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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In this paper we give a general overview of the development process carried out in the DESIRE project. This process can be roughly split up into four main phases, from specification in the beginning over two integration phases up to optimisation in the end. With a large variety of technologies and expertises involved, the development of a complex service robot system such as the DESIRE technology platform proved to reveal many challenges on technical as well as organisational level. Several of these issues are highlighted in this paper with the goal to derive useful guidelines for other robotics projects.

关键词：机器人；开发；DESIRE

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This paper implements position control of a biped robot via velocity control with automatically generated joint torque and velocity limits so as to have zero overshoot of the COM and sliding, tipping and twisting of the robots feet while allowing the COM to move in mimimum time to a refferential position. This method allows the position controller to be robust to external disturbances and is able to reject the maximum amount of external force without letting the feet tip over(not unnecesserily compliant like some methods). This method is also general in the sense that all 6 axes can have ground reaction force limits so sliding, twisiting and tipping of the feet can be prevented. Also this method does not require a refferential ZMP trajectory. Friction and coriollis forces are detected via a type of workspace disturbance observer. Knowledge of the magnitude of this disturbance allows the motor torques to be limited so that the total ground reaction force doesnt lead to unstable conditions at the feet. The proposed method with velocity limits is verified on the biped robot MARI-3 and it is shown that overshoot is eliminated while being compliant to external disturbances.

关键词：机器人；ZMP；两足机器人；力量控制；速度限制

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The Thermal Infrared Sensor (TIRS) is one of two instruments on the Landsat Data Continuity Mission (LDCM), which is scheduled to launch in February of 2013. The TIRS instrument was officially added to the mission later in the flow, which led to a highly aggressive schedule that became one of the main drivers during instrument development. The thermal subsystem design of the TIRS Sensor Unit is comprised of five thermal zones which range in temperature from less than 43 Kelvin to 330 Kelvin. Most zones are proportional heater controlled, and all are within a volume of 35 cu.ft. A two-stage cryocooler is used to cool the cold stage; including three QWIP detectors to less than 43 Kelvin, and cool the warm stage; to 105 Kelvin. The excess power dissipation from the cryocooler is rejected via ammonia transport heat pipes to a dedicated Cryocooler Radiator with embedded ammonia heat pipes. The cryogenic subsystem includes a series of shells used to radiatively and conductively isolate the cold stage from the warmer surroundings. The Optical System (telescope) is passively cooled to 180-190 Kelvin using a thermal link; (comprised of a Flexible Conductive Thermal Strap and an APG Bar) which couples the telescope stage to a dedicated radiator with embedded ethane heat pipes. The Scene Select Mechanism, which is responsible for moving the Scene Select Mirror to three distinct positions (including Nadir, Space, and On-board Black Body Calibrator pointing), runs nominally at 278 Kelvin and is thermally isolated from the cryogenic thermal zones. The On-board Black Body Calibrator requires a dedicated radiator which allows for a temperature range of 260-330 Kelvin at the Source. The detectors are powered by the FPE Box, which is mounted to the nadir external surface of the composite honeycomb structure. There are two additional electronics boxes which are wet-mounted directly to the spacecraft shear panel, the Main Electronics Box and Cryocooler Electronics Box; thermal control of these boxes is the responsibility of Orbital Sciences Corporation, the spacecraft developer. The TIRS thermal subsystem design was successfully verified during months of testing campaign, from component & subsystem level to two instrument-level thermal vacuum tests. The Instrument, despite an aggressive schedule, was delivered to the spacecraft vendor in February of 2012 and is currently undergoing the final stages of spacecraft environmental testing in preparation for launch.

关键词：热红外传感器；TIRS仪器

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关键词：机器人；自适应系统；自主导航；信息处理；交互作用

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NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot, so it involves both internal fault detection as well as force sensing for unintended external contacts. The designs for the supervisory command mode and the redundant safety system will be described. Specific implementations were developed and test results will be reported. Experiments were conducted using terrestrial analogs for deep space missions, where time delays were artificially added to emulate the longer distances found in space.

关键词：遥控机器人；地球模拟舱外活动；太空任务

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Waltz is a typical example of physical human-human interaction (pHHI) in a well-structured environment. Waltz involves two dancers. The goal is to reproduce the female dancer's abilities with a robot in pHRI. The project focused on the lower level interaction in pHRI, i.e., coupled dynamics, and proposed a framework which covers modeling, analysis, human state sensing and robot control in developing a cooperative female robot dancer. The two dancers' coupled dynamics was modeled as two physically connected inverted pendulums. Stability of this two pendulum system was analyzed. The human state was measured by two laser range sensors, while the measurement noise and bias were corrected by a Kalman filter. Several candidate robot controllers were discussed and evaluated in experiments.

关键词：机器人；耦合(交互)；交互作用；控制系统；探测器

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A test plan to measure voltage and current of active drive motors on a small robot under repeatable test conditions. Several positive and negative slope conditions are included.

关键词：机器人；汽车；电压；运动测试

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Contrary to the assumptions underlying many current robot systems, teaching is an interactive process where the tutor needs to be continuously informed about the learner's internal states of understanding and perception. In an open ended learning situation this interaction can not be pre-modelled as the aspects that need clarification can not be foreseen. However, standard approaches do exactly this: they pre-define interactions by coupling system states with dialog acts. In our approach we target at losening this coupling between system and dialog states by providing general task and interaction patterns and means to relate them to each other. By this approach we are now able to provide on the one hand a dialog system that is relatively easily adaptable to new scenarios and on the other hand mixed-initiative interactions that allow the system to inform the tutor about internal representations when they become important for the interaction.

关键词：机器人；交互；辅助场景

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To ensure sufficient coverage of an area or to protect against node failures, one major characteristic of WSNs is the possibility of deploying many redundant nodes in a small area. These are clear advantages of a dense network deployment; however, there are also disadvantages. To be specific, in a relatively crowded network, many typical wireless networking problems are aggravated by the large number of neighbors, such as many nodes interfering with each other. In order to avoid too many interferences, nodes might use short transmission power to talk to nearby nodes directly; thus, routing protocols might have to recompute routes even if only small node movements have happened.

关键词：无线传感器；连通集

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