Gait Optimization for Multi-Legged Walking Robots, with Application to a Lunar Hexapod
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AI, Robots, and Swarms: Issues, Questions, and Recommended Studies
AI, Robots, and Swarms Issues, Questions, and Recommended Studies Andrew Ilachinski January 2017 Approved for Public Release; Distribution Unlimited. This document contains the best opinion of CNA at the time of issue. It does not necessarily represent the opinion of the sponsor. Distribution Approved for Public Release; Distribution Unlimited. Specific authority: N00014-11-D-0323. Copies of this document can be obtained through the Defense Technical Information Center at www.dtic.mil or contact CNA Document Control and Distribution Section at 703-824-2123. Photography Credits: http://www.darpa.mil/DDM_Gallery/Small_Gremlins_Web.jpg; http://4810-presscdn-0-38.pagely.netdna-cdn.com/wp-content/uploads/2015/01/ Robotics.jpg; http://i.kinja-img.com/gawker-edia/image/upload/18kxb5jw3e01ujpg.jpg Approved by: January 2017 Dr. David A. Broyles Special Activities and Innovation Operations Evaluation Group Copyright © 2017 CNA Abstract The military is on the cusp of a major technological revolution, in which warfare is conducted by unmanned and increasingly autonomous weapon systems. However, unlike the last “sea change,” during the Cold War, when advanced technologies were developed primarily by the Department of Defense (DoD), the key technology enablers today are being developed mostly in the commercial world. This study looks at the state-of-the-art of AI, machine-learning, and robot technologies, and their potential future military implications for autonomous (and semi-autonomous) weapon systems. While no one can predict how AI will evolve or predict its impact on the development of military autonomous systems, it is possible to anticipate many of the conceptual, technical, and operational challenges that DoD will face as it increasingly turns to AI-based technologies. -
Annual Report 2014 OUR VISION
AMOS Centre for Autonomous Marine Operations and Systems Annual Report 2014 Annual Report OUR VISION To establish a world-leading research centre for autonomous marine operations and systems: To nourish a lively scientific heart in which fundamental knowledge is created through multidisciplinary theoretical, numerical, and experimental research within the knowledge fields of hydrodynamics, structural mechanics, guidance, navigation, and control. Cutting-edge inter-disciplinary research will provide the necessary bridge to realise high levels of autonomy for ships and ocean structures, unmanned vehicles, and marine operations and to address the challenges associated with greener and safer maritime transport, monitoring and surveillance of the coast and oceans, offshore renewable energy, and oil and gas exploration and production in deep waters and Arctic waters. Editors: Annika Bremvåg and Thor I. Fossen Copyright AMOS, NTNU, 2014 www.ntnu.edu/amos AMOS • Annual Report 2014 Table of Contents Our Vision ........................................................................................................................................................................ 2 Director’s Report: Licence to Create............................................................................................................................. 4 Organization, Collaborators, and Facts and Figures 2014 ......................................................................................... 6 Presentation of New Affiliated Scientists................................................................................................................... -
Development of the Crew Dragon ECLSS
