Method of collaborative detection of autonomous transport vehicles based on laser rangefinder data

To master changing performance demands, autonomous transport vehicles are deployed to make inhouse material flow applications more flexible. The socalled cellular transport system consists of a multitude of small scale transport vehicles which shall be able to form a swarm. Therefore the vehicles need to detect each other, exchange information amongst each other and sense their environment. By provision of peripherally acquired information of other transport entities, more convenient decisions can be made in terms of navigation and collision avoidance. This paper is a contribution to collective utilization of sensor data in the swarm of cellular transport vehicles.

Operator's manual : M1 ballistic computer and laser rangefinder troubleshooting trainer, device 17-68/3 (NSN 6910-01-151-7775).

"April 1984."

目标反射特性对激光测距的影响

针对非合作小目标激光测距系统,目标表面的反射特征对激光回波信号有很大的影响。建立测量表面双向反射分布函数(BRDF)的装置,对常用的两种热控材料——白漆涂层和F36多包层,测量了其在1064 nm波长下的双向反射分布函数。得出了白漆涂层镜面反射很小,散射角较大,利于各方向接收回波信号;而F36多包层镜面反射很强,散射角-2°~2°,不利于探测。通过由表面BRDF与由朗伯散射计算得到的最小接收功率的比较,得出了入射角大于45°入射白漆涂层时,回波信号较小;大于2°入射F36多包层时,没有回波信号。

Towards Extracting Absolute Roughness From Underground Mine Drift Profile Data

The purpose of this paper is to demonstrate a technique to utilize underground mine drift profile data for estimating absolute roughness of an underground mine drift in order to implement the Darcy-Weisbach equation for mine ventilation calculations. This technique could provide mine ventilation engineers with more accurate information upon which they might base their ventilation systems designs. This paper presents preliminary work suggesting that it is possible to estimate the absolute roughness of drift-like tunnels by analyzing profile data (e.g., collected using a scanning laser rangefinder). The absolute roughness is then used to estimate the friction factor employed in the Darcy-Weisbach equation. The presented technique is based on an analysis of the spectral characteristics of profile ranges. Simulations based on real mine data are provided to illustrate the potential viability of this method. It is shown that mining drift roughness profiles appear similar to Gaussian profiles

A Colony Architecture for an Artificial Creature

This report describes a working autonomous mobile robot whose only goal is to collect and return empty soda cans. It operates in an unmodified office environment occupied by moving people. The robot is controlled by a collection of over 40 independent "behaviors'' distributed over a loosely coupled network of 24 processors. Together this ensemble helps the robot locate cans with its laser rangefinder, collect them with its on-board manipulator, and bring them home using a compass and an array of proximity sensors. We discuss the advantages of using such a multi-agent control system and show how to decompose the required tasks into component activities. We also examine the benefits and limitations of spatially local, stateless, and independent computation by the agents.

ASTER: A Brazilian mission to an asteroid

The first Brazilian mission to an asteroid is being planned. The target is the asteroid 2001 SN263, which has a NEA orbit of class AMOR. Spectral analysis indicated that this is a C-type asteroid. This type of asteroids are dark and difficult to be studied from Earth. They hold clues of the initial stages of planetary formation and also the origin of water and life on Earth. In fact, radar data showed that 2001 SN263 is composed of three bodies with diameters of about 2.8 km, 1.1 km and 0.4 km. Therefore, the spacecraft will have the opportunity to explore three bodies on the same trip. The mission is scheduled to be launched in 2015, reaching the asteroid in 2018. It will be used a small spacecraft (150 kg) with 30 kg for the payload. The set of scientific instruments being considered to explore the target of this mission include an Imaging Camera, a Laser Rangefinder, an Infrared Spectrometer, a Synthetic Aperture Radar and a Mass Spectrometer. The main measurements to be made include the bulk properties (size, shape, mass, density, dynamics, spin state), the internal properties (structure, gravity field) and surface properties (mineralogy, morphology, elemental composition). The mission also opens an opportunity for some relevant experiments, not directly related to the target. Two such experiments will take benefit from being on board of the spacecraft along the journey to the asteroid system, which will take about three years. The first is an astrobiology experiment. The main goal of this experiment is to determine the viability of the microorganisms survival in extraterrestrial environments simulated in laboratory (chemical atmosphere, temperature, desiccation, vacuum, microgravity and radiation). The second experiment is a plasma package. The main objectives of this experiment are to study the structure and electrodynamics of plasma along the trajectory, the plasma instability processes and the density and temperature of plasma of solar wind origin along the trajectory and near the asteroids. This mission represents a great challenge for the Brazilian space program. It is being structured to allow the full engagement of the Brazilian universities and technological companies in all the necessary developments to be carried out. In this paper, we present some aspects of this mission and details of the payload that will be used and the scientific expectations. Copyright ©2010 by the International Astronautical Federation. All rights reserved.

The aster mission: Exploring for the first time a triple system asteroid

2001 SN263 is a triple system asteroid. Although it was discovery in 2001, in 2008 astronomical observation carried out by Arecibo observatory revealed that it is actually a system with three bodies orbiting each other. The main central body is an irregular object with a diameter about 2.8 km, while the other two are small objects with less than 1 km across. This system presents an orbital eccentricity of 0.47, with perihelion of 1.04 and aphelion of 1.99, which means that it can be considered as a Near Earth Object. This interesting system was chosen as the target for the Aster mission - first Brazilian space exploration undertaking. A small spacecraft with 150 kg of total mass, 30 kg of payload with 110 W available for the instruments, is scheduled to be launched in 2015, and in 2018 it will approach and will be put in orbit of the triple system. This spacecraft will use electric propulsion and in its payload it will carry image camera, laser rangefinder, infrared spectrometer, mass spectrometer, and experiments to be performed in its way to the asteroid. This mission represents a great challenge for the Brazilian space program. It is being structured to allow the full engagement of the Brazilian universities and technological companies in all the necessary developments to be carried out. In this paper, we present some aspects of this mission, including the transfer trajectories to be used, and details of buss and payload subsystems that are being developed and will be used. Copyright ©2010 by the International Astronautical Federation. All rights reserved.

Multirobot Tethering for Localization and Control

Particle filtering has proven to be an effective localization method for wheeled autonomous vehicles. For a given map, a sensor model, and observations, occasions arise where the vehicle could equally likely be in many locations of the map. Because particle filtering algorithms may generate low confidence pose estimates under these conditions, more robust localization strategies are required to produce reliable pose estimates. This becomes more critical if the state estimate is an integral part of system control. We investigate the use of particle filter estimation techniques on a hovercraft vehicle. The marginally stable dynamics of a hovercraft require reliable state estimates for proper stability and control. We use the Monte Carlo localization method, which implements a particle filter in a recursive state estimate algorithm. An H-infinity controller, designed to accommodate the latency inherent in our state estimation, provides stability and controllability to the hovercraft. In order to eliminate the low confidence estimates produced in certain environments, a multirobot system is designed to introduce mobile environment features. By tracking and controlling the secondary robot, we can position the mobile feature throughout the environment to ensure a high confidence estimate, thus maintaining stability in the system. A laser rangefinder is the sensor the hovercraft uses to track the secondary robot, observe the environment, and facilitate successful localization and stability in motion.