Network-Based Robot Control via Virtual Attractors and Agent-based Software

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Network-Based Robot Control via Virtual
Attractors and Agent-based Software

• Task Leader Vincenzo Liberatore Wyatt Newman
• Task Number
• Glenn Research Center
• April 11 - 12, 2002

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Network-Based Robot Control
Technical Accomplishments Against Milestones
Milestone Due Date Project Milestone Description Technical Accomplishments
1 3/2002 To develop a supervisory control system for remote operation of robots via the Internet which overcomes latency as well as lack of QoS guarantees. Developed a scheme of virtual attractors for local robot control. Dynamic code loading to allow reprogramming of robot functionality for unknown environments. Support for mobility and cooperation between robots by using agents. Supervisor interacts with the robot through a virtual robot GUI Demonstrated approach on CWRU Paradex robot.
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Network-Based Robot Control
Technical Accomplishments Against Milestones
Milestone Due Date Project Milestone Description Technical Accomplishments
1 3/2002 To develop a supervisory control system for remote operation of robots via the Internet which overcomes latency as well as lack of QoS guarantees. Developed a scheme of virtual attractors for local robot control. Dynamic code loading to allow reprogramming of robot functionality for unknown environments. Support for mobility and cooperation between robots by using agents. Supervisor interacts with the robot through a virtual robot GUI Demonstrated approach on CWRU Paradex robot.
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Network-Based Robot Control
Schedule - Milestone Status
Date Milestone Description Schedule Status Description of Schedule Deviation and Plan
1 3/2002 Development of a supervisory control system for remote operation of robots via the Internet which overcomes latency as well as lack of QoS guarantees. Done
2 9/2002 Demonstrate remote operation of mobile robots and remote control for sophisticated control. In-progress
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Network-Based Robot Control
Remaining FY02 Funds yet to be Obligated
Date Item Amount
1 9/2002 Planned summer student/faculty support 12K
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Network-Based Robot Control
Risks
Risk Impact on Project Resolution Plan
1 Robotics over IP would not be needed for Mars exploration or construction tasks.
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Biosensor Networks

• Task Leader Frank Merat, Wen Ko, and Darrin
  Young
• Task Number
• Glenn Research Center
• April 11 - 12, 2002

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Biosensor Networks
Technical Accomplishments Against Milestones
Milestone Due Date Project Milestone Description Technical Accomplishment
1 3/2002 Measure signal propagation through the human body to identify candidate operating frequency range. Used simple loop antennas to couple signal into human body. Compared measured signal strength through air with that measured through human body (arm). Calculated gain due to presence of body to identify propagation peaks at 300 and 450 MHz with little-to-no gain observed above 800 MHz. Operational frequency of 300 MHz chosen.
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Biosensor Networks
Technical Accomplishments Against Milestones
Milestone Due Date Milestone Description Technical Accomplishment
2 6/2002Use actual mo yr.(not FY) Design antennas for coupling to human body at operating frequency. Designed two patch antennas (300 MHz and 2.5 GHz) to replace loop antennas. Performed tests on signal transmission through human body. The large patch antenna provided a gain of 25 at 300 MHz which was roughly twice as good as the loop antenna. The smaller patch antenna provided a gain of 40 indicating that the smaller size is desirable.
41 x 41 x 1.5 mm
41 x 4 x 1.5 mm
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Biosensor Networks
Technical Accomplishments Against Milestones
Milestone Due Date Milestone Description Technical Accomplishment
3 8/2002 Design wireless nodes which will collect biosensor data and transmit it through human body. Completed initial circuit design using Atmel AT90S8535 microcontroller and AT86RF211 wireless transceiver chips.
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Biosensor Networks
Schedule - Milestone Status
Date Milestone Description Schedule Status Description of Schedule Deviation and Plan
1 10/2002 Measure signal propagation through the human body to identify candidate operating frequency range. Done
2 1/2002 Design antennas for coupling to human body at operating frequency. Done
3 4/2002 Design wireless nodes which will collect biosensor data and transmit it through human body. In-progress
4 6/2002 Develop software to transmit data to wireless collection node.
5 9/2002 Demonstration of working system which can collect and log data from human wearing system.
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Biosensor Networks
Remaining FY02 Funds yet to be Obligated
Date Item Amount
1 9/2002 Planned summer student support 2.5K
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Biosensor Networks
Risks
Risk Impact on Project Resolution Plan
1 EMI from radiated signals not confined to the human body. Would limit applications of the technology. Reduce transmitter power as much as possible.
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Data Compression for Mobile Environments

