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Kinematic Modeling of a Rhex-Type Robot Using a Neural Network
Kinematic Modeling of a RHex-type Robot Using a Neural Network Mario Harpera, James Paceb, Nikhil Guptab, Camilo Ordonezb, and Emmanuel G. Collins, Jr.b aDepartment of Scientific Computing, Florida State University, Tallahassee, FL, USA bDepartment of Mechanical Engineering, Florida A&M - Florida State University, College of Engineering, Tallahassee, FL, USA ABSTRACT Motion planning for legged machines such as RHex-type robots is far less developed than motion planning for wheeled vehicles. One of the main reasons for this is the lack of kinematic and dynamic models for such platforms. Physics based models are difficult to develop for legged robots due to the difficulty of modeling the robot-terrain interaction and their overall complexity. This paper presents a data driven approach in developing a kinematic model for the X-RHex Lite (XRL) platform. The methodology utilizes a feed-forward neural network to relate gait parameters to vehicle velocities. Keywords: Legged Robots, Kinematic Modeling, Neural Network 1. INTRODUCTION The motion of a legged vehicle is governed by the gait it uses to move. Stable gaits can provide significantly different speeds and types of motion. The goal of this paper is to use a neural network to relate the parameters that define the gait an X-RHex Lite (XRL) robot uses to move to angular, forward and lateral velocities. This is a critical step in developing a motion planner for a legged robot. The approach taken in this paper is very similar to approaches taken to learn forward predictive models for skid-steered robots. For example, this approach was used to learn a forward predictive model for the Crusher UGV (Unmanned Ground Vehicle).1 RHex-type robot may be viewed as a special case of skid-steered vehicle as their rotating C-legs are always pointed in the same direction. -
Themes of the Presidentʼs FY11 NASA Budget Request
Themes of the Presidentʼs FY11 NASA Budget Request • Technology Development is a strong theme across the President’s FY11 NASA budget request – Central principle of new Human Exploration strategy – Reverse of past decline and modest increase for Aeronautics (~15% or $75M/yr) – Mission-focused technology investments maintained within the Science Mission Directorate – Utilization of ISS for technology development by the Space Operations Mission Directorate – New ARPA-like Space Technology Program ($5B over 5 years) • This renewed emphasis balances the long-standing NASA core competencies of R&T, spaceflight hardware development, and mission operations. • Increased emphasis on partnerships and STEM education – Other government agencies, academia, industry and international – Theme of National Space Policy • Overarching goal is to reposition NASA on the cutting-edge 1 External Input Has Driven Formulation of the NASA Space Technology Program • NASA Authorization Act of 2008: “A robust program of long-term exploration-related research and development will be essential for the success and sustainability of any enduring initiative of human and robotic exploration of the solar system.” • NRC report, A Constrained Space Exploration Technology Program: A Review of NASAʼs ETDP, 2008: “NASA has created a supporting technology program very closely coupled to the near-term needs of the Constellation Program. This program contains only incremental gains in capability and two programmatic gaps. NASA has effectively suspended research in a number of technology -
National Aeronautics and Space Administration NASA
National Aeronautics and Space Administration spinoff NASA T ECH N OLOGIE S B E N EFI T S OCIE T Y 2011 NASA TECH N OLOGIE S BE N EFI T SOCIE T Y On the Cover: 2011 Front: Left Panels: (Top) NASA’s Global Hawk UAV, one of the Agency’s new climate research platforms; (Middle) The first Aerojet AJ26 flight engine is unloaded at Stennis Space Office of the Center; (Bottom) Building NASA’s newest Mars rover, the Mars Science Laboratory Center Panels: (Top) An artist’s concept of NASA’s MESSENGER spacecraft Chief Technologist approaching Mercury; (Bottom) NASA’s Robonaut 2, which joined the crew of the International Space Station (ISS) in 2011 Right Panel: (Top) Building NASA’s next generation of manned spacecraft, the Multipurpose Crew Vehicle; (Bottom) NASA spinoff