Robotics Commons^™

Autonomous Cars And Driverless Lethal Autonomy, Nyagudi Musandu Nyagudi

Nyagudi M Nyagudi

“The small picture” - make an advanced autonomous /driverless car. Lots of algorithms, sensors, computers and other gizmos. Now get it to take you to work, park itself and seamlessly run your family errands around the city. Taking grandma to the doctor for the medical check-up, getting the children from school, etc. With Radar, Lidar and other sensors, the car steering with ease through the traffic, no driver to pay, that is another plus, fuel/energy efficiency, yet another plus. It is a bold new world and the sky is the limit. Without the resolution of “small picture” issues there is …

Addressing Food Wastage By Tracking The Expiry Date, Shiva P. Bachu

Electronics Elements

We know trash is an enormous problem in the world since trash does not only affect just humans but it also affects living creatures in general. The biggest contributor of trash in the United States is food waste. Food waste is produced by every human and the amounts of food waste is astonishing. Americans throw away almost half of the food that they buy, which is almost worth $165 billion per year. Food waste which end up in landfills and incinerators produces methane which is a greenhouse gas and can contribute to global warming. Trash in general and food waste …

An Intelligent Attitude Determination And Control System Concept For A Cubesat Class Spacecraft, Jeremy Straub

Jeremy Straub

An attitude determination and control system (ADCS) is used to orient a spacecraft for a wide variety of purposes (e.g., to keep a camera facing Earth or orient the spacecraft for propulsion system use). The proposed intelligent ADCS has several key features: first, it can be used in multiple modes, spanning from passive stabilization of two axes and unconstrained spin on a third to three-axis full active stabilization. It also includes electromagnetic components to ‘dump’ spin from the reaction wheels. Second, the ADCS utilizes an incorporated autonomous control algorithm to characterize the effect of actuation of the system components and, …

Assessment Of The Stability Of A Four Legged Robot Manipulator, Dr. Awad Eisa G. Mohamed

Innovative Research Publications IRP India

This paper deals with static stability of a four legged robot manipulator when it moves with trot gait. In this paper, the stability analysis based on dynamics of walking usually proposed for the analysis of walking system studied and identified its limits and ambiguity. After identifying the key issues of stability, it has been identified that moment around the supporting diagonal line of quadruped in trotting gait largely influences walking stability. Therefore Moment around the supporting diagonal line of quadruped in trotting gait is modeled and its effects on body attitude (roll and pitch) are analyzed. The degree of influence …

An Onboard Distributed Multiprocessing System For A Cubesat Spacecraft Created From Gumstix Computer-On-Module Units, Michael Wegerson, Jeremy Straub, Ronald Marsh

Jeremy Straub

The OpenOrbiter Small Spacecraft Development Initiative at the University of North Dakota [1] aims to make ac-cess to space for research and educational purposes easier by enabling the creation of low-cost CubeSats. It is creating the Open Prototype for Educational Nanosats (OPEN), a framework for developing a 1-U CubeSat space-craft with a parts cost of less than $5,000 [2]. The designs [3], documentation and computer code from this will be made publically available to enable the development of programs at other institutions.

The Use Of Low-Cost ‘Balloonsats’ For Stem Education With 3d Printing, Jeremy Straub, Josh Berk, John Nordlie, Ronald Marsh

Jeremy Straub

A new technology, known as 3D printing, allows the rap-id fabrication of plastic structures of virtually any config-uration. These structures are light-weight, dura-ble and inexpensive. This paper considers the utility of utilizing 3D printing to create enclosures for ‘BalloonSats’ – small, low-cost spacecraft analog which can be utilized by students to understand space engi-neering, conduct near-space science (e.g., physics, bio-logical and other experiments) and touch the edge of space.

Considering Scheduling Algorithms For An Open Source Software Spacecraft, Calvin Bina, Jeremy Straub, Ronald Marsh

Jeremy Straub

The OpenOrbiter Small Satellite Development Initiative at the University of North Dakota [1] is working make space research and education more accessible world-wide [2], through the design and public release of a complete set of plans, software and other documents (see [3]) for a 1-U CubeSat. This design targets a parts cost of no more than $5,000 [4]. These lowered costs, combined with the efficiencies of the CubeSat form fac-tor [5] and free-to-qualified-developer launch services [6, 7] should facilitate greater access to space for the ed-ucational, research and other communities.