• Task Leader Cenk Sahinalp, Tekin Ozsoyoglu
  Meral Ozsoyoglu
• Task Number
• Glenn Research Center
• April 11 - 12, 2002

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Data Compression for Mobile Environments
Technical Accomplishments Against Milestones
Milestone Due Date Project Milestone Description Technical Accomplishment
1 3/2002 Surveyed the database compression literature and categorized the existing compression types as to what type of data querying they allow
2 3/2002 Defining algorithms for simple data compression techniques that allow database queries both for database data and for stream data. Identified needs for (a) on-the-fly multiple data stream delivery/manipulation, (b) languages for directing modified-and-filtered multiple data streams onto users' desktops, and (c) multi-stream synchronization and compression required by intelligent sensors on small, smart satellites.
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Data Compression for Mobile Environments
Schedule - Milestone Status
Date Milestone Description Schedule Status Description of Schedule Deviation and Plan
1 3/2002 Surveyed the database compression literature and categorized the existing compression types as to what type of data querying they allow Done
2 3/2002 Defining algorithms for simple data compression techniques that allow database queries both for database data and for stream data. On-schedule however a new need has been identified. Requires a survey of the existing (single) "stream data" research, and the related field of "continual queries". Based upon this the plas is to define a logic-based query/manipulation language for multi-stream data, and more precisely formulate the "hard" issues related to multi-stream data management, multi-stream query optimization and filtering in dynamically changing and redefinable streams of data produced by intelligent sensors.
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Data Compression for Mobile Environments
Remaining FY02 Funds yet to be Obligated
Date Item Amount
1 9/2002 Planned summer student/faculty support 5K
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Data Compression for Mobile Environments
Risks
Risk Impact on Project Resolution Plan
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MEMS for Power-Efficient WirelessCommunications
Task Leader Darrin J. Young Task Number Glenn
Research Center April 11 - 12, 2002
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MEMS for Power-Efficient Wireless
Technical Accomplishments Against Milestones
Milestone Due Date Project Milestone Description Technical Accomplishments
1 3/2002 Device Finite-Element Simulation Modeling We have successfully setup the MEMS touch-mode tunable capacitor finite-element simulation model using a commercially available simulator. The figure below illustrates the MEMS tunable capacitor model.
MEMS Tunable Capacitor
MEMS Tunable Capacitor Finite-Element Model
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MEMS for Power-Efficient Wireless
Technical Accomplishments Against Milestones
Milestone Due Date Project Milestone Description Technical Accomplishments
2 3/2002 Finite-Element Simulation Validation We have validated the simulation process through verifying simulation results against measurements obtained from pressure sensors fabricated using a similar device structure. The figure below presents the simulation and measurement results indicating an accuracy within 20. .
CV Simulation vs. Measurement
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MEMS for Power-Efficient Wireless
Technical Accomplishments Against Milestones
Milestone Due Date Project Milestone Description Technical Accomplishments
3 3/2002 Investigate device geometric parameters tradeoffs We have investigated tradeoffs among various device geometric parameters such as diaphragm thickness, radius, air gap size, and insulator thickness.
4 3/2002 Develop device design guideline A systematic design guideline has been developed.
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MEMS for Power-Efficient Wireless
Technical Accomplishments Against Milestones
Milestone Due Date Project Milestone Description Technical Accomplishments
5 3/2002 Design tunable capacitors achieving performance requirements Tunable capacitors with nominal capacitance values of 2 pF, 5 pF, and 10 pF have been designed to achieve a tuning range between 100 and 200 with 5 V to 10 V. The figures below show simulation output plots for a MEMS capacitor with a nominal capacitance of 1.9 pF achieving over 125 tuning ratio with 10 V
MEMS Capacitor Under 0V
MEMS Capacitor Under 10V
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Network-Based Robot Control
Schedule - Milestone Status
Date Milestone Description Schedule Status Description of Schedule Deviation and Plan
1 3/2002 Device Finite-Element Simulation Modeling Done We have successfully setup the MEMS touch-mode tunable capacitor finite-element simulation model using a commercially available simulator. The figure below illustrates the MEMS tunable capacitor model.
2 3/2002 Finite-Element Simulation Validation Done We have validated the simulation process through verifying simulation results against measurements obtained from pressure sensors fabricated using a similar device structure. The figure below presents the simulation and measurement results indicating an accuracy within 20.
3 3/2002 Investigate device geometric parameters tradeoffs Done We have investigated tradeoffs among various device geometric parameters such as diaphragm thickness, radius, air gap size, and insulator thickness.
4 3/2002 Develop device design guideline Done A systematic design guideline has been developed.
5 3/2002 Design tunable capacitors achieving performance requirements Done Tunable capacitors with nominal capacitance values of 2 pF, 5 pF, and 10 pF have been designed to achieve a tuning range between 100 and 200 with 5 V to 10 V. The figures below show simulation output plots for a MEMS capacitor with a nominal capacitance of 1.9 pF achieving over 125 tuning ratio with 10 V
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Network-Based Robot Control
Schedule - Milestone Status
Date Milestone Description Schedule Status Description of Schedule Deviation and Plan
6 3/2002 Optimize and finalize devices design In-progress
7 3/2002 Layout optimized device structures to be fabricated Future
8 3/2002 Fabricate MEMS tunable capacitors Future
9 3/2002 Characterize MEMS tunable capacitors Future
10 3/2002 Demonstrate patch antenna tuning with MEMS capacitors Future
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Network-Based Robot Control
Remaining FY02 Funds yet to be Obligated
Date Item Amount
1 9/2002 2.6K
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Network-Based Robot Control
Risks
Risk Impact on Project Resolution Plan
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Active MEMS for Wireless and Optical Space
Communications