ICES-2020-333 Development of the Crew Dragon ECLSS Jason Silverman1, Andrew Irby2, and Theodore Agerton3 Space Exploration Technologies, Hawthorne, California, 90250 SpaceX designed the Crew Dragon spacecraft to be the safest ever flown and to restore the ability of the United States to launch astronauts. One of the key systems required for human flight is the Environmental Control and Life Support System (ECLSS), which was designed to work in concert with the spacesuit and spacecraft. The tight coupling of many subsystems combined with an emphasis on simplicity and fault tolerance created unique challenges and opportunities for the design team. During the development of the crew ECLSS, the Dragon 1 cargo spacecraft flew with a simple ECLSS for animals, providing an opportunity for technology development and the early characterization of system-level behavior. As the ECLSS design matured a series of tests were conducted, including with humans in a prototype capsule in November 2016, the Demo-1 test flight to the ISS in March 2019, and human-in-the-loop ground testing in the Demo-2 capsule in January 2020 before the same vehicle performs a crewed test flight. This paper describes the design and operations of the ECLSS, the development process, and the lessons learned. Nomenclature AC = air conditioning AQM = air quality monitor AVV = active vent valve CCiCap = Commercial Crew Integrated Capability CCtCap = Commercial Crew Transportation Capability CFD = computational fluid dynamics conops = concept of operations COPV = composite overwrapped -
Commercial Orbital Transportation Services
National Aeronautics and Space Administration Commercial Orbital Transportation Services A New Era in Spaceflight NASA/SP-2014-617 Commercial Orbital Transportation Services A New Era in Spaceflight On the cover: Background photo: The terminator—the line separating the sunlit side of Earth from the side in darkness—marks the changeover between day and night on the ground. By establishing government-industry partnerships, the Commercial Orbital Transportation Services (COTS) program marked a change from the traditional way NASA had worked. Inset photos, right: The COTS program supported two U.S. companies in their efforts to design and build transportation systems to carry cargo to low-Earth orbit. (Top photo—Credit: SpaceX) SpaceX launched its Falcon 9 rocket on May 22, 2012, from Cape Canaveral, Florida. (Second photo) Three days later, the company successfully completed the mission that sent its Dragon spacecraft to the Station. (Third photo—Credit: NASA/Bill Ingalls) Orbital Sciences Corp. sent its Antares rocket on its test flight on April 21, 2013, from a new launchpad on Virginia’s eastern shore. Later that year, the second Antares lifted off with Orbital’s cargo capsule, (Fourth photo) the Cygnus, that berthed with the ISS on September 29, 2013. Both companies successfully proved the capability to deliver cargo to the International Space Station by U.S. commercial companies and began a new era of spaceflight. ISS photo, center left: Benefiting from the success of the partnerships is the International Space Station, pictured as seen by the last Space Shuttle crew that visited the orbiting laboratory (July 19, 2011). More photos of the ISS are featured on the first pages of each chapter. -
Japan Cargo Spacecraft Docks at ISS 18 September 2009
Japan cargo spacecraft docks at ISS 18 September 2009 It was the first time that astronauts operate a Canadian robotic arm at the ISS to dock a spacecraft at the station. The HTV carried 4.5 tonnes of supplies, including food and daily necessities for the six ISS crew, as well as materials for experiments, such as seeds for growing plants in space. The 10-metre (33-foot) long cylindrical vehicle, which cost 20 billion yen (217 million dollars), will soon unload the supplies. It will later take waste materials and return to Earth, burning up as it re-enters the atmosphere. Japan has spent 68 billion yen developing the vehicle, which could be modified in future to carry Japan's first cargo spacecraft arrived at the International humans. Space Station on Friday after astronauts aboard the station grabbed and docked it using a robotic arm. The docking came a week after the Japan Aerospace (c) 2009 AFP Exploration Agency (JAXA) launched the unmanned HTV transportation vehicle atop an H-2B rocket (in picture). Japan's first cargo spacecraft arrived at the International Space Station (ISS) on Friday after astronauts aboard the station grabbed and docked it using a robotic arm. The docking came a week after the Japan Aerospace Exploration Agency (JAXA) launched the unmanned HTV transportation vehicle atop an H-2B rocket. The HTV is Japan's first freighter spacecraft aiming for a share of space transport after the retirement of the US space shuttle fleet next year. "I'm so relieved because I was feeling the pressure and responsibility," Koji Yamanaka, the flight director in charge of the cargo mission, told reporters at Japan's Tsukuba space centre. -
