Modular Robots for Enabling Operations in Unstructured Extreme Environments

In this thesis we present the design and implementation of a novel self-reconfiguring modular (SR-MR) robotic system: Roombots. We are aiming at three main applications with Roombots; locomotion through self-reconfiguration in the regular cubic 3D-lattice on structured surfaces, locomotion in non-structured environments applying central pattern generators (CPG) as the locomotion controller, and self-assembly and reconfiguration of static objects of the day-to-day environment, such as furniture. Robot assemblies from self-reconfigurable modular robots have the ability to adapt to a given task and working environment by altering their shape through a series of reconfiguration moves, and attachments and detachments between the modules. We are interested in self-reconfiguring modular robots for their shape-changing capabilities, and their distributed characteristics. We envision the following applications for Roombots: First, self-reconfiguration in a structured 3D lattice, i.e. a floor and walls equipped with connectors. Embedded connectors can provide pivot points for locomotion of SR-MR assemblies, and docking and recharging places for our adaptive furniture pieces. Second, our proposed concept for locomotion control of modular robots on non-structured ground are central pattern generators. Third, we would like to build adaptive and versatile furniture from modular robots and light-weight elements. In the following we are able to count more than 60 modular robotic systems, developed over the last two decades. However we were unable to identify an existing system which could provide us with all desired kinematic and geometric capabilities. This led us to design and implement a novel self-reconfiguring modular robotic system: Roombots. To tackle the module design we attempt to identify both meaningful design parameters from existing modular robots, and essential features for our applications. The combination of both leads to the kinematic and geometric description of the Roombots modules, and eventually to its implementation. In order to be able to assemble furniture from our Roombots units in the future, we need a reconfiguration framework which supports the specific requirements of Roombots. Metamodules made of two units attached in-series are attracted and guided by a virtual force-field, they use broadcast signals, look-up tables of collision clouds and simple assumptions about their near environment to reach their seeding positions, which are currently hand coded. For the task of locomotion in non-structured environments we propose a framework for learning to move with modular robots using central pattern generators and online optimization. The distributed implementation of CPGs offers an ideal substrate for producing locomotion patterns and for online learning, and an optimization framework for fast learning.

A modular robot has a distributed mechanical composition which can make various configurations and also make locomotion in a wide variety of configurations. Modular robots are thought to be useful in extreme or unknown environments by adaptively changing their shape and locomotion patterns. As for locomotion, two types can be used; one is whole-body fixed-configuration locomotion and the other is locomotion by self-reconfiguration. In this paper we deal with the former type of locomotion which is realized by coordinated joint actuation. So far, proposed control methods for whole-body locomotion by modular robots have been based on predefined locomotion sequences. However, locomotion based on predefined sequences cannot adapt to changing terrain conditions such as uphill, downhill, slippery and sticky grounds. To solve such problems, we propose a distributed control mechanism using a CPG controller which enables adaptive locomotion by modular robots. Besides the real-time CPG control we introduce a decentralized control mechanism for detecting the situation that the robot is stuck and initiating transformation to another shape for recovering the situation. The results of various hardware experiments by 4-legged structure prove the feasibility of the method for adaptive locomotion and transformation by our M-TRAN II modules.

There has been an increase in oil spill research and development, especially after the Deepwater Horizon accident in the Gulf of Mexico. However, the public resources seem to be concentrated in the life sciences, rather than in engineering. The effect of oil on seaweeds and the effect of spilled oil on seabirds, for instance, seem to take precedence in government research funding, rather than engineering issues. If engineering preventive procedures and equipment are in place, then these adverse effects can be viewed as secondary. Offshore oil and gas production is an engineering endeavor, and it makes sense to expand resources in key aspects of engineering to allow for safer practices with regard to this endeavor. Offshore oil production is principally done by public companies, so it is logical that the government requires certain safety and operational standards with regard to permitting related offshore activities. It should follow that high governmental safety rules be set, and that production companies be aided by science and technology research that has been completed. A second thrust is to fund research and development for up-to-date science and engineering to meet the challenges of deep water drilling, especially in the area of machinery and devices that would help in mitigating accidents in deep water.

