This report documents (1) the successful FCC certification effort by AKELA and (2) AKELA user test and evaluation of the NIJ ASTIR system. At the conclusion of this NIJ Cooperative effort, the ASTIR system received final FCC Certification. The FCC certification allows the availability of the ASTIR for LE emergency operations. Its effectiveness will be a function of the building wall material makeup, line-of-site metallic and moving obstructions, and complexity of the building structure. Due to limited user operational testing on complex structures and wall construction materials, it is anticipated that image display information and associated interpretation will require signal processing product improvement. Product improvements will be limited to signal processing and imaging display software - no modifications are required for radar hardware and/or the physical system.

关键词：传感器；FCC

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To investigate robot Simultaneous Localization and Mapping (SLAM) in the unknown environment, the non-linear Interacting Multiple Model (IMM) SLAM algorithm is applied to solve the problem concerning the statistical property mutation of a system. The key point of this algorithm is to use non-linear Gaussian model to approximate non-linear and non-Gaussian model so that robot Simultaneous Localization and Mapping can be achieved. Each model employs the Extended Kalman Filter (EKF) algorithm to linearize the non-linear system and uses the non-linear Interacting Multiple Model algorithm in each step to get fusion estimated value. The Monte Carlo simulation results show that the proposed algorithm has better estimate precision.

关键词：机器人；自动控制系统；定位；交互多模型

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The difficulties one faces when developing a service robot increase exponentially with the number of different modules and functions to be included. In the DESIRE project a new service robot was to be built as a means for advancing and demonstrating the convergence of service robotics technologies. It also had to meet the often contradicting requirements and demands of all thirteen partners and their heterogeneous software modules and functions which they committed to this project. In this article we will discuss the development process of the hardware of the DESIRE technology platform. Starting with the listing and description of the different components and requirements we will describe the development process of the platform's frame and internal structure as well as the design of the outer cover. We expect this chapter to be used as inspiration and guideline for other engineers in upcoming projects with similar settings concerning system complexity and team composition. We are confident that the experience of the robot development process gathered within a large joint research project will help others to identify potential pitfalls and challenges for a robot's hardware design beforehand and thus reduce the effort, time and resources needed for future service robot development.

关键词：机器人；DASIRE;硬件设计

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In the field of service robotics there is a high demand for high quality models of all the objects a service robot should be capable of handling. This is especially true for geometrical representations of objects that can be used for visualization and simulation. The acquisition of such models can be done using the sensors available on the robot or can be generated off line using specialized hardware. Currently the latter approach yields qualitatively better results for onboard sensors are still limited. In project DESIRE high quality models were needed to train the vision system as well as the manipulation capabilities of the demonstrator, thus a specialized sensor setup was constructed and used to generate 2D and 3D object models.

关键词：机器人；半自动；建模

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Mobile sensor networks have received a significant amount of research attention in recent years because they can support a wide range of applications, for example, intelligent transportation systems (ITS), wildlife conservation systems, and battlefield surveillance systems. In most applications for sensor networks, it is expected that data on sensor nodes can be periodically queried by an external source. Important statistical information about the underlying physical processes can thus be collected for further use. Recently, query processing techniques, including range queries, k-nearest neighbor (KNN) queries, and snapshot queries, have been widely utilized in different applications. Among the various query types for aggregating sensor information, the KNN query, which aims at finding the KNNs around a query point, q, has been recognized as one of the key spatial queries in mobile sensor networks. Applications of KNN queries include vehicle navigation, wildlife social discovery, and squad/platoon searching on the battlefields. KNN queries can also be applied to emergency situations such as tracing the insurgents of a traffic accident, discovering the impact of a forest fire, and seeking our nearby survivors around a battlefield stronghold.

关键词：传感器；KNN

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In the DESIRE project an autonomous robot capable of performing service tasks in a typical kitchen environment has been developed. The overall system consists of various loosely coupled subcomponents providing particular features like manipulating objects or recognizing and interacting with humans. To bring all these subcomponents together to act as monolithic system, a high-performance planning system has been implemented. In this paper, we present this system's basic architecture and some advanced extensions necessary to cope with the various challenges arising in dynamic and uncertain environments like those a real world service robot is usually faced with.