SERVO MAGAZINE TEAM DARE’S ROBOT BAND • RADIO for ROBOTS • BUILDING MAXWELL June 2012 Full Page Full Page.Qxd 5/7/2012 6:41 PM Page 2
0 0 06 . 7 4 $ A D A N A C 0 5 . 5 $ 71486 02422 . $5.50US $7.00CAN S . 0 U CoverNews_Layout 1 5/9/2012 3:21 PM Page 1 Vol. 10 No. 6 SERVO MAGAZINE TEAM DARE’S ROBOT BAND • RADIO FOR ROBOTS • BUILDING MAXWELL June 2012 Full Page_Full Page.qxd 5/7/2012 6:41 PM Page 2 HS-430BH HS-5585MH HS-5685MH HS-7245MH DELUXE BALL BEARING HV CORELESS METAL GEAR HIGH TORQUE HIGH TORQUE CORELESS MINI 6.0 Volts 7.4 Volts 6.0 Volts 7.4 Volts 6.0 Volts 7.4 Volts 6.0 Volts 7.4 Volts Torque: 57 oz-in 69 oz-in Torque: 194 oz-in 236 oz-in Torque: 157 oz-in 179 oz-in Torque: 72 oz-in 89 oz-in Speed: 0.16 sec/60° 0.14 sec/60° Speed: 0.17 sec/60° 0.14 sec/60° Speed: 0.20 sec/60° 0.17 sec/60° Speed: 0.13 sec/60° 0.11 sec/60° HS-7950THHS-7950TH HS-7955TG HS-M7990TH HS-5646WP ULTRA TORQUE CORELESS HIGH TORQUE CORELESS MEGA TORQUE HV MAGNETIC ENCODER WATERPROOF HIGH TORQUE 6.0 Volts 7.4 Volts 4.8 Volts 6.0 Volts 6.0 Volts 7.4 Volts 6.0 Volts 7.4 Volts Torque: 403 oz-in 486 oz-in Torque: 250 oz-in 333 oz-in Torque: 500 oz-in 611 oz-in Torque: 157 oz-in 179 oz-in Speed: 0.17 sec/60° 0.14 sec/60° Speed: 0.19 sec/60° 0.15 sec/60° Speed: 0.21 sec/60° 0.17 sec/60° Speed: 0.20 sec/60° 0.18 sec/60° DIY Projects: Programmable Controllers: Wild Thumper-Based Robot Wixel and Wixel Shield #1702: Premium Jumper #1336: Wixel programmable Wire Assortment M-M 6" microcontroller module with #1372: Pololu Simple Motor integrated USB and a 2.4 Controller 18v7 GHz radio. -
Espinsights the Global Space Activity Monitor
ESPInsights The Global Space Activity Monitor Issue 2 May–June 2019 CONTENTS FOCUS ..................................................................................................................... 1 European industrial leadership at stake ............................................................................ 1 SPACE POLICY AND PROGRAMMES .................................................................................... 2 EUROPE ................................................................................................................. 2 9th EU-ESA Space Council .......................................................................................... 2 Europe’s Martian ambitions take shape ......................................................................... 2 ESA’s advancements on Planetary Defence Systems ........................................................... 2 ESA prepares for rescuing Humans on Moon .................................................................... 3 ESA’s private partnerships ......................................................................................... 3 ESA’s international cooperation with Japan .................................................................... 3 New EU Parliament, new EU European Space Policy? ......................................................... 3 France reflects on its competitiveness and defence posture in space ...................................... 3 Germany joins consortium to support a European reusable rocket......................................... -
GUIDANCE, NAVIGATION, and CONTROL 2020 AAS PRESIDENT Carol S
GUIDANCE, NAVIGATION, AND CONTROL 2020 AAS PRESIDENT Carol S. Lane Cynergy LLC VICE PRESIDENT – PUBLICATIONS James V. McAdams KinetX Inc. EDITOR Jastesh Sud Lockheed Martin Space SERIES EDITOR Robert H. Jacobs Univelt, Incorporated Front Cover Illustration: Image: Checkpoint-Rehearsal-Movie-1024x720.gif Caption: “OSIRIS-REx Buzzes Sample Site Nightingale” Photo and Caption Credit: NASA/Goddard/University of Arizona Public Release Approval: Per multimedia guidelines from NASA Frontispiece Illustration: Image: NASA_Orion_EarthRise.jpg Caption: “Orion Primed for Deep Space Exploration” Photo Credit: NASA Public Release Approval: Per multimedia guidelines from NASA GUIDANCE, NAVIGATION, AND CONTROL 2020 Volume 172 ADVANCES IN THE ASTRONAUTICAL SCIENCES Edited by