technologies Back: Left to Right: The Sun as imaged by NASA’s Solar Dynamics Observatory; Abby Spinoff Program Office Sunderland, rescued with the help of a NASA spinoff technology after being stranded NASA Center for AeroSpace Information at sea, tours Goddard Space Flight Center; NASA’s solar sail experiment, NanoSail-D; Heavyweight stars in Nebula NGC 6357, imaged by the Hubble Space Telescope; Bo Schwerin, Editor-in-Chief astronaut Alvin Drew reenters the ISS after an STS-133 spacewalk Lisa Rademakers, Senior Writer Daniel Coleman, Writer John Jones, Art Director Table of Contents 5 Foreword S 7 Introduction OFF 8 Space Shuttle Spinoffs 18 International Space Station Spinoffs SPIN 82 26 50 70 Executive Summary HEALTH AND MEDICINE TRANSPORTATION PUBLIC SAFETY 46 50 66 80 DEPARTMENTS -
GRAIL Reveals Secrets of the Lunar Interior
GRAIL Reveals Secrets of the Lunar Interior — Dr. Patrick J. McGovern, Lunar and Planetary Institute A mini-flotilla of spacecraft sent to the Moon in the past few years by several nations has revealed much about the characteristics of the lunar surface via techniques such as imaging, spectroscopy, and laser ranging. While the achievements of these missions have been impressive, only GRAIL has seen deeply enough to reveal inner secrets that the Moon holds. LRecent Lunar Missions Country Name Launch Date Status ESA Small Missions for Advanced September 27, 2003 Ended with lunar surface impact on Research in Technology-1 (SMART-1) September 3, 2006 USA Acceleration, Reconnection, February 27, 2007 Extension of the THEMIS mission; ended Turbulence and Electrodynamics of in 2012 the Moon’s Interaction with the Sun (ARTEMIS) Japan SELENE (Kaguya) September 14, 2007 Ended with lunar surface impact on June 10, 2009 PChina Chang’e-1 October 24, 2007 Taken out of orbit on March 1, 2009 India Chandrayaan-1 October 22, 2008 Two-year mission; ended after 315 days due to malfunction and loss of contact USA Lunar Reconnaissance Orbiter (LRO) June 18, 2009 Completed one-year primary mission; now in five-year extended mission USA Lunar Crater Observation and June 18, 2009 Ended with lunar surface impact on Sensing Satellite (LCROSS) October 9, 2009 China Chang’e-2 October 1, 2010 Primary mission lasted for six months; extended mission completed flyby of asteroid 4179 Toutatis in December 2012 USA Gravity Recovery and Interior September 10, 2011 Ended with lunar surface impact on I Laboratory (GRAIL) December 17, 2012 To probe deeper, NASA launched the Gravity Recovery and Interior Laboratory (GRAIL) mission: twin spacecraft (named “Ebb” and “Flow” by elementary school students from Montana) flying in formation over the lunar surface, tracking each other to within a sensitivity of 50 nanometers per second, or one- twenty-thousandth of the velocity that a snail moves [1], according to GRAIL Principal Investigator Maria Zuber of the Massachusetts Institute of Technology. -
Assessment of Couple Unmanned Aerial Vehicle-Portable Magnetic
International Journal of Scientific & Engineering Research Volume 11, Issue 1, January-2020 1271 ISSN 2229-5518 Assessment of Couple Unmanned Aerial Vehicle- Portable Magnetic Resonance Imaging Sensor for Precision Agriculture of Crops Balogun Wasiu A., Keshinro K.K, Momoh-Jimoh E. Salami, Adegoke A. S., Adesanya G. E., Obadare Bolatito J Abstract— This paper proposes an improved benefits of integration of Unmanned Aerial vehicle (UAV) and Portable Magnetic Resonance Imaging (PMRI) system in relation to developing Precision Agricultural (PA) that is capable of carrying out a dynamic internal quality assessment of crop developmental stages during pre-harvest period. A comprehensive review was carried out on application of UAV technology to Precision Agriculture (PA) progress and evolving research work on developing a Portable MRI system. The disadvantages of using traditional way of obtaining Precision Agricultural (PA) were shown. Proposed Model Architecture of Coupled Unmanned Aerial vehicle (UAV) and Portable Magnetic Resonance Imaging (PMRI) System were developed and the advantages of the proposed system were displayed. It is predicted that the proposed method can be useful for Precision Agriculture (PA) which will reduce the cost implication of Pre-harvest processing of farm produce based on non-destructive technique. Index Terms— Unmanned Aerial vehicle, Portable Magnetic Resonance Imaging, Precision Agricultural, Non-destructive, Pre-harvest, Crops, Imaging, Permanent magnet —————————— —————————— 1 INTRODUCTION URING agricultural processing, quality control ensure Inspection of fresh fruit bunches (FFB) for harvesting is a rig- that food products meet certain quality and safety stand- orous assignment which can be overlooked or applied physi- D ards in a developed country [FAO]. Low profits in fruit cal counting that are usually not accurate or precise (Sham- farming are subjected by pre- and post-harvest factors. -