The use of chemicals in U.S. offshore oil and gas production operations are reviewed. The discussions cover the production treating chemicals, gas processing chemicals, and stimulation and workover chemicals. The purpose, solubility properties, primary generic chemical types, and typical use concentrations of each chemical group will be briefly discussed. Acute aquatic toxicity data and solubity information provided by the chemical suppliers are presented for 'the production treating chemicals, including biocides, scale and corrosion inhibitors, emulsion breakers, etc. Aquatic toxicity data for the gas processing chemicals (methanol glycoIs) were primarily obtained from the literature. A portion of these chemicals will dissolve in the produced water, with the remainder being distributed into the oil. Most of the water produced with oil and gas in offshore operations in the U.S. is treated to remove dispersed oil and grease, then discharged to the sea. The discussion on environmental aspects summarizes information on the aquatic toxicity, solubility, and typical treatment and discharge concentrations for chemicals used for each purpose. Actual environmental impact must include site specific factors, such as water depths, currents, temperature, etc., which are outside the scope of this paper. INTRODUCTION OBJECTIVE The objective of this paper is to examine briefly the broad range of chemicals used in offshore oil and gas production in the U.S. An important part of this examination will be a presentation of data on acute aquatic toxicity of those chemical constituents which are likely to distribute into produced water being discharged to the ocean. Most of this aquatic toxicity data has been developed by the chemical suppliers and has not been previously published in the technical literature. Evaluation of environmental impact involves factors other than the nature and concentration of chemicals added in production operations and is beyond the scope of the study. Most of the information and practices presented are based on the results of interviews with technical specialists with four operating companies and five chemical suppliers. BACKGROUND Considerable attention continues to be focused on the effects of offshore oil and gas producing operations on the marine environment. One aspect being examined is the discharge of produced water into the ocean. Removal of produced oil from water has long been recognized as an essential step with strict standards having been established by the Environmental Protection Agencyl,2,3. Present EPA permits do not limit treating chemicals in the produced water discharges. Governmental and intergovernmental agencies in other areas of the world (e.g. North Sea, Baltic Sea, Mediterranean Sea, etc.) are considering preapproval of chemicals that could be present in produced water discharges. Constituents of produced water have previously been evaluated. Middleditch4 addressed the potential environmental impact of many of the constituents in the produced water. Other studies have focused on bi0cides.5,6 The effect of various production treating chemicals added to produced fluids was presented in a report prepared in 1985 for the Offshore Operators Committee (OOC) and submitted to the EPA7 Investigators in other areas of the world have shown interest in the environmental aspects of produced water discharge to the oceans8. The American Petroleum Institute (API) recently sponsored an update of the 1985 OOC report, which was expanded to include the broad range of chemicals used in offshore oil and gas operations in the U.S.9,10. This paper is a condensation ofse

A system has been developed to interactively assemble modular and reconfigurable robotic systems in a computer animation environment. The modular robot is based on a set of one, two and three degree of freedom joint modules and generic links. These modules may be assembled into a large class of robotic systems that include serial, parallel, mobile and hybrid configurations. A model of the configured robotic system is immediately available for use in a wide variety of robotics research areas, including: obstacle avoidance, redundant inverse kinematics, dynamic simulations, mobile platforms and world model databases.

This paper presents an automatic coupling mechanism with mechanical overload protection for use in modular robotic systems. The genderless coupling incorporates a novel safety mechanism that disengages two modules at a predefined torque threshold. Several key design aspects allow the minimalist coupling to contain all functionalities within a compact cylindrical space. A detailed analytical model of the overload protection mechanism is validated by testing two materials and fabrication methods. We further present a functional prototype of the coupling with a demonstration of two modular robots driving toward one another, automatically connecting and disconnecting, detecting the connection, communicating in the process, and sensing the angle between them. The coupling as well as the embedded technologies and mechanisms present essential steps toward enabling fully self-reconfigurable robots combining modular and origami features, while advancing the process of introducing modularity into a wide range of robotic systems.

This article discusses the advantages of a modular robot that can reassemble itself for different tasks. Modular robots are composed of multiple, linked modules. Although individual modules can move on their own, the greatest advantage of modular systems is their structural reconfigurability. Modules can be combined and assembled to form configurations for specific tasks and then reassembled to suit other tasks. Modular robotic systems are also very well suited for dynamic and unpredictable application areas such as search and rescue operations. Modular robots can be reconfigured to suit various situations. Quite a number of modular robotic system prototypes have been developed and studied in the past, each containing unique geometries and capabilities. In some systems, a module only has one degree of freedom. In order to exhibit practical functionality, multiple interconnected modules are required. Other modular robotic systems use more complicated modules with two or three degrees of freedom. However, in most of these systems, a single module is incapable of certain fundamental locomotive behaviors, such as turning.