Jastesh Sud Proceedings of the 43rd AAS Rocky Mountain Section Guidance, Navigation and Control Conference held January 30 to February 5, 2020, Breckenridge, Colorado Published for the American Astronautical Society by Univelt, Incorporated, P.O. Box 28130, San Diego, California 92198 Web Site: http://www.univelt.com Copyright 2020 by AMERICAN ASTRONAUTICAL SOCIETY AAS Publications Office P.O. Box 28130 San Diego, California 92198 Affiliated with the American Association for the Advancement of Science Member of the International Astronautical Federation First Printing 2020 Library of Congress Card No. 57-43769 ISSN 0065-3438 ISBN 978-0-87703-669-2 (Hard Cover Plus CD ROM) ISBN 978-0-87703-670-8 (Digital Version) Published for the American Astronautical Society by Univelt, Incorporated, P.O. Box 28130, San Diego, California 92198 Web Site: http://www.univelt.com Printed and Bound in the U.S.A. FOREWORD HISTORICAL SUMMARY The annual American Astronautical Society Rocky Mountain Guidance, Navigation and Control Conference began as an informal exchange of ideas and reports of achievements among local guidance and control specialists. -
Operational Requirements for Soldier-Robot Teaming
CAN UNCLASSIFIED Operational Requirements for Soldier-Robot Teaming Simon Banbury Kevin Heffner Hugh Liu Serge Pelletier Calian Ltd. Prepared by: Calian Ltd. 770 Palladium Drive Ottawa, Canada K2V 1C8 Contractor Document Number: DND-1144.1.1-01 PSPC Contract Number: W7719-185397/001/TOR Technical Authority: Ming Hou, DRDC – Toronto Research Centre Contractor's date of publication: August 2020 The body of this CAN UNCLASSIFIED document does not contain the required security banners according to DND security standards. However, it must be treated as CAN UNCLASSIFIED and protected appropriately based on the terms and conditions specified on the covering page. Defence Research and Development Canada Contract Report DRDC-RDDC-2020-C172 November 2020 CAN UNCLASSIFIED CAN UNCLASSIFIED IMPORTANT INFORMATIVE STATEMENTS This document was reviewed for Controlled Goods by Defence Research and Development Canada using the Schedule to the Defence Production Act. Disclaimer: This document is not published by the Editorial Office of Defence Research and Development Canada, an agency of the Department of National Defence of Canada but is to be catalogued in the Canadian Defence Information System (CANDIS), the national repository for Defence S&T documents. Her Majesty the Queen in Right of Canada (Department of National Defence) makes no representations or warranties, expressed or implied, of any kind whatsoever, and assumes no liability for the accuracy, reliability, completeness, currency or usefulness of any information, product, process or material included in this document. Nothing in this document should be interpreted as an endorsement for the specific use of any tool, technique or process examined in it. Any reliance on, or use of, any information, product, process or material included in this document is at the sole risk of the person so using it or relying on it. -
Human Asteroid Exploitation Mission Blue Team - Space Vehicle
SD2905 - HUMAN SPACEFLIGHT 1 Human asteroid exploitation mission Blue team - Space Vehicle Jeremy BEK, Clement´ BORNE, Anton KABJ˚ ORN¨ and Filippo POZZI Abstract—Asteroid rendez-vous and mining is one step Where a is one astronomical unit, MC the mass towards deep space exploration and interplanetary jour- of the Earth and M@ those of the Sun. The lunar neys, and it could prove to be a very lucrative endeavour. distance LD is 384 400 km so the asteroid is outside This paper tackles the space vehicle design associated of Earth’s sphere of influence. The orbital period with the hypothetical mission. It presents background, challenges and solutions linked with spacecraft design. The is one year, just like Earth, and so its seen period structure, mass, cost and technology readiness level (TRL) around Earth is also one year. This means that of the different systems composing the space vehicles are whichever trajectory is chosen, there is a launch described in the report. window every year at the same period. Index Terms—Spacecraft design, Asteroid, Mining, Technology Readiness Level. I. INTRODUCTION Designing a space vehicle for a certain mission is a complicated task that contains many parameters and variables. Even more so, for a particularly ambitious mission like asteroid mining. However, this paper constitutes a preliminary study of what Fig. 1. Orbit of 469219 Kamo’oalewa could resemble such a mission, from a vehicle point of view. The study tackles various topics, such as trajectory III. LAUNCHERS calculations, launcher considerations, or spacecraft The launch is the first part of a spaceflight. For the design. -