Technology, Innovation & Engineering Committee Report NASA Advisory
National Aeronautics and Space Administration Technology, Innovation & Engineering Committee Report NASA Advisory Council Presented by: Dr. Bill Ballhaus, Chair April 1, 2016 www.nasa.gov/spacetech TI&E Committee Meeting Attendees March 29, 2016 • Dr. William Ballhaus, Chair • Mr. Michael Johns, Southern Research Institute • Mr. David Neyland, Consultant • Mr. Jim Oschmann, Ball Aerospace & Technologies Corp. • Dr. Mary Ellen Weber, Stellar Strategies, LLC 2 TI&E Committee Meeting Presentations March 29, 2016 • Space Technology Mission Directorate Update – Mr. Stephen Jurczyk, Associate Administrator, STMD • FY16-17 Technology Plans for HEO and SMD and Discussion – Mr. Chris Moore, Deputy Director, Advanced Exploration Systems, HEOMD – Mr. Michael Seablom, Chief Technologist, SMD • Chief Technologist Update – Dr. David Miller, NASA Chief Technologist • Annual Ethics Briefing – Rebecca Gilchrist, Ethics Attorney, OGC • Technology Demonstration Missions (TDM) Update – Ms. Trudy Kortes, Program Executive, TDM, STMD • Restore-L Mission Overview and Discussion – Mr. Ben Reed, Deputy Program Manager, Satellite Servicing Capabilities Office 3 National Aeronautics and Space Administration Space Technology Mission Directorate Update NAC TI&E Committee Presented by: Stephen Jurczyk Associate Administrator, STMD March 29, 2016 www.nasa.gov/spacetech 4 STMD Public-Private Partnerships STMD continues to foster partnerships with the commercial space sector for expanding capabilities and opportunities in space. Objective: Deliver critical space technologies -
Oklahoma Epscor Committee Review Panel Will Select the Two Projects to Be Submitted to NASA
NASA Call for Proposals FY 2011 Introduction NASA has released the Cooperative Agreement Notice (CAN) for the 2011 EPSCoR Competition. Oklahoma is eligible to submit up to two proposals with the possibility of having two awards. It is anticipated that 6-10 awards of up to $750,000 each to be expended over a three-year period of performance may be made under this Notice pursuant to the authority of the NASA Grant and Cooperative Agreement Handbook. Within this competition, twenty eight jurisdictions are eligible to submit up to two proposals. Jurisdictions are strongly encouraged to submit proposals that demonstrate partnerships or cooperative arrangements among academia, government agencies, business and industry, private research foundations, jurisdiction agencies, and local agencies. Partnerships with minority-serving institutions are strongly encouraged. Inclusion of faculty and students from underrepresented/underserved groups is also strongly encouraged. NASA Research Areas of Interest NASA EPSCoR research priorities are defined by the Mission Directorates (Aeronautics Research, Exploration Systems, Science, and Space Operations) and the Office of the Chief Technologist. Each Mission Directorate and the Office of the Chief Technologist covers a major area of the Agency’s research and technology development efforts. Information about current NASA research solicitations can be found on NSPIRES at http://nspires.nasaprs.com (select “Solicitations” and then “Open Solicitations”). Research priorities for each of the Mission Directorates and the Office of the Chief Technologist are summarized below and can be found at the following locations: Aeronautics Research Mission Directorate (ARMD) Researchers responding to the ARMD should propose research that is aligned with one or more of the ARMD programs. -
NASA Aims to Improve Aviation Safety Star Can Be Calculated by Measuring the Time Between Successive Dips As the Planet Orbits the Star
