Dr. Andrew B. Wright Profile

Dr. Andrew B. Wright

Associate Professor at Univ of Arkansas/Little Rock

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Publications (3)

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Proceedings Article | 11 May 2007 Paper

Layered mode selection logic control for border security

T. Born, G. Ferrer, A. Wright

Proceedings Volume 6562, 65620Q (2007) https://doi.org/10.1117/12.718713

KEYWORDS: Robots, Sensors, Border security, Logic, Prototyping, Robotics, Fuzzy logic, Mobile robots, Environmental sensing, Human-machine interfaces

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Challenges in border security may be resolved through a team of autonomous mobile robots configured as a flexible sensor array. The robots will have a prearranged formation along a section of a border, and each robot will attempt to maintain a uniform distance with its nearest neighbors. The robots will carry sensor packages which can detect a signature that is representative of a human (for instance, a thermal signature). When a robot detects an intruder, it will move away such that it attempts to maintain a constant distance from the intruder and move away from the border (i.e. into its home territory). As the robot moves away from the border, its neighbors will move away from the border to maintain a uniform distance with the moving robot and with their fixed neighbors. The pattern of motion in the team of robots can be identified, either algorithmically by a computer or by a human monitor of a display. Unique patterns are indicative of animal movement, human movement, and mass human movement. To realize such a scheme, a new control architecture must be developed. This architecture must be fault tolerant to sensor and manipulator failures, scalable in number of agents, and adaptable to different robotic base platforms (for instance, a UGV may be appropriate at the southern border and a UAV may be appropriate at the northern border). The Central Arkansas Robotics Consortium has developed an architecture, called Layered Mode Selection Logic (LMSL), which addresses all of these concerns. The overall LMSL scheme as applied to a multi-agent flexible sensor array is described in this paper.

Proceedings Article | 2 May 2007 Paper

Layered-mode selection logic control with fuzzy sensor fusion network

Traig Born, Andrew Wright

Proceedings Volume 6561, 65610L (2007) https://doi.org/10.1117/12.718707

KEYWORDS: Robots, Sensors, Fuzzy logic, Logic, Sensor fusion, Sensor networks, Robotics, Actuators, Data modeling, Control systems

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Robots developed from the 60's to the present have been restricted to highly structured environments such as work cells or automated guided vehicles, primarily to avoid harmful interactions with humans. Next generation robots must function in unstructured environments. Such robots must be fault tolerant to sensor and manipulator failures, scalable in number of agents, and adaptable to different robotic base platforms. The Central Arkansas Robotics Consortium has developed a robot controller architecture, called Layered Mode Selection Logic (LMSL), which addresses all of these concerns. The LMSL architecture is an implementation of a behavior based controller fused with a planner. The architecture creates an abstraction layer for the robot sensors through a Fuzzy Sensor Fusion Network (FSFN), and it creates an abstraction layer for the robot manipulators through a reactive layer. The LMSL architecture has been implemented and tested on UALR's J5 robotics research platform. A FSFN combines acceleration and force signals for collision detection. The output of the FSFN switches among low level behaviors to accomplish obstacle avoidance and obstacle manipulation. Comparable results are achieved with all sensors functioning, with only the acceleration sensor (force sensor faulted), and with only the force sensor (acceleration sensor faulted).

Proceedings Article | 10 May 2006 Paper

Instrumentation of UALR labscale hybrid rocket motor

Andrew Wright, Warfield Teague, Ann Wright, Edmond Wilson

Proceedings Volume 6222, 622202 (2006) https://doi.org/10.1117/12.664620

KEYWORDS: Rockets, Oxygen, Combustion, Sensors, Control systems, Spectrometers, Semiconductor lasers, Chemical elements, Transducers, Signal detection

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The Central Arkansas Combustion Group has used a NASA EPSCoR grant to improve the instrumentation and control of its labscale hybrid rocket facility. The research group investigates fundamental aspects of combustion in hybrid rocket motors. This paper describes the new instrumentation, provides examples of measurements taken, and describes novel instrumentation which is in the process of development. A six degree-of-freedom thrust system measures the total work done during a burn to compare the efficiency of fuels and fuel additives. The new system measures the forces and moments in three spatial dimensions. An accurate measure of thrust oscillations will lead to better understanding of the cause and eventual minimization of the oscillations. Plume spectrometers are employed to determine and measure the reaction intermediates and products of combustion at the exhaust. The new control system features an oxygen mass flow controller, which allows the accurate measurement of the oxidant introduced into the motor.

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