In this paper we describe a heterogeneous multi-robot system for assisting scientists in environmental monitoring tasks, such as the inspection of marine ecosystems. This team of robots is comprised of a fixed-wing aerial vehicle, an autonomous airboat, and an agile legged underwater robot. These robots interact with off-site scientists and operate in a hierarchical structure to autonomously collect visual footage of interesting underwater regions, from multiple scales and mediums. We discuss organizational and scheduling complexities associated with multi-robot experiments in a field robotics setting. We also present results from our field trials, where we demonstrated the use of this heterogeneous robot team to achieve multi-domain monitoring of coral reefs, based on real-time interaction with a remotely-located marine biologist.

/pdf/multi-domain-monitoring-of-marine-environments-using-a-4kl7iqwtrb.pdf

Multi-domain monitoring of marine environments using a heterogeneous robot team

Underwater surveillance has traditionally been carried out by means of surface and undersea manned vessels equipped with advanced sensor systems. This approach is often costly and manpower intensive. Marine robotics is an emerging technological area that enables the development of advanced networks for underwater surveillance applications. In contrast with the use of standard assets, these advanced networks are typically composed of small, low-power, and possibly mobile robots, which have limited endurance, processing and wireless communication capabilities. When deployed in a region of interest, these robots can cooperatively form an intelligent network achieving high performance with significant features of scalability, adaptability, robustness, persistence and reliability. Such networks of robots can be the enabling technology for a wide range of applications in the maritime domain. However, they also introduce new challenges for underwater distributed sensing, data processing and analysis, autonomy and communications. The main thrust of this study is to review the underwater surveillance scenario within a framework of four research areas: (i) underwater robotics, (ii) acoustic signal processing, (iii) tracking and distributed information fusion, and (iv) underwater communications networks. Progress in each of these areas as well as future challenges is presented.

https://ietresearch.onlinelibrary.wiley.com/doi/pdf/10.1049/iet-rsn.2017.0074

Cooperative robotic networks for underwater surveillance: an overview

The capability of following a moving target in an environment with obstacles is required as a basic and necessary function for realizing an autonomous unmanned surface vehicle (USV). Many target following scenarios involve a follower and target vehicles that may have different maneuvering capabilities. Moreover, the follower vehicle may not have prior information about the intended motion of the target boat. This paper presents a trajectory planning and tracking approach for following a differentially constrained target vehicle operating in an obstacle field. The developed approach includes a novel algorithm for computing a desired pose and surge speed in the vicinity of the target boat, jointly defined as a motion goal, and tightly integrates it with trajectory planning and tracking components of the entire system. The trajectory planner generates a dynamically feasible, collision-free trajectory to allow the USV to safely reach the computed motion goal. Trajectory planning needs to be sufficiently fast and yet produce dynamically feasible and short trajectories due to the moving target. This required speeding up the planning by searching for trajectories through a hybrid, pose-position state space using a multi-resolution control action set. The search in the velocity space is decoupled from the search for a trajectory in the pose space. Therefore, the underlying trajectory tracking controller computes desired surge speed for each segment of the trajectory and ensures that the USV maintains it. We have carried out simulation as well as experimental studies to demonstrate the effectiveness of the developed approach.

https://www.iitp.ac.in/~athakur/pubs/AR2013_Svec_draft.pdf

Target following with motion prediction for unmanned surface vehicle operating in cluttered environments

Virtual target-based path-following techniques are extended to execute the task of vehicle following in the case of unmanned surface vehicles (USVs). Indeed, vehicle following is reduced to the problem of tracking a virtual target moving at a desired range from a master vessel, while separating the spatial and temporal constraints, giving priority to the former one. The proposed approach is validated experimentally in a harbor area with the help of the prototype USVs ALANIS and Charlie, developed by Consiglio Nazionale delle Ricerche-Istituto di Studi sui Sistemi Intelligenti per lAutomazione (CNR-ISSIA).