September 2010 - A Quarterly Publication NASA’s Kepler Mission discovers two planets transiting same star BY MICHAEL MEWHINNEY servatory in Hawaii. The observations 19 days, while Kepler-9c has an orbit NASA's Kepler spacecraft has show Kepler-9b is the larger of the two of about 38 days. By observing several discovered the first confirmed planetary planets, and both have masses similar transits by each planet over the seven system with more than one planet cross- to but less than Saturn. Kepler-9b lies months of data, the time between suc- ing in front of, or transiting, the same closest to the star with an orbit of about continued on page 15 star. The transit signatures of two distinct planets were seen in the data for the sun-like star designated Kepler-9. The planets were named Kepler-9b and 9c. Worlds on the Edge - This artist’s con- The discovery incorporates cept illustrates the two Saturn-sized seven months of observa- planets discovered by NASA’s Kepler tions of more than 156,000 Mission. The star system is oriented stars as part of an ongo- edge-on, as seen by Kepler, such that both planets cross in front, or transit, ing search for Earth-sized their star, named Kepler-9. This is the planets outside our solar first star system found to have multiple system. The findings will transiting planets. be published in the journal Science. Kepler's ultra-precise camera measures tiny decreases in the stars' brightness that occur when a planet transits them. The NASA image credit: NASA/Ames/JPL-Caltech size of the planet can be derived from these temporary dips. -
Spm September 2014
September 2014 Vol. 1 No. 6 National Aeronautics and Space Administration Kennedy Space Center’s MAGAZINE ‘SWARMIES’ TO SCOUR KENNEDY PREPPING CHIEF TECHNOLOGIST OTHER PLANETS FOR NEXT 50 YEARS TARGETS INNOVATIONS FOR WATER, FUEL OF U.S. SPACEFLIGHT FOR EXPLORATION PAGE 4 PAGE 14 PAGE 38 Ground Systems ISS and Spacecraft Launch Services Commercial Center Planning History Engineering Development and Processing Program Crew Program and Development Operations NASA’S KENNEDY SPACE CENTER’S LAUNCH SPACEPORT MAGAZINE SCHEDULE Maneuvering SPHERES Date: No Earlier Than Maneuvering SPHERES Sep. 19 -- 2:38 a.m. EDT Mission: SpaceX 4 Commercial Resupply Services CONTENTS flight with ISS-RapidScat 5 �������������������Mechanical rovers to mimic ants Description: Launching from Cape Canaveral Air Force Station, Fla., SpaceX-4 9 �������������������NASA completes second Orion Underway will deliver cargo and crew Recovery Test supplies to the International Space Station. It will also carry 12 ����������������New app encourages kids to play along in the ISS-RapidScat instrument, adventure of rocketry a replacement for NASA’s QuikScat Earth satellite to monitor ocean winds for 14 ����������������Kennedy prepping for 50 more years of American climate research, weather spaceflight predictions, and hurricane monitoring. ����������������Hydrogen leak detection tape earns R&D award 21 Date: Sep. 25 Mission: Expedition 41 26 ����������������Flight test preparations draw on Launch to the International Launch Services Program’s expertise Space Station Description: Barry Wilmore, Elena Serova and Alexander online more ����������������Weather manager helped develop launch commit 32 Samokutyaev will launch on criteria Soyuz 40 from the Baikonur Middle school Zero Robotics finals intrigue students Cosmodrome in Kazakhstan 39 ����������������Chief technologist leads team of innovators Energy levels were high as more than 60 middle school students and their Date: No Earlier Than Oct. -
Office of the Chief Technologist Dr. Bobby Braun
Office of the Chief Technologist Dr. Bobby Braun NASA Chief Technologist July 13, 2010 An Abbreviated CV of NASA’s Chief Technologist July 13, 2010 www.nasa.gov/oct 2 Themes of the Presidentʼs FY11 NASA Budget Request • Technology Development is a strong theme across the President’s FY11 NASA budget request – Central principle of new Human Exploration strategy – Reverse of past decline and modest increase for Aeronautics (~15% or $75M/yr) – Mission-focused technology investments maintained within the Science Mission Directorate – Utilization of ISS for technology development by the Space Operations Mission Directorate – New ARPA-like Space Technology Program ($5B over 5 years) • This renewed emphasis balances the long-standing NASA core competencies of R&T, spaceflight hardware development, and mission operations. • Increased emphasis on partnerships and STEM education – Other government