metrologist accomplishes these tests using distance measuring instruments such as tape measures, inside micrometers, coordinate measuring machines, distance measuring interferometers; angle measuring instruments such as theodolites, autocollimators; and surface measuring instruments including interferometers, stylus profilers, interference microscopes, photogrammetric cameras, or other tools. However, while the methodology may be similar, it is more difficult to test a large object for the simple reason that most metrologists do not have the necessary intuition. The skills used to test small parts or optics in a laboratory do not extrapolate to testing large parts in an industrial setting any more than a backyard gardener might successfully operate a farm. But first, what is a large part? A simple definition might be the part's size or diameter. For optics and diffuse surface parts alike, the driving constraint is ability to illuminate the part's surface. For reflective convex mirrors, large is typically anything greater than 1 meter. But, for refractive optics, flats or convex mirrors, large is typically greater than 0.5 meter. While a size definition is simple, it may be less than universal. A more nuanced definition might be that a large part is any component which cannot be easily tested in a standard laboratory environment, on a standard vibration isolated table using standard laboratory infrastructure. A micro-switch or a precision lens might be easily measured to nanometer levels under a microscope in a lab, but a power turbine spline or a larger telescope mirror will not fit under that microscope and may not even fit on the table.

Stahl, H. Philip↗

Microcam: A Low Power and Privacy Preserving Multi-modal Platform for Occupancy Detection (Final Report)

Heating, ventilation, and air conditioning (HVAC) consumes a significant portion of the energy used in buildings. Much of this is wasted energy, used when buildings are either not occupied at all, or occupied well under their maximum design conditions. This project has focused on residential occupancy detection to autonomously control HVAC systems and save energy. Limitations of existing occupancy sensors include one or more of the following: (i) they employ sensors or algorithms that are not able to detect stationary occupants; (ii) they cannot classify the source of the motion (such as a pet); (iii) depending on the camera resolution and employed algorithms, they do not allow for embedded or onboard computation, and require external or cloud-based processing; (iv) many algorithms developed for camera-based systems are sensitive to lighting changes, and thus prone to missed detections or false alarms; (v) Most existing systems depend on adjustment of settings for different scenarios, complicating self-commissioning; (vi) they cannot provide high enough accuracy; (vii) they are costly; (viii) they are not battery-powered, thus limiting ease of use and installation. In this project, Syracuse University and its partner SRI have developed a low-cost, high accuracy, standalone residential occupancy sensing platform, referred to as the MicroCam, to address all of the aforementioned challenges. MicroCam can operate on typical alkaline batteries without relying on the “cloud” or external computing resources, and consists of low-power, Artificial Intelligence (AI)-based, IoT platforms. Each platform has multi-modal sensors and can process motion, audio and video data, and send binary occupancy result to a lead platform. All sensor data is processed locally on platforms, and the only transmitted data is the binary occupancy state. In addition, preliminary work has been done on images wherein occupants are not discernable. Thus, MicroCam is a standalone solution preserving privacy of the occupants.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Autonomous Mobile Platform for Research in Cooperative Robotics

This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.

Daemi, Ali↗