/pdf/guidance-of-unmanned-surface-vehicles-experiments-in-vehicle-1vyrhptddb.pdf

Guidance of Unmanned Surface Vehicles: Experiments in Vehicle Following

The review unmanned surface vehicle path planning: Based on multi-modality constraint

Many current methods of search using autonomous marine vehicles do not adapt to changes in mission objectives or the environment. A cellular-decomposition-based framework for cooperative, adaptive search is proposed that allows multiple search platforms to adapt to changes in both mission objectives and environmental parameters. Software modules for the autonomy framework MOOS-IvP are described that implement this framework. Simulated and experimental results show that it is feasible to combine both pre-planned and adaptive behaviors to effectively search a target area.

/pdf/autonomous-cooperation-of-heterogeneous-platforms-for-sea-1f4avbvyqv.pdf

Autonomous cooperation of heterogeneous platforms for sea-based search tasks

Background: There is evidence that ambulatory people with incomplete spinal cord injury (iSCI) have an impaired ability to control lateral motion of their whole-body center of mass (COM) during walking. This impairment is believed to contribute to functional deficits in gait and balance, however that relationship is unclear. Thus, this project examines the relationship between the ability to control lateral COM motion during walking and functional measures of gait and balance in people with iSCI. Methods: We assessed the ability to control lateral COM motion during walking and conducted clinical gait and balance outcome measures on twenty ambulatory adults with chronic iSCI (C1-T10 injury, American Spinal Injury Association Impairment Scale C or D). To assess their ability to control lateral COM motion, participants performed three treadmill walking trials. During each trial, real-time lateral COM position and a target lane were projected on the treadmill. Participants were instructed to keep their lateral COM position within the lane. If successful, an automated control algorithm progressively reduced the lane width, making the task more challenging. If unsuccessful, the lane width increased. The adaptive lane width was designed to challenge each participants maximum capacity to control lateral COM motion during walking. To quantify control of lateral COM motion, we calculated lateral COM excursion during each gait cycle and then identified the minimum lateral COM excursion occurring during five consecutive gait cycles. Our clinical outcome measures were Berg Balance Scale (BBS), Timed Up and Go test (TUG), 10-Meter Walk Test (10MWT) and Functional Gait Assessment (FGA). We used a Spearman correlation analysis (rho) to examine the relationship between minimum lateral COM excursion and clinical measures. Results: Minimum lateral COM excursion had significant moderate correlations with BBS (rho=-0.54, p=0.014), TUG (rho=0.59, p=0.007), 10MWT-preferred (rho=-0.59, p=0.006), and FGA (rho=-0.59, p=0.007) and a significant strong correlation with 10MWT-fast (rho=-0.68, p=0.001). Conclusion: Control of lateral COM motion during walking predicts a wide range of clinical gait and balance measures in people with iSCI. This finding suggests the ability to control lateral COM motion during walking could be a contributing factor to gait and balance in people with iSCI.

Control of Center of Mass Motion during Walking Predicts Gait and Balance in People with Incomplete Spinal Cord Injury

We present a novel method for biomechanically inspired mechanical and control design by quantifying stable manipulation regions in 3D space for tendon-driven systems. Using this method, we present an analysis of the stiffness properties for a human-like index finger and thumb. Although some studies have previously evaluated biomechanical stiffness for grasping and manipulation, no prior works have evaluated the effect of anatomical stiffness parameters throughout the reachable workspace of the index finger or thumb. The passive stiffness model of biomechanically accurate tendon-driven human-like fingers enables analysis of conservatively passive stable regions. The passive stiffness model of the index finger shows that the greatest stiffness ellipsoid volume is aligned to efficiently oppose the anatomical thumb. The thumb model reveals that the greatest stiffness aligns with abduction/adduction near the index finger and shifts to align with the flexion axes for more efficient opposition of the ring or little fingers. Based on these models, biomechanically inspired stiffness controllers that efficiently utilize the underlying stiffness properties while maximizing task criteria can be developed. Trajectory tracking tasks are experimentally tested on the index finger to show the effect of stiffness and stability boundaries on performance.

