020411_cict-sc_qtr_rvw.ppt page 1 network-based robot control via virtual attractors and agent-based...

020411_CICT-SC_Qtr_Rvw.ppt

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

Task Leader: Vincenzo Liberatore & Wyatt NewmanTask Number:

Glenn Research CenterApril 11 - 12, 2002


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.

AttractorPlatform originVirtual tool tipExternal forceOrientational springs and dampers

Translational springsand dampersActual tool tip


Network-Based Robot Control Technical Accomplishments Against Milestones

Milestone Due Date



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.


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

3


Network-Based Robot Control Remaining FY02 Funds yet to be Obligated

Date Item Amount

1 9/2002 Planned summer student/faculty support $12K

2

3

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6

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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 YoungTask Number:



Biosensor Networks Technical Accomplishments Against Milestones

Milestone Due Date


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.



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 mm41 x 4 x 1.5 mm



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.


Biosensor Networks Schedule - Milestone Status



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.


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


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


Data Compression for Mobile Environments Technical Accomplishments Against Milestones

Milestone Due Date


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.


Data Compression for Mobile Environments Schedule - Milestone Status



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.


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


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Task Leader: Darrin J. YoungTask Number:


MEMS for Power-Efficient WirelessCommunications


MEMS for Power-Efficient WirelessTechnical Accomplishments Against Milestones

Milestone Due Date



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.

Tuning Voltage

Diameter (a)

Diaphragm Thickness (h)

Top ElectrodeSilicon

Isolation layerSubstrate Bottom Electrode

Gap (g)

MEMS Tunable Capacitor Finite-Element Model

MEMS Tunable Capacitor



Milestone Due Date



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%. .

Measured and Simulated Capacitance (minus parasitics) vs. Voltage at atmospheric pressure for 0.8mm Sensor #2

(Simulation Parameters: g = 5.3um, h = 4.2um, a = 400um,75MPa stress)

0

5

10

15

20

0 5 10 15 20 25

Voltage Bias (V)

Capacitance (pF)

Measured

Simulated

CV Simulation vs. Measurement



Milestone Due Date



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.



Milestone Due Date



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





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





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


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


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Active MEMS for Wireless and Optical Space Communications

Task Leader: Frank L.Merat and Stephen M. PhillipsTask Number:



Active MEMS for Wireless and Optical Space Communications Technical Accomplishments Against Milestones

Milestone Due Date



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.

focusing electrode

focusing electrode

anchor

Cross-section


Active MEMS for Wireless and Optical Space Communications Schedule - Milestone Status



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)

Done

2 4/2002 Investigation of using Doped polysilicon as the material forthe Multi-Poly mirror

In-progress

3

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


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

2

3

4

5

6

7

8

9

10

11

12


Active MEMS for Wireless and Optical Space Communications Risks


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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3

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020411_cict-sc_qtr_rvw.ppt page 1 network-based robot control via virtual attractors and agent-based...

Documents

local robot control

remote control

sophisticated control

cwru paradex robot

supervisory control

milestones milestone

remote operation of

scheme of virtual attractors