Seamless Mode Switching for Shared Control of Semiautonomous Vehicles

Award Information
Agency:
National Aeronautics and Space Administration
Branch
n/a
Amount:
$70,000.00
Award Year:
2005
Program:
SBIR
Phase:
Phase I
Contract:
NNA05AC16C
Agency Tracking Number:
040825
Solicitation Year:
2004
Solicitation Topic Code:
X7.02
Solicitation Number:
n/a
Small Business Information
Intelligent Automation, Inc.
15400 Calhoun Drive, Suite 400, Rockville, MD, 20855-2785
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
Y
Duns:
161911532
Principal Investigator:
Donald Myers
Principal Investigator
(301) 294-5235
dmyers@i-a-i.com
Business Contact:
Mark James
Business Official
(301) 294-5221
mjames@i-a-i.com
Research Institution:
n/a
Abstract
Whether it be a crew station, the Shuttle Remote Manipulator System (SRMS), an unmanned ground rover (UGV) or air vehicle (UAV), or teams thereof, the controllers for such systems will be complex, multilevel, usually distributed, systems. When a human user desires to switch between automatic and manual control, the transition must occur at all levels of the controller. There exist no well-developed strategies for managing such transitions and no proven methods for guaranteeing overall stability in the classical control-theoretic sense, or even safety and reliability in the general sense. These type of issues will span virtually every shared-control application in future NASA exploration systems. Intelligent Automation, Inc. proposes to use a two-level, distributed robot controller with multimodal user interface (UI) and demonstrate a technique to seamlessly transition between teleoperation and autonomous operation. The technique is based on using Hidden Markov Models to identify the current active state at each level of the controller. The demonstration platform was developed for a previous NASA project for JSC to develop automatic programming methods for astronaut assistants.

* information listed above is at the time of submission.

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