Human-Like Endtip Stiffness Modulation Inspires Dexterous Manipulation With Robotic Hands

The interplay between stability and manoeuvrability is fundamental for human walking. Previous research finds conflicting perspectives on how these attributes interact – mechanisms for stable walking can either facilitate or impede manoeuvrability. We postulate that these views can be explained by considering manoeuvre direction. We hypothesize that adopting gait patterns that increase lateral stability will impede laterally-directed manoeuvres but not medially-directed manoeuvres due to body positioning strategies that resist lateral movements but aid in the ability to actively generate medially-directed external moments. Twenty-four participants performed many repetitions of a discrete stepping task involving mid-trial reactive manoeuvres in both a Baseline (no external perturbations) and Complex (random perturbations applied to their pelvis) environment. We found that in the Complex environment all participants increased their lateral margin of stability when compared to the Baseline environment. This resulted in an increase in manoeuvre reaction time and foot placement error for laterally-directed manoeuvres but not for medially-directed manoeuvres in the Complex environment when compared to the Baseline environment. These results support our hypothesis and provide the novel interpretation that the stability-manoeuvrability trade-off during human walking depends on manoeuvre direction.

Stability and Manoeuvrability Interactions During Human Walking Depend on the Manoeuvre Direction

Background There is evidence that ambulatory people with incomplete spinal cord injury (iSCI) have an impaired ability to control lateral motion of their whole-body center of mass (COM) during walking. This impairment is believed to contribute to functional deficits in gait and balance, however that relationship is unclear. Thus, this cross-sectional study examines the relationship between the ability to control lateral COM motion during walking and functional measures of gait and balance in people with iSCI. Methods We assessed the ability to control lateral COM motion during walking and conducted clinical gait and balance outcome measures on 20 ambulatory adults with chronic iSCI (C1-T10 injury, American Spinal Injury Association Impairment Scale C or D). To assess their ability to control lateral COM motion, participants performed three treadmill walking trials. During each trial, real-time lateral COM position and a target lane were projected on the treadmill. Participants were instructed to keep their lateral COM position within the lane. If successful, an automated control algorithm progressively reduced the lane width, making the task more challenging. If unsuccessful, the lane width increased. The adaptive lane width was designed to challenge each participant’s maximum capacity to control lateral COM motion during walking. To quantify control of lateral COM motion, we calculated lateral COM excursion during each gait cycle and then identified the minimum lateral COM excursion occurring during five consecutive gait cycles. Our clinical outcome measures were Berg Balance Scale (BBS), Timed Up and Go test (TUG), 10-Meter Walk Test (10MWT) and Functional Gait Assessment (FGA). We used a Spearman correlation analysis (ρ) to examine the relationship between minimum lateral COM excursion and clinical measures. Results Minimum lateral COM excursion had significant moderate correlations with BBS (ρ = −0.54, p = 0.014), TUG (ρ = 0.59, p = 0.007), FGA (ρ = −0.59, p = 0.007), 10MWT-preferred (ρ = −0.59, p = 0.006) and 10MWT-fast (ρ = −0.68, p = 0.001). Conclusion Control of lateral COM motion during walking is associated with a wide range of clinical gait and balance measures in people with iSCI. This finding suggests the ability to control lateral COM motion during walking could be a contributing factor to gait and balance in people with iSCI.

/pdf/control-of-center-of-mass-motion-during-walking-correlates-1wumwv47.pdf

A.J. Shafer

Papers

Autonomous cooperation of heterogeneous platforms for sea-based search tasks

Control of Center of Mass Motion during Walking Predicts Gait and Balance in People with Incomplete Spinal Cord Injury

Human-Like Endtip Stiffness Modulation Inspires Dexterous Manipulation With Robotic Hands

Stability and Manoeuvrability Interactions During Human Walking Depend on the Manoeuvre Direction

Control of center of mass motion during walking correlates with gait and balance in people with incomplete spinal cord injury