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Autonomous robots have many applications in manufacturing industry, space exploration, defense research, etc. The goal of this project, codenamed Eagle O, is to build a semi-autonomous robot. Robots can have autonomous characteristic to varying degrees. Eagle O is being developed with semi-autonomous characteristics. A control system is being implemented for directing the robot using a remote machine...
This paper focuses on the flight path planning process with multi-agent for Unmanned Aerial Vehicle (UAV) based on threats analysis and path length constraint. Path planner agent searches the path with global view considering path length constraint and information collector agent deals with path planning in the zone of threats. Scoring function is presented based on analysis the threats' attributes...
We designed and constructed a system that includes aircraft, ground vehicles, and throwable sensors to search a semi-forested region that was partially covered by foliage. The system contained 4 radio-controlled (RC) trucks, 2 aircraft, and 30 SensorMotes (throwable sensors). We also investigated communications links, search strategies, and system architecture. Our system is designed to be low-cost,...
In this paper we introduce a novel approach to interactively generate a virtual environment (VE) as reconstruction of the real world by using a swarm of autonomously flying miniature unmanned aerial vehicles (MUAVs). In our system each of the MUAVs is equipped with advanced network as well as different sensor technologies, which allow to capture images from low altitudes and to transfer those to a...
The agenda for robotic activity on the Moon spans prospecting, resource extraction, site preparation for human missions and science goals from far-side radio astronomy to understanding the bombardment history of the early solar system. Many of these missions will be repetitive such as multiple prospectors to survey large areas, scrapers and dozers for resource extraction and site preparation and mobile...
Efficient exploration of the Moon, Mars, and other celestial bodies will require careful coordination between assets in human-robot teams. Such complexity requires mission planning tools to accurately simulate resource consumption, communications, and maneuverability/traversability for multiple vehicles throughout proposed expeditions. This paper presents a Keyhole Markup Language (KML) interface...
The operations paradigm of moving ground operator functions to on-board autonomous functions utilizing the Timeliner system has been proven on the International Space Station (ISS). In April of 2005, the first Higher Active Logic (HAL 1) automated command software was deployed on-board the ISS command and control (C&C) system. This initial version of a Timeliner software prototype provided limited...
This paper presents a novel battery health management system for electric UAVs (unmanned aerial vehicles) based on a Bayesian inference driven prognostic framework. The aim is to be able to predict the end-of-discharge (EOD) event that indicates that the battery pack has run out of charge for any given flight of an electric UAV platform. The amount of usable charge of a battery for a given discharge...
As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. Each vehicle is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to...
The present wind detection model of weather UAV has limitations. In order to detect the wind speed of multi-flight states, the intelligent wind detection system of weather UAV based on the multi-mode variable structure was proposed in this paper. According to the change of acceleration and angular velocity, three detection equations were established. Based on flight motion states, the intelligent...
Lunar or planetary exploration missions including landers and rovers have been earnestly under study in Japan. One of the main missions for lunar robotics exploration is to demonstrate the technologies for lunar or planetary surface exploration, which will cover landing technology and surface exploration rover technology. Lunar geologic survey will be also performed for utilization and scientific...
This paper addresses attitude stabilization of a Rotary-Winged Flying Robot (RWFR) in hover. The main objective is to control the dynamic behavior of RWFR. As the physical nature of RWFR is complex in shape and motion, the simple intuitive mathematical modeling fails as the non-linear aerodynamic forces and gravity acts in a non-intuitive manner. Due to limited accuracy of dynamic model, the RWFR...
In 2012, during the Entry, Descent, and Landing (EDL) of the Mars Science Laboratory (MSL) entry vehicle, a 21.5 m Viking-heritage, Disk-Gap-Band, supersonic parachute will be deployed at approximately Mach 2. The baseline algorithm for commanding this parachute deployment is a navigated planet-relative velocity trigger. This paper compares the performance of an alternative range-to-go trigger (sometimes...
Designing a complex vehicle or system for use in human space exploration involves analyzing the dynamic interactions between the crew and the vehicle automation over the course of a mission. Modeling and simulating the varying task allocations between the human and the automation, as well as their individual capabilities, provides the ability to analyze their effects on mission and system performance...
Designing a robot physically and validating it at every step is an arduous task. Contemporary robotics simulators can help to achieve laborious physics simulations, 3D visualizations, virtual robot modeling and novel research work that save time and money. Simulators are written in numerous programming languages like C, C++, Java, C# and other OOP languages that decide their platform compatibility...
Presented work discusses a proposal of an environmentally friendly flight control system for Light Aircraft or Unmanned Air Vehicle (UAV). The noise and emissions reducing flight control system is based on Total X Control System (TXCS) and assumes the reduction of the total energy dissipation. A general description of the flight control system, control laws, as well as results of preliminary tests...
This paper presents a novel autonomous relative navigation approach for uncooperative spacecraft rendezvous. The relative navigation algorithm of calculating the relative velocity and position in the inertial frame by using the inertial sensor output is developed. The Kalman filter with the feedback compensation is studied to estimate the error of the calculated relative velocity and position and...
In this paper, we present the design and concept of a quad rotor tail-sitter UAV (unmanned aerial vehicle). The designed UAV is composed of quad rotors and a fixed wing. It can hover like a helicopter, and can cruise like a fixed wing airplane. In order to verify this concept, a simulator of a quad rotor tail-sitter UAV is developed. Simulation results show the advantage in energy efficiency of the...
In recent years, virtual reality has emerged as a key technology for improving and streamlining design, programming, manufacturing and training processes. Based on experiences in the fields of space robotics, industrial manufacturing, multi-physics and virtual prototyping, "virtual testbeds" are currently being designed and implemented. Building on experiences gained in space robotics applications,...
The structure of the wing of High Altitude Long Endurance (HALE) Unmanned Aerial Vehicle (UAV) is highly flexible, it's deformation of aeroelastics is obvious and coupled with the flight dynamic responses of the UAV, this influent the flight security seriously. In the stage of conceptual design of a solar UAV, in order to estimate the scheme rapidly and accurately, it is necessary to research the...
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