关键词：机器人；自治服务；任务计划

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Over the last few years, the interest in studying the Artificial Immune System (AIS) is increasing because of its properties such as uniqueness, recognition of foreigners, anomaly detection, distributed detection, noise tolerance, reinforcement learning and memory. Previous research work has proved that AIS model can apply to behavior-based robotics, but implementation of idiotypic selection in these fields are very few.The present research aims to implement a simple system architecture for a mobile robot navigation problem working with artificial immune system based on the idiotypic effects among the antibodies and the antigens. In this architecture environmental conditions are modeled as antigens and the set of action strategies by the mobile robot are treated as antibodies. These antibodies are selected on the basis of providing the robot with the ability to move in a number of different directions by avoiding obstacles in its environment. Simulation results showed that the robot is capable to reach goal effectively by avoiding obstacles and escape traps in its maze environment.

关键词：机器人；人工免疫系统给；idiotypic效应；免疫网络；导航

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A mascot robot system based on fuzzy inference is developed for casual information recommendation in a home environment. The system is an Internet-based intelligent robotic environment that assists human by information retrieval and presenting recommendation with casual communication. It consists of five eye robots that present friendly mentality expression, speech recognition modules, an information recommendation engine that recommends information to human by taking into account the current situation, and a server that supervises the whole system. In addition, a fuzzy logic based multi-modal gesture recognition system is added based on, where both web camera images and hand motion data (given by a 3D acceleration sensor put on human wrists) are used to notify the emotion of humans to robots in real time. These components are networked and integrated hierarchically based on RT (Robot Technology) middleware. The subjective estimation using psychological scale has been conducted for 11 subjects. Since the results of the subjective estimation shows 3.08 and 2.62, the validity of the fuzzy interpersonal motions expression has been confirmed. The proposed mascot robot system provides informative support to human through casual communication in a home environment.

关键词：机器人；模糊控制技术

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The work described in this report outlines the design and testing of a low-cost, single frequency, carrier phase positioning system. Furthermore, aiding sensor accuracy requirements are analyzed to improve the robustness of the carrier phase system after emerging from signal outages. The applications of interest are ones with safety-of-life implications such as driver assist systems for enhancing lane keeping performance in narrow lanes or during inclement weather when lane markings are obscured. In these applications, frequent GPS outages due to obstructions from buildings and highway overpasses often require solving for the integer ambiguities. The single frequency GPS receiver used for this work was the Hemisphere Crescent. Processing carrier phase data from this receiver was only intermittently successful. Even for data sets collected under ideal static and open-sky conditions, the integer ambiguity estimation process was often unsuccessful. Much effort was made to identify the source of the problem, but no conclusive reason was identified. Despite this setback, sensor accuracy requirements were studied analytically. and it was determined that aiding sensors capable of providing baseline vector position estimates with a standard deviation of less than 0:8 m have potential to improve the integer ambiguity resolution time. This requirement, especially for signal outages lasting longer than several seconds, limits the candidate aiding sensors to higher-cost systems. Therefore low-cost, carrier phase based driver assist systems, using currently available receivers and sensors, continues to be a challenging problem. However, this may be overcome in the next decade as the second and third GPS civilian signal, L2C and L5, become fully avialable by 2019.

关键词：传感器；GPS

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This paper provides an approach to integrating geometric motion planning with logical task planning for long-horizon tasks in domains with many objects. We propose a tight integration between the logical and geometric aspects of planning. We use a logical representation which includes entities that refer to poses, grasps, paths and regions, without the need for a priori discretization. Given this representation and some simple mechanisms for geometric inference,we characterize the pre-conditions and effects of robot actions in terms of these logical entities. We then reason about the interaction of the geometric and non-geometric aspects of our domains using the general-purpose mechanism of goal regression (also known as pre-image backchaining). We propose an aggressive mechanism for temporal hierarchical decomposition, which postpones the pre-conditions of actions to create an abstraction hierarchy that both limits the lengths of plans that need to be generated and limits the set of objects relevant to each plan. We describe an implementation of this planning method and demonstrate it in a simulated kitchen environment in which it solves problems that require approximately 100 individual pick or place operations for moving multiple objects in a complex domain.

关键词：机器人；几何；运动；规划

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