• Task Leader Frank L.Merat and Stephen M.
  Phillips
• Task Number
• Glenn Research Center
• April 11 - 12, 2002

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Active MEMS for Wireless and Optical Space
Communications
Technical Accomplishments Against Milestones
Milestone Due Date Project Milestone Description Technical Accomplishments
1 3/2002 Development of an etching step based on available tools to solve the electrical connection problem. (from the mirror structure to its bottom electrode)
2 4/2002 Investigation of using Doped polysilicon as the material for the Multi-Poly mirror.
3 4/2002 Ten test wafers have successfully been etched with the new process. They are ready for deposition using both doped and undoped multi-poly layers. Electrical test will follow.
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Active MEMS for Wireless and Optical Space
Communications
Schedule - Milestone Status
Doped Polysilicon has a different internal stress
distribution through the thickness of the layer.
So this study is important.
4/2002
Ten test wafers have successfully been etched
with the new process. They are ready for
deposition using both doped and undoped
multi-poly layers. Electrical test will follow.
In-progress
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Active MEMS for Wireless and Optical Space
Communications
Remaining FY02 Funds yet to be Obligated
Date Item Amount
1 9/2002 Planned summer student/faculty support 5,000
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Active MEMS for Wireless and Optical Space
Communications
Risks
Risk Impact on Project Resolution Plan
1 Doped poly mirror may have the wrong shape due to its different stress characteristics. Will delay completion since another deposition will be required. Find the doped poly stress distribution and adjust the thickness of Multi-poly layers accordingly.
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