Designing An Intelligent Attitude Determination And Control System (Adcs), Michael Wegerson, Matt Partridge, Nathan Crocker, David Schindele, Broc Friend, Levi Lewis, Ben Johnson, Jeremy Straub, Ronald Marsh

Jeremy Straub

CubeSat spacecraft have been shown to provide significant cost [1], research [1] and educational benefits [2]. Prior work at UND has demonstrated the efficacy of this form factor of craft for asteroid as-sessment activities [3] and onboard image processing [4]. Work is al-so ongoing to develop a low-cost framework [5] for CubeSat devel-opment to enable activities at UND and at other locations.

Update On The Progress Of The 1-U Open Cubesat Development, Jeremy Straub, Ronald Marsh

Jeremy Straub

The OpenOrbiter program [1] is developing a low-cost framework for the creation of space-craft [2] by researchers and educators world-wide [3]. In line with the objective of enabling future educational use by others, educational assessment [4, 5] has been a key focus. Sever-al areas were assessed: students were asked what types of benefits they sought from their participation [6], assessment of benefit attain-ment is ongoing. Work on the development of a designs (See Figures 2 and 8) that can be used to build a spacecraft with a cost of under $5,000 [7] using primarily COTS parts and testing (see Figure …

Nanosatellite Scheduling Using A Dictionary Module And A ‘Useful Trick’ With Coded Unsigned Integers, Monilito Castro, Jeremy Straub

Jeremy Straub

Schedulers for small spacecraft must satisfy the dual requirement of generating very efficient schedules while concurrently minimizing the resources required to create the schedule. This paper proposes a technique for searching for tasks that can be utilized to fill particular schedule locations. This approach is based on a modular system for storing important variables. This modular system has three important variables: t0, x0 and y0. The variable y is latitude and x is longitude. Time variable t is an integer and each unit represents a time quantum. They are related to each other by three functions Ft, Fx, and Fy. …

Swarm Intelligence, A Blackboard Architecture And Local Decision Making For Spacecraft Command, Jeremy Straub

Jeremy Straub

Control of a multi-spacecraft constellation is a topic of significant inquiry, at present. This paper presents and evaluates a command architecture for a multi-spacecraft mission. It combines swarm techniques with a decentralized / local decision making architecture (which uses a set of shared blackboards for coordination) and demonstrates the efficacy of this approach. Under this approach, the Blackboard software architecture is used to facilitate data sharing between craft as part of a resilient hierarchy and the swarm techniques are used to coordinate activity. The paper begins with an overview of prior work on the precursor command technologies and then presents …

Sparrow's 2012 Argument That Robotic Weapons Are Desastrous For Peace (Argument Map), Michael H.G. Hoffmann

Michael H.G. Hoffmann

This argument map represents the argumentation of Sparrow, R. (2012). "Just say No" to Drones. IEEE Technology and Society Magazine, M 1932-4529/12(SPRING 2012), 56-63. doi: 10.1109/MTS.2012.2185275. The argument map is open for debate in AGORA-net, search for map ID 9712.

Heyns's 2013 Argument That All States Should Declare Moratoria On Lethal Autonomous Robots (Argument Map), Michael H.G. Hoffmann

Michael H.G. Hoffmann

This argument map represents an argumentation from Heyns, C. (2013). Report of the Special Rapporteur on extrajudicial, summary or arbitrary executions, Christof Heyns (Vol. A/HRC/23/47). S.l.: United Nations. Human Rights Council. The argument map is open for debate in AGORA-net, search for map ID 9206.

Heyns's 2013 Argument In The Guardian That Lethal Autonomous Robots (Lars) Should Be Banned (Argument Map), Michael H.G. Hoffmann

Michael H.G. Hoffmann

This argument map represents the argumentation of Heyns, C. (2013). Robot wars: after drones, a line we must not cross. The Guardian. Retrieved from http://www.theguardian.com/commentisfree/2013/jun/19/robot-wars-drones-life-death-decisions. The argument map is open for debate in AGORA-net, search for map ID 9205.

Scheduling For A Small Satellite For Remote Sensed Data Collection, Donovan Torgerson, Christoffer Korvalnd, Jeremy Straub, Ronald Marsh

Jeremy Straub

Small satellites, such as CubeSats, serve as excellent platforms for the collection of data that can be supplied to a geographic information system. To serve this need, they require a robust and lightweight task scheduler due to their limited onboard power production capabilities as well as internal space restrictions. Because of these constraints, schedules must be optimized; however, the scheduling optimization process must be performed using limited processing (CPU) power.

