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At least 19 records

Behavior-based multi-robot collaboration for autonomous construction tasks

The Robot Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous construction of a structure through assembly of Long components. The two robot team demonstrates component placement into an existing structure in a realistic environment. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. A behavior-based architecture provides adaptability. The RCC approach minimizes computation, power, communication, and sensing for applicability to space-related construction efforts, but the techniques are applicable to terrestrial construction tasks.

autonomous construction

Behavior-Based Multi-Robot Collaboration for Autonomous Construction Tasks

We present a heterogeneous multi-robot system for autonomous construction of a structure through assembly of long components. Placement of a component within an existing structure in a realistic environment is demonstrated on a two-robot team. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. Far adaptability, the system is designed as a behavior-based architecture. Far applicability to space-related construction efforts, computation, power, communication, and sensing are minimized, though the techniques developed are also applicable to terrestrial construction tasks.

autonomous construction

Precision Manipulation with Cooperative Robots

This work addresses several challenges of cooperative transportThis work addresses several challenges of cooperative transport and precision manipulation. Precision manipulation requires a rigid grasp, which places a hard constraint on the relative rover formation that must be accommodated, even though the rovers cannot directly observe their relative poses. Additionally, rovers must jointly select appropriate actions based on all available sensor information. Lastly, rovers cannot act on independent sensor information, but must fuse information to move jointly; the methods for fusing information must be determined.

multi-robot teams

Cooperative and inhibitory ion transport in functionalized angstrom-scale two-dimensional channels

Significant success has been achieved in fabricating angstrom-scale artificial solid ionic channels aiming to replicate the biological ion channels (BICs). Besides high selectivity, BICs also exhibit sophisticated ion gating and interplay. However, such behavior and functionality are seldomly recreated in the artificial counterparts due to the insufficient understanding of the molecular origin. Here we report cooperative and inhibitory ion transport in angstrom-scale acetate functionalized MoS 2 two-dimensional channels. For cooperative ion transport, the permeability of K + is doubled in the presence of only 1% Pb 2+ (versus K + by molarity), while the permeability of Pb 2+ is independent of K + . Molecular dynamics simulations reveal complex interplay among K + , Pb 2+ , and the anions in governing the cooperativity, such that Pb 2+ ions capture and slow down the anions via long-range interaction, which leads to the synchronization of anions with K + to transport as ion pairs with reduced interaction with the channel surface. For inhibitory ion transport, divalent Co 2+ (or Ba 2+ ) and Pb 2+ can replace each other in the confined channel and compete for the limited transport cross section. Our work reveals ion transport phenomena in extreme confinement and highlights the potential of manipulating ion interplay in confinement for achieving advanced functionalities.

Functionalized Angstrom

Apparent cooperativity of amino acid transport in Halobacterium halobium - Effect of electrical potential

Active serine accumulation in cell envelope vesicles from Halobacterium halobium proceeds by co-transport with Na(+) and can be induced by either transmembrane electrical potential or transmembrane Na(+) concentration difference. It was shown earlier that in the former case the initial transport rate is a fourth-power function of the magnitude of the electrochemical potential difference of sodium ions, and in the latter, a second-power function. A possible interpretation of this finding is cooperativity of sodium-transporting sites in the transport carrier. When both kinds of driving force are imposed simultaneously on the vesicles, fourth-power dependence on the total potential difference of sodium ions is obtained, suggesting that the transport carrier is regulated by the electrical potential. Heat treatment of the vesicles at 48 C partially inactivates transport and abolishes this effect of the electrical potential.

Lanyi, J. K.

Automated Cooperative Trajectories for a More Efficient and Responsive Air Transportation System

The NASA Automated Cooperative Trajectories project is developing a prototype avionics system that enables multi-vehicle cooperative control by integrating 1090 MHz ES ADS-B digital communications with onboard autopilot systems. This cooperative control capability will enable meta-aircraft operations for enhanced airspace utilization, as well as improved vehicle efficiency through wake surfing. This briefing describes the objectives and approach to a flight evaluation of this system planned for 2016.

