020411_CICT-SC_Qtr_Rvw.ppt Page 1 Network-Based Robot Control via Virtual Attractors and Agent-based Software Task Leader: Vincenzo Liberatore & Wyatt Newman Task Number: Glenn Research Center April , 2002

020411_CICT-SC_Qtr_Rvw.ppt Page 2 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.

020411_CICT-SC_Qtr_Rvw.ppt Page 3 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.

020411_CICT-SC_Qtr_Rvw.ppt Page 4 Network-Based Robot Control Schedule - Milestone Status DateMilestone DescriptionSchedule 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 29/2002 Demonstrate remote operation of mobile robots and remote control for sophisticated control. In-progress 3

020411_CICT-SC_Qtr_Rvw.ppt Page 5 Network-Based Robot Control Remaining FY02 Funds yet to be Obligated DateItemAmount 19/2002Planned summer student/faculty support$12K

020411_CICT-SC_Qtr_Rvw.ppt Page 6 Network-Based Robot Control Risks RiskImpact on ProjectResolution Plan 1 Robotics over IP would not be needed for Mars exploration or construction tasks

020411_CICT-SC_Qtr_Rvw.ppt Page 7 Biosensor Networks Task Leader: Frank Merat, Wen Ko, and Darrin Young Task Number: Glenn Research Center April , 2002

020411_CICT-SC_Qtr_Rvw.ppt Page 8 Biosensor Networks Technical Accomplishments Against Milestones Milestone Due Date Project Milestone Description Technical Accomplishment 1 3/2002Measure 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.

020411_CICT-SC_Qtr_Rvw.ppt Page 9 Biosensor Networks Technical Accomplishments Against Milestones Milestone Due Date Milestone DescriptionTechnical Accomplishment 2 6/2002 Use 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 mm 41 x 4 x 1.5 mm

020411_CICT-SC_Qtr_Rvw.ppt Page 10 Biosensor Networks Technical Accomplishments Against Milestones Milestone Due Date Milestone DescriptionTechnical Accomplishment 38/2002Design 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.

020411_CICT-SC_Qtr_Rvw.ppt Page 11 Biosensor Networks Schedule - Milestone Status DateMilestone DescriptionSchedule Status Description of Schedule Deviation and Plan 1 10/2002Measure signal propagation through the human body to identify candidate operating frequency range. Done 21/2002 Design antennas for coupling to human body at operating frequency. Done 34/2002Design wireless nodes which will collect biosensor data and transmit it through human body. In-progress 46/2002Develop software to transmit data to wireless collection node. 59/2002Demonstration of working system which can collect and log data from human wearing system.

020411_CICT-SC_Qtr_Rvw.ppt Page 12 Biosensor Networks Remaining FY02 Funds yet to be Obligated DateItemAmount 19/2002Planned summer student support$2.5K

020411_CICT-SC_Qtr_Rvw.ppt Page 13 Biosensor Networks Risks RiskImpact on ProjectResolution Plan 1 EMI from radiated signals not confined to the human body. Would limit applications of the technology. Reduce transmitter power as much as possible

020411_CICT-SC_Qtr_Rvw.ppt Page 14 Data Compression for Mobile Environments Task Leader: Cenk Sahinalp, Tekin Ozsoyoglu & Meral Ozsoyoglu Task Number: Glenn Research Center April , 2002

020411_CICT-SC_Qtr_Rvw.ppt Page 15 Data Compression for Mobile Environments Technical Accomplishments Against Milestones Milestone Due Date Project Milestone Description 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.

020411_CICT-SC_Qtr_Rvw.ppt Page 16 Data Compression for Mobile Environments Schedule - Milestone Status DateMilestone DescriptionSchedule Status Description of Schedule Deviation and Plan 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.