Several considerations must be taken into account in order to make a scheduler for these systems. This poster highlights requirements such as inter-dependency of onboard systems, and limited windows of …

Payload Software Design And Development For A Remote Sensing Small Spacecraft, Kyle Goehner, Christoffer Korvald, Jeremy Straub, Ronald Marsh

Jeremy Straub

Scheduling for a Small Satellite for Remote Sensed Data Collection

Characterization Of Extended And Simplified Intelligent Water Drop (Siwd) Approaches And Their Comparison To The Intelligent Water Drop (Iwd) Approach, Jeremy Straub, Eunjin Kim

Jeremy Straub

This paper presents a simplified approach to performing the Intelligent Water Drops (IWD) process. This approach is designed to be comparatively lightweight while approximating the results of the full IWD process. The Simplified Intelligent Water Drops (SIWD) approach is specifically designed for applications where IWD must be run in a computationally limited environment (such as on a robot, UAV or small spacecraft) or where performance speed must be maximized for time sensitive applications. The SWID approach is described and compared and contracted to the base IWD approach.

The Multi-Tier Mission Architecture And A Different Approach To Entry, Descent And Landing, Jeremy Straub

Jeremy Straub

Planetary missions are generally very well planned out. Where the spacecraft will be deployed, what it will do there and in what order are generally determined before launch. While some allowance is made for greater depth exploration of scientifically interesting items identified during the investigation, a successful mission is (generally) one that doesn’t deviate significantly from its planning. When sending an initial mission to an unsurveyed planet or moon, however, this approach is not suitable. Current space technology provides the capability to send a combined survey and lander mission (instead of conducting an initial survey mission and following it up …

Enabling Interplanetary Small Spacecraft Science Missions With Model Based Data Analysis, Jeremy Straub

Jeremy Straub

Small spacecraft operating outside of Earth orbit are significantly constrained by the communica- tions link available to them. This is particularly true for stand-alone craft that must rely on their own antenna and transmission systems (for which gain and available power generation are limited by form factor); it is also applicable to ‘hitchhiker’-style missions which may be able to utilize (quite likely very limited amounts of) time on the primary spacecraft’s communications equip- ment for long-haul transmission.

This poster presents the adaptation of the Model-Based Transmission Reduction (MBTR) frame- work’s Model-Based Data Analysis (MBDA) component for use on an interplanetary …

Desktop Warfare: Robotic Collaboration For Persistent Surveillance, Situational Awareness And Combat Operations, Jeremy Straub

Jeremy Straub

Robotic sensing and weapons platforms can be controlled from a desktop workstation on the other side of the planet from where combat is occurring. This minimizes the potential for injury to soldiers and increases operational productivity. Significant work has been undertaken and is ongoing related to the autonomous control of battlefield sensing and warfighting systems. While many aspects of these operations can be performed autonomously, in some cases it is necessary (due to technical limitations) or desirable (due to legal or political implications) to involve humans in the low-level decision making. This paper reviews a number of specific applications where …

An Expert System For Spacecraft Design, Jeremy Straub, Christoffer Korvald, Tyler Hill, Joshua Berk

Jeremy Straub

Designing a spacecraft is a complicated process that can be problem-prone. This is particularly true in the case of a small spacecraft where volume and mass limitations are enforced by form factor requirements. The Open Prototype for Educational NanoSats implements several restrictions beyond those from the CubeSat form factor, including two different board size specifications which impact the configuration of the payload area support structure and the size of available batteries.

OpenEdge aims to avoid the discovery of form factor, OPEN-specific and other configuration issues during final assembly by checking prospective configurations against the applicable requirements and constraints set during …

The Development Of Payload Software For A Small Spacecraft, Kyle Goehner, Christoffer Korvald, Jeremy Straub, Ronald Marsh

Jeremy Straub

The OpenOrbiter project is a multi-department effort to design and build a small spacecraft which will demonstrate the feasibility of the Open Prototype for Educational NanoSats (OPEN) framework. This framework will reduce cost of small spacecraft creation by providing design plans for free. The focus of the payload software group is to design and implement an onboard task processing and image processing service. Currently the project is in the development phase and most large design decisions have been made. This poster presents the major design decisions that have been made for the payload software and how they will affect the …

