Landing mission concepts that are being developed for exploration of solar system bodies are increasingly ambitious in their implementations and objectives. Most of these missions require accurate position and velocity data during their descent phase in order to ensure safe, soft landing at the pre-designated sites. Data from the vehicle's Inertial Measurement Unit will not be sufficient due to significant drift error after extended travel time in space. Therefore, an onboard sensor is required to provide the necessary data for landing in the GPS-deprived environment of space. For this reason, NASA Langley Research Center has been developing an advanced Doppler lidar sensor capable of providing accurate and reliable data suitable for operation in the highly constrained environment of space. The Doppler lidar transmits three laser beams in different directions toward the ground. The signal from each beam provides the platform velocity and range to the ground along the laser line-of-sight (LOS). The six LOS measurements are then combined in order to determine the three components of the vehicle velocity vector, and to accurately measure altitude and attitude angles relative to the local ground. These measurements are used by an autonomous Guidance, Navigation, and Control system to accurately navigate the vehicle from a few kilometers above the ground to the designated location and to execute a gentle touchdown. A prototype version of our lidar sensor has been completed for a closed-loop demonstration onboard a rocket-powered terrestrial free-flyer vehicle.

关键词：传感器；雷达

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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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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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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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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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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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This paper describes ongoing research into the role of optic-flow derived spatial representations and their relation to cognitive computational models of mental rotation in primates, with the goal of producing effective and unique autonomous robot navigational capabilities. A theoretical framework is outlined based on a vectorial interlingua spanning perception, cognition and motor control. Progress to date on its implementation within an autonomous robot control architecture is presented.

关键词：机器人；导航；体系结构；认知；控制系统；数学模型；机器人导航；光学流

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In the material handling community, three disparate subgroups exist in the areas of kitting, packaging, and palletizing. Currently, these operations are performed by a mix of automated and manual systems with very limited market penetration of automated systems into small- and mid-sized companies. Lack of automation is due to difficulties in using todays generation of robots for tasks that include requirements such as small lot sizes and product variability. In addition, infrastructure requirements and high levels of required expertise make them prohibitively expensive. A major contributing factor is that current manufacturing robots have little or no understanding of the world around them and no capability to dynamically change their actions if the environment or task changes. This restricts them to operate in highly constrained environments and makes it difficult to change from one task to another. A seminar titled Next Generation Packaging, Kitting, and Palletizing: Can one robot do it all, was held on February 9th 2012 at the Material Handling Industry of America (MHIA) MODEX show in Atlanta, GA. The seminar primarily focused on whether systems that are capable of modifying their behavior by generating and adapting plans will overcome the aforementioned limitations and if these systems will require detailed knowledge of and a consistent representation for both the manufacturing environment and the plans. The seminar also explored ways to exploit the significant similarities in packaging, kitting, and palletizing in the way their requirements are represented, and in how their performance is evaluated.

关键词：机器人;材料处理;装备;包装托盘包装;自动化系统;人工系统

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半导体2014荣景可期。经历了短暂滑铁卢之后，半导体行业即将蓄势待发。展望2014年，全球经济复苏势头更为明朗，半导体产业景气度将显著提升，需求多元化、政策扶持、技术创新等因素构成多点支撑。安防行业2014年有望维持高景气。2014年多因素驱动LED 照明进入收获季。

关键词：半导体；安防；LED 照明；多因素驱动；节能环保

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显示面板产业格局稳定，明年产业前景良好。国家产业扶持战略重心转移，上游龙头企业迎来发展机遇。投资策略：强势中游+潜力上游。

关键词：OLED技术；替代时机；结构性过剩；国产化战略；核心转移

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