020411_CICT-SC_Qtr_Rvw.ppt Page 17 Data Compression for Mobile Environments Remaining FY02 Funds yet to be Obligated DateItemAmount 19/2002Planned summer student/faculty support$5K

020411_CICT-SC_Qtr_Rvw.ppt Page 18 Data Compression for Mobile Environments Risks RiskImpact on ProjectResolution Plan

020411_CICT-SC_Qtr_Rvw.ppt Page 19 Task Leader: Darrin J. Young Task Number: Glenn Research Center April , 2002 MEMS for Power-Efficient Wireless Communications

020411_CICT-SC_Qtr_Rvw.ppt Page 20 MEMS for Power-Efficient Wireless Technical Accomplishments Against Milestones Milestone Due Date Project Milestone Description Technical Accomplishments 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. MEMS Tunable Capacitor Finite-Element Model MEMS Tunable Capacitor

020411_CICT-SC_Qtr_Rvw.ppt Page 21 MEMS for Power-Efficient Wireless Technical Accomplishments Against Milestones Milestone Due Date Project Milestone Description Technical Accomplishments 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%.. CV Simulation vs. Measurement

020411_CICT-SC_Qtr_Rvw.ppt Page 22 MEMS for Power-Efficient Wireless Technical Accomplishments Against Milestones Milestone Due Date Project Milestone Description Technical Accomplishments 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 guidelineA systematic design guideline has been developed.

020411_CICT-SC_Qtr_Rvw.ppt Page 23 MEMS for Power-Efficient Wireless Technical Accomplishments Against Milestones Milestone Due Date Project Milestone Description Technical Accomplishments 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 0VMEMS Capacitor Under 10V

020411_CICT-SC_Qtr_Rvw.ppt Page 24 Network-Based Robot Control Schedule - Milestone Status DateMilestone DescriptionSchedule Status Description of Schedule Deviation and Plan 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 ValidationDone 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 guidelineDone 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

020411_CICT-SC_Qtr_Rvw.ppt Page 25 Network-Based Robot Control Schedule - Milestone Status DateMilestone DescriptionSchedule Status Description of Schedule Deviation and Plan 6 3/2002 Optimize and finalize devices design In-progress 73/2002 Layout optimized device structures to be fabricated Future 83/2002 Fabricate MEMS tunable capacitors Future 93/2002 Characterize MEMS tunable capacitors Future 103/2002 Demonstrate patch antenna tuning with MEMS capacitors Future

020411_CICT-SC_Qtr_Rvw.ppt Page 26 Network-Based Robot Control Remaining FY02 Funds yet to be Obligated DateItemAmount 19/2002$2.6K

020411_CICT-SC_Qtr_Rvw.ppt Page 27 Network-Based Robot Control Risks RiskImpact on ProjectResolution Plan

020411_CICT-SC_Qtr_Rvw.ppt Page 28 Active MEMS for Wireless and Optical Space Communications Task Leader: Frank L.Merat and Stephen M. Phillips Task Number: Glenn Research Center April , 2002

020411_CICT-SC_Qtr_Rvw.ppt Page 29 Active MEMS for Wireless and Optical Space Communications Technical Accomplishments Against Milestones Milestone Due Date Project Milestone Description Technical Accomplishments 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 4/2002Investigation 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

020411_CICT-SC_Qtr_Rvw.ppt Page 30 Active MEMS for Wireless and Optical Space Communications Schedule - Milestone Status Description of Schedule Deviation and Plan 3 In-progress Investigation of using Doped polysilicon as the material for the Multi-Poly mirror 4/20022 DoneDevelopment of an etching step based on available tools to solve the electrical connection problem. (from the mirror structure to its bottom electrode) 3/ Schedule Status Milestone DescriptionDate 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

020411_CICT-SC_Qtr_Rvw.ppt Page 31 Active MEMS for Wireless and Optical Space Communications Remaining FY02 Funds yet to be Obligated DateItemAmount 19/2002Planned summer student/faculty support$5,

020411_CICT-SC_Qtr_Rvw.ppt Page 32 Active MEMS for Wireless and Optical Space Communications Risks RiskImpact on ProjectResolution Plan 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