Wake Surfing

Nap1 and Kap114 co-chaperone H2A-H2B and facilitate targeted histone release in the nucleus

Core histones, synthesized and processed in the cytoplasm, must be chaperoned as they are transported into the nucleus for nucleosome assembly. The importin Kap114 transports H2A-H2B into the yeast nucleus, where RanGTP facilitates histone release. Kap114 and H2A-H2B also bind the histone chaperone Nap1, but how Nap1 and Kap114 cooperate in transport and nucleosome assembly remains unclear. Here, biochemical and structural analyses show that Kap114, H2A-H2B, and a Nap1 dimer (Nap12) associate in the absence and presence of RanGTP to form equimolar complexes. A previous study had shown that RanGTP reduces Kap114’s ability to chaperone H2A-H2B, but a new cryo-EM structure of the Nap12•H2A-H2B•Kap114•RanGTP complex explains how both Kap114 and Nap12 interact with H2A-H2B, restoring its chaperoning within the assembly while effectively depositing it into nucleosomes. Together, our results suggest that Kap114 and Nap12 provide a sheltered path that facilitates the transfer of H2A-H2B from Kap114 to Nap12, ultimately directing its specific deposition into nucleosomes.

Fung, Ho Yee Joyce (ORCID:0000000205021957)

Dual redundant arm system operational quality measures and their applications - Static measures

The authors present dual-arm system static operational quality measures which quantify the efficiency and capability of a dual-arm system in generating Cartesian velocities and static forces. First, they define and analyze the kinematic interactions between the two arms incurred by the various modes of dual-arm cooperation, such as transport, assembly, and grasping modes of cooperation, and specify the kinematic constraints imposed on individual arms in Cartesian space due to the kinematic interactions. Dual-arm static manipulability is presented. Finally, dual-arm operational quality is scaled by a task-oriented operational quality measure (TOQs) obtained by the comparison between the desired and actual static manipulabilities. TOQs is used in the optimization of dual-arm joint configurations. Simulation results are shown.

Lee, Sukhan

Gulf of Mexico Helicopter Offshore System Technologies Recommended Development Path

The National Aeronautics and Space Administration (NASA) Advanced Air Transportation Technologies (AATT) project in cooperation with the Department of Transportation (DOT) Volpe National Transportation Systems Center (VNTSC) contracted with the System Resources Corporation (SRC) for the evaluation of the existing environment and the identification of user and service provider needs in the Gulf of Mexico low-altitude Offshore Sector. The results of this contractor activity are reported in the Gulf of Mexico Helicopter Offshore System Technologies Engineering Needs Assessment. A recommended system design and transition strategy was then developed to satisfy the identified needs within the constraints of the environment. This work, also performed under contract to NASA, is the subject of this report.

Koenke, Edmund J.

Resume of the status and benefits of the two-segment approach and its applicability to the jet transport fleet

NASA, in cooperation with the FAA, is evaluating the two-segment approach as a routine procedure for reducing aircraft noise. The program calls for separate flight evaluations using a 727 and a DC-8, and an extrapolation of these results to determine the adaptability of the technique to the rest of the fleet. The total program is reviewed. The profile and procedures developed and the noise reduction achievable are presented. The vortex characteristics behind an aircraft on a two-segment path is covered. Finally, cost estimates for retrofitting aircraft with two-segment avionics are presented.

Denery, D. G.

Cooperative control of two arms in the transport of an inertial load in zero gravity

In designing a robot control system for dual arm configurations, the control engineer is faced with two challenges: to derive the equations of motion for a given situation, and to meet certain desired control requirements (for instance, minimum energy). The former may involve closed kinematic chains, such as the case when the two arms are grasping a common object. The latter usually involves nonlinear optimization. These issues are considered in the context of transporting an inertial load using two planar three-link arms. A generalized 'reduction transformation' is applied to the dynamics to remove the singularity in the system equations. A suboptimal minimum energy method is presented to reduce a difficult 12-state, six-control nonlinear optimization to two independent, nonconflicting suboptimizations. A simulation example is provided to illustrate the degree of energy reduction possible using the optimal arm torque distribution that was developed.

Carignan, Craig R.