agencies, academia, industry and international – Theme of National Space Policy – Casting a wide net will allow any innovator to be part of our Space program • Overarching goal is to reposition NASA on the cutting-edge July 13, 2010 www.nasa.gov/oct 3 External Input Has Driven Development of NASA’s Technology-Enabled Approach • NASA Authorization Act of 2008: “A robust program of long-term exploration-related research and development will be essential for the success and sustainability of any enduring initiative of human and robotic exploration of the solar system.” • NRC report, A Constrained Space Exploration Technology Program: A Review of NASAʼs ETDP, 2008: “NASA has created a supporting technology program very closely coupled to the near-term needs of the Constellation Program. This program contains only incremental gains in capability and two programmatic gaps. -
Design of an Open Source-Based Control Platform for an Underwater Remotely Operated Vehicle Diseño De Una Plataforma De Control
Design of an open source-based control platform for an underwater remotely operated vehicle Luis M. Aristizábal a, Santiago Rúa b, Carlos E. Gaviria c, Sandra P. Osorio d, Carlos A. Zuluaga e, Norha L. Posada f & Rafael E. Vásquez g Escuela de Ingenierías, Universidad Pontificia Bolivariana, Medellín Colombia. a [email protected], b [email protected], c [email protected], d [email protected], e [email protected], f [email protected], g [email protected] Received: March 25th, de 2015. Received in revised form: August 31th, 2015. Accepted: September 9th, 2015 Abstract This paper reports on the design of an open source-based control platform for the underwater remotely operated vehicle (ROV) Visor3. The vehicle’s original closed source-based control platform is first described. Due to the limitations of the previous infrastructure, modularity and flexibility are identified as the main guidelines for the proposed design. This new design includes hardware, firmware, software, and control architectures. Open-source hardware and software platforms are used for the development of the new system’s architecture, with support from the literature and the extensive experience acquired with the development of robotic exploration systems. This modular approach results in several frameworks that facilitate the functional expansion of the whole solution, the simplification of fault diagnosis and repair processes, and the reduction of development time, to mention a few. Keywords: open-source hardware; ROV control platforms; underwater exploration. Diseño de una plataforma de control basada en fuente abierta para un vehículo subacuático operado remotamente Resumen Este artículo presenta el diseño de una plataforma de control basada en fuente abierta para el vehículo subacuático operado remotamente (ROV) Visor3. -
(12) United States Patent (10) Patent No.: US 9,493.235 B2 Zhou Et Al
USOO949.3235B2 (12) United States Patent (10) Patent No.: US 9,493.235 B2 Zhou et al. (45) Date of Patent: Nov. 15, 2016 (54) AMPHIBIOUS VERTICAL TAKEOFF AND (58) Field of Classification Search LANDING UNMANNED DEVICE CPC ................. B64C 29/0033; B64C 35/00; B64C 35/008; B64C 2201/088: B60F 3/0061; (71) Applicants: Dylan T X Zhou, Tiburon, CA (US); B6OF 5/02 Andrew H B Zhou, Tiburon, CA (US); See application file for complete search history. Tiger T G Zhou, Tiburon, CA (US) (72) Inventors: Dylan T X Zhou, Tiburon, CA (US); (56) References Cited Andrew H B Zhou, Tiburon, CA (US); Tiger T G Zhou, Tiburon, CA (US) U.S. PATENT DOCUMENTS (*) Notice: Subject to any disclaimer, the term of this 2.989,269 A * 6/1961 Le Bel ................ B64C 99. patent is extended or adjusted under 35 3,029,042 A 4, 1962 Martin ...................... B6OF 3.00 U.S.C. 154(b) by 0 days. 180,119 (21) Appl. No.: 14/940,379 (Continued) (22) Filed: Nov. 13, 2015 Primary Examiner — Joseph W. Sanderson (74) Attorney, Agent, or Firm — Georgiy L. Khayet (65) Prior Publication Data Related U.S. Application Data An amphibious vertical takeoff and landing (VTOL) (63) Continuation-in-part of application No. 13/875.311, unmanned device includes a modular and expandable water filed on May 2, 2013, now abandoned, and a proof body. An outer body shell, at least one wing, and a (Continued) door are connected to the modular and expandable water proof body. A propulsion system of the amphibious VTOL (51) Int.