Unmanned Vehicle Systems & Operations on Air, Sea, Land
Kansas State University Libraries New Prairie Press NPP eBooks Monographs 10-2-2020 Unmanned Vehicle Systems & Operations on Air, Sea, Land Randall K. Nichols Kansas State University Hans. C. Mumm Wayne D. Lonstein Julie J.C.H Ryan Candice M. Carter See next page for additional authors Follow this and additional works at: https://newprairiepress.org/ebooks Part of the Aerospace Engineering Commons, Aviation and Space Education Commons, Higher Education Commons, and the Other Engineering Commons This work is licensed under a Creative Commons Attribution-Noncommercial-Share Alike 4.0 License. Recommended Citation Nichols, Randall K.; Mumm, Hans. C.; Lonstein, Wayne D.; Ryan, Julie J.C.H; Carter, Candice M.; Hood, John-Paul; Shay, Jeremy S.; Mai, Randall W.; and Jackson, Mark J., "Unmanned Vehicle Systems & Operations on Air, Sea, Land" (2020). NPP eBooks. 35. https://newprairiepress.org/ebooks/35 This Book is brought to you for free and open access by the Monographs at New Prairie Press. It has been accepted for inclusion in NPP eBooks by an authorized administrator of New Prairie Press. For more information, please contact [email protected]. Authors Randall K. Nichols, Hans. C. Mumm, Wayne D. Lonstein, Julie J.C.H Ryan, Candice M. Carter, John-Paul Hood, Jeremy S. Shay, Randall W. Mai, and Mark J. Jackson This book is available at New Prairie Press: https://newprairiepress.org/ebooks/35 UNMANNED VEHICLE SYSTEMS & OPERATIONS ON AIR, SEA, LAND UNMANNED VEHICLE SYSTEMS & OPERATIONS ON AIR, SEA, LAND PROFESSOR RANDALL K. NICHOLS, JULIE RYAN, HANS MUMM, WAYNE LONSTEIN, CANDICE CARTER, JEREMY SHAY, RANDALL MAI, JOHN P HOOD, AND MARK JACKSON NEW PRAIRIE PRESS MANHATTAN, KS Copyright © 2020 Randall K. -
Spacecraft Dormancy Autonomy Analysis for a Crewed Martian Mission
NASA/TM-2018-219965 Spacecraft Dormancy Autonomy Analysis for a Crewed Martian Mission Julia Badger Lead Author, Editor Contributors: Avionics Don Higbee Communications Tim Kennedy, Sharada Vitalpur ECLSS Miriam Sargusingh, Sarah Shull Guidance, Navigation and Control Bill Othon Power Francis J. Davies Propulsion Eric Hurlbert Robotics Julia Badger Software Neil Townsend Spacecraft Emergency Responses Jeff Mauldin, Emily Nelson Structures Kornel Nagy Thermal Katy Hurlbert Vehicle Systems Management Jeremy Frank Crew Perspective Stan Love National Aeronautics and Space Administration July 2018 NASA STI Program ... in Profile Since its founding, NASA has been dedicated to the CONFERENCE PUBLICATION. advancement of aeronautics and space science. The Collected papers from scientific and NASA scientific and technical information (STI) technical conferences, symposia, seminars, program plays a key part in helping NASA maintain or other meetings sponsored or this important role. co-sponsored by NASA. The NASA STI program operates under the SPECIAL PUBLICATION. Scientific, auspices of the Agency Chief Information Officer. technical, or historical information from It collects, organizes, provides for archiving, and NASA programs, projects, and missions, disseminates NASA’s STI. The NASA STI often concerned with subjects having program provides access to the NTRS Registered substantial public interest. and its public interface, the NASA Technical Report Server, thus providing one of the largest TECHNICAL TRANSLATION. collections of aeronautical and space science STI in English-language translations of foreign the world. Results are published in both non-NASA scientific and technical material pertinent to channels and by NASA in the NASA STI Report NASA’s mission. Series, which includes the following report types: Specialized services also include organizing TECHNICAL PUBLICATION.