The Conference Proceedings of the 2001 Air Transport Research Society (ATRS) of the WCTR Society

The ATRS held its 5th Annual conference at the City University of Hong Kong Campus in July 2001. The conference was a success with nearly 140 participants including 70 presenters. Titles that comprise Volume 2 include: Intelligent Airport Gate Assignment System; A Study on the Effects of the Personality Compatibility to the Job Performance; ITS/CVO Application for Air cargo Transportation in Korea; An Airport as a Logistics and Economic Hub: The Case of Incheon International Airport; The Impact Of Aviation Safety over the Consumer's Behavior; The Integration of China and Taiwan Air Networks for Direct Air Cargo Services; Quality perception and carrier choice in Civil Aviation; Future Trends in Business Travel Decision Making; Cooperation Among German Airports in Europe; Inbound and Outbound Air Passenger Traffic Forecasting between the United States and Selected Asian countries; An Evaluation of Alternative Facilities for Airport Redevelopment using Fuzzy Linguistic Approach; Economic Analysis of Airline Alliances; The Aviation Cooperation between the two Koreas Preparing for the Reunification of the Peninsula; and A Study on the Air Transport Cooperation in Northeast Asia between China, Japan and Korea.

Lee, Yeong-Heok

Application of Forebody Strakes for Directional Stability and Control of Transport Aircraft

A brief overview of a cooperative NASA/Boeing research effort, Strake Technology Research Application to Transport Aircraft (STRATA), intended to explore the potential of applying forebody strake technology to transport aircraft configurations for directional stability and control at low angles of attack, is presented. As an initial step in the STRATA program, an exploratory wind-tunnel investigation of the effect of fixed forebody strakes on the directional stability and control characteristics of a generic transport configuration was conducted in the NASA Langley 12-Foot Low-Speed Wind Tunnel. Results of parametric variations in strake chord and span, as well as the effect of strake incidence, are presented. The use of strakes for yaw control is also discussed. Results emphasize the importance of forebody/fuselage crossflow in influencing strake effectiveness. Strake effectiveness is also seen to be directly related to its span, but less sensitive to chord; a very short-chord strake with sufficient span can have a significant effect.

Shah, Gautam H.

Demand Capacity Balancing at Vertiports for Initial Strategic Conflict Management of Urban Air Mobility Operations

Urban Air Mobility (UAM) is a new transportation concept that enables highly automated, cooperative, passenger or cargo-carrying air transportation services in and around urban areas. To achieve the high level of operational density and complexity desired by the UAM community, an airspace system that allows UAM operators to readily access and operate safely and efficiently in the airspace is needed. This airspace system will require air traffic management designed to reduce the risk of conflicts and loss of separation between UAM flights. In general, strategic conflict management is considered as the first layer of conflict management for safe flight operations to condition the traffic to reduce the need for airborne separation provision, the second layer of conflict management. Demand Capacity Balancing (DCB) is one of the concept components to achieve strategic conflict management. DCB strategically evaluates traffic demand and resource capacities to allow UAM operators to determine when, where and how they operate, while mitigating conflicting needs for airspace and vertiport capacity. DCB can be applied whenever UAM demand exceeds the capacity in airspace or at vertiports. As the UAM ecosystem evolves with advanced technologies and matured operational procedures, more complicated conflict management will likely be needed. In the current UAM ‘Concept of Operation (ConOps) 1.0’ operational stage defined by FAA, however, it will be meaningful to explore the demand capacity balancing at vertiports only, as an initial strategic conflict management approach for UAM operations because vertiport capacity seems to be a bottleneck of UAM traffic. For this research, we developed a demand-capacity imbalance detection and resolution service for UAM. This DCB service identifies the demand from operators and compares the demand to a given capacity at the shared resources (i.e., vertiports) over the upcoming time horizon which is divided into time bins having a constant interval. When a new flight plan is submitted, the algorithm embedded in the DCB service checks the available time bins based on the desired departure time and estimated arrival time at origin and destination vertiports, respectively. If the time bins for the originally desired times are already occupied by other flights (i.e., demand is at or above capacity), the algorithm finds the next available time bins for takeoff and landing and shifts the conflicting departure time to the earliest time that satisfies the capacity constraints at both origin and destination vertiports. The details of the algorithm will be described in the final manuscript. Figure 1 shows that the proposed DCB algorithm works well for a sample traffic scenario. In this example, a total of 144 flights, split between two operators, are planned over 2 hours, traveling 10 routes between five vertiports. In the heatmaps, the horizontal axis shows 12 time bins where each bin represents a 12-minute interval, and the vertical axis shows five vertiports. The number in each cell shows the number of operations, counting both departures and arrivals, at a specific vertiport in each time bin. For the given capacity of 2 operations/vertiport/bin, Figure 1 shows that the original demand sometimes exceeds the capacity, but the modified demand is reduced to the given capacity after resolving demand-capacity imbalances. When UAM flights are operated, it is expected that many practical issues would arise in the federated system architecture with multiple operators. UAM operators may experience a time synchronization issue due to communication delay between operator and vehicle. UAM vehicles would fly at different flight speeds, depending on vehicle models. Actual departure and arrival times can have large variations, compared to the schedule. The lead time from flight plan submission to desired departure time can vary by service type (e.g., regular shuttle service vs. on-demand service). Using the proposed DCB algorithm, we also investigated how the actual flight schedule and DCB performance are affected by these uncertainties such as unsynchronized times between operators, flight speed differences, lead time differences, and departure time errors. The final manuscript will include the background of this research work, the description of the DCB algorithm and its use cases with traffic scenarios. It will also provide the analytical results about the impact of various uncertainties that can occur in actual UAM operations on the DCB at vertiports, in terms of demand distribution changes, number of simultaneous operations, and delay propagation.