A Human Proximity Operations System Test Case Validation Approach, Justin Huber, Jeremy Straub

Jeremy Straub

A Human Proximity Operations System (HPOS) poses numerous risks in a real world environment. These risks range from mundane tasks such as avoiding walls and fixed obstacles to the critical need to keep people and processes safe in the context of the HPOS’s situation-specific decision making. Validating the performance of an HPOS, which must operate in a real-world environment, is an ill posed problem due to the complexity that is introduced by erratic (non-computer) actors. In order to prove the HPOS’s usefulness, test cases must be generated to simulate possible actions of these actors, so the HPOS can be shown …

Exposing Multiple User-Specific Data Denominated Products From A Single Small Satellite Data Stream, Atif F. Mohammad,, Emanuel Grant, Jeremy Straub, Ronald Marsh, Scott Kerlin

Jeremy Straub

This paper presents a research work on small satellite data stream and related distribution to associated stakeholders, which is a field that needs to get explored in more detail. The algorithm that is presented to extract USDDP (User-Specific Data Denominated Products) is a self managing body, which will be within as Open Space Box environment or OSBE as a novel idea. It contains an individual stream transmitted by the small satellite, which later is to be converted into USDDP. The context defined here deals with area in detail. Contexts are vitally important because they control, influence and affect everything within …

Model-Based Software Engineering For An Imaging Cubesat And Its Extrapolation To Other Missions, Atif Mohammad, Jeremy Straub, Christoffer Korvald, Emanuel Grant

Jeremy Straub

Small satellites with their limited computational capabilities require that software engineering techniques promote efficient use of spacecraft resources. A model-driven approach to software engineering is an excellent solution to this resource maximization challenge as it facilitates visualization of the key solution processes and data elements.

The software engineering process utilized for the OpenOrbiter spacecraft, which is a remote sensing technology demonstrator, is presented. Key challenges presented by the Open Orbiter project included concurrent operation and tasking of five computer-on-module (COM) units and a flight computer and the associated data marshaling between local and general storage. The payload processing system (consisting …

Open Space Box Model: Service Oriented Architecture Framework For Small Spacecraft Collaboration And Control, Atif F. Mohammad, Jeremy Straub

Jeremy Straub

A Cubesat is a small satellite with very less competence to compute, it requires software engineering techniques, which can enhance the computational power for this small box. A model-driven approach of software engineering, which is called OSBM or Open Space Box Modeling technique, is an excellent solution to this re-source maximization challenge. OSBM facilitates apparition of the key solution pro-cesses computation and satellite related data elements using Service Oriented Ar-chitecture 3.0 (SOA 3.0) as base to work on to design services. The key challenges that can be handled by utilizing OSBM include concurrent operation and tasking of few as five …

The Application Of Traditional Tort Theory To Embodied Machine Intelligence, Curtis E.A. Karnow

Curtis E.A. Karnow

This note discusses the traditional tort theories of liability such as negligence and strict liability and suggests these are likely insufficient to impose liability on legal entities (people and companies) selling or employing autonomous robots. I provide the essential working definitions of ‘autonomous’ as well as the legal notion of ‘foreseeability’ which lies at the heart of tort liability. The note is not concerned with the policy, ethics, or other issues arising from the use of robots including armed and unarmed drones, because those, as I define them, are not currently autonomous, and do not implicate the legal issues I …

Multi-Tier Exploration Concept Demonstration Mission, Jeremy Straub

Jeremy Straub

A multi-tier, multi-craft mission architecture has been proposed but, despite its apparent promise, limited use and testing of the architecture has been conducted. This paper proposes and details a mission concept and its implementation for testing this architecture in the terrestrial environment. It is expected that this testing will allow significant refinement of the proposed architecture as well as providing data on its suitability for use in both terrestrial and extra-terrestrial applications. Logistical and technical challenges with this testing are discussed.

Operating Software, Donovan Torgerson, Miyuru Arangala, Michael Hlas, David Bullock, Dayln Limesand, Cameron Kerbaugh, Daniel Schuler, Mitchell Fossen, Edwin Carlson, Atif Mohammad, Josh Berk, Jeremy Straub

Jeremy Straub

No abstract provided.

Cubesat Software Architecture, Christoffer Korvald, Atif Mohammad, Jeremy Straub, Josh Berk

Jeremy Straub

No abstract provided.