Urban Air Mobility

Influence of Rigidity–Hydration Coupling on Size-Dependent Diffusion in Hydrated Polymer Membranes

Selective ion transport in polymer membranes depends critically on how penetrant motion couples to polymer dynamics and hydration. Yet, the mechanistic interplay between polymer rigidity, water content, and penetrant size remains poorly understood, especially in the regime where the penetrant diameter, polymer Kuhn length, and correlation length are comparable. Here, we employ coarse-grained molecular dynamics simulations to systematically investigate penetrant diffusion in hydrated polymer networks across a broad range of water volume fractions, chain rigidities, and penetrant sizes. The results reveal a transition from a decoupled regime, where small penetrants diffuse nearly independently of polymer relaxation, to a coupled regime in which large penetrants require cooperative polymer motion for transport. Increasing polymer rigidity amplifies the sensitivity of diffusivity to hydration, particularly at low water content, leading to pronounced deviations from Stokes−Einstein scaling. Comparison with scaling theories and free-volume models shows that classical nanoparticle-based frameworks fail to capture this intermediate regime. To address this gap, we extend the Yasuda model to incorporate polymer rigidity through a single parameter that quantifies the dynamic contribution of chain stiffness to free-volume fluctuations. The resulting model collapses diffusivity data across all sizes, water contents, and rigidities, providing a unified description of penetrant transport in hydrated polymer matrices. Furthermore, these findings establish polymer rigidity as a key, tunable determinant of diffusion and offer a framework for interpreting size-dependent transport in ion-selective membranes.

diffusion

Identification of vortex-induced clear-air turbulence using airline flight records

The nature and cause of clear-air turbulence is being investigated, in cooperation with the National Transportation Safety Board, using the flight records available from airline encounters with severe turbulence. This paper presents two case studies of severe turbulence which indicate that the airplanes involved encountered vortex arrays which were generated by destabilized wind-shear layers near the tropopause. In order to identify and analyze vortex patterns (i.e., vortex strength, size, and spacings), potential-flow models of vortex arrays were developed that describe reasonably well the wind patterns derived from the airliner flight records. The results of this analysis indicate that in the two cases studied, the vortex cores had diameters in the range of 900 to 1,200 ft with tangential velocities in the range of 70 to 85 ft/sec. This study presents the first identification and analysis of vortex arrays from airline flight data. The results are compared with theoretical predictions and previous observations.

Parks, E. K.