A self-repairing approach for the M-Lattice modular robotic system using digital hormone model

Summary This paper reviews the uses of production treating chemicals, gas processingchemicals, and stimulation and workover chemicals in U.S. offshore oil and gasproduction operations. The purpose, solubility properties, primary genericchemical types, purpose, solubility properties, primary generic chemical types, treatment methods, and typical use concentrations of each chemical group arediscussed. Acute aquatic toxicity data and solubility information arepresented. Introduction The objective of this paper is to examine briefly the broad range ofchemicals used in offshore oil and gas production in the U.S., primarily in the Gulf of Mexico. An important part of this primarily in the Gulf of Mexico. Animportant part of this examination is a presentation of data on acute aquatictoxicity of those chemical constituents that are likely to distribute intoproduced water discharged to the ocean. Most of these aquatic produced waterdischarged to the ocean. Most of these aquatic toxicity data have beendeveloped by chemical suppliers and have not been published previously in thetechnical literature. Evaluation of environmental impact involves factors otherthan the nature and concentration of chemicals added in production operationsand is beyond the scope of the paper. Most of the information and practicespresented are from interviews with technical specialists practices presentedare from interviews with technical specialists from four operating companiesand five chemical suppliers. Considerable attention continues to be focused onthe effects of offshore oil and gas producing operations on the marineenvironment, including the discharge of produced water into the ocean. Removalof produced oil from water has long been recognized as an essential step withstrict standards having been established by the U.S. Environmental Protection Agency (EPA). Present EPA permits do not limit treating chemicals in theproduced water permits do not limit treating chemicals in the produced waterdischarges. Governmental agencies in other areas of the world (e.g., North Sea, Baltic Sea, Mediterranean Sea) are considering preapproval of chemicals thatcould be present in produced-water preapproval of chemicals that could bepresent in produced-water discharges. Constituents of produced water have beenevaluated previously. Middleditch addressed the potential environmental impactof many of the constituents in the produced water. Other studies have focusedon biocides. The effects of various production treating chemicals added toproduced fluids were presented in a report prepared in 1985 for the Offshore Operators Committee (OOC) and prepared in 1985 for the Offshore Operators Committee (OOC) and submitted to the EPA. Investigators in other areas of theworld have shown interest in the environmental aspects of produced waterdischarged to the ocean. The American Petroleum Inst. (API) recently sponsoredan update of the 1985 OOC report, which was expanded to include the broad rangeof chemicals used in offshore oil and gas operations in the U.S. This paper isa condensation of selected portions of that report. Table 1 provides a conciseoverview of the U.S. offshore oil and gas industry. All these numbers wereconsidered preliminary by the sources, subject to revision. The waterproduction data probably have the greatest uncertainty. However, these data areprobably have the greatest uncertainty. However, these data are sufficientlyaccurate to give a good perspective of the industry. It is apparent that a veryhigh percentage of U.S. offshore activity is in the Gulf of Mexico, partialjustification for the emphasis on that area in this paper. Chemicals that maybe used in routine offshore producing operations in the U.S. are included inthe scope of this paper. For purposes of discussion, these chemicals have beenarbitrarily placed into three groups. placed into three groups.The production treating chemicals are those routinely added to the produced fluidsor to seawater or other source water that is injected for waterflooding. Thesechemicals are added for various purposes (such as corrosion or scaleinhibition).The gas processing chemicals are those used for freeze-pointdepression of gas hydrates or for dehydration of produced gas. Hydrogen sulfideand carbon dioxide normally are not produced gas. Hydrogen sulfide and carbondioxide normally are not removed from gas offshore and these sweeteningchemicals and processes are not covered in this paper. processes are notcovered in this paper.The group consists of the stimulation and workoverchemicals, particularly the acids and dense brines, along with their associatedadditives. These groups are discussed more fully later. Production Treating Chemicals Production Treating Chemicals The productiontreating chemicals include biocides, scale and corrosion inhibitors, emulsionbreakers (normal and reverse), coagulants, flocculants, antifoam, surfactants, and paraffin control chemicals. The types and quantities of chemicals used areminimized for both technical and economic reasons. None of the operatingcompanies used all these types of chemicals. JPT P. 604

This narrative review summarises the current published research from two decades of work at Concordia Station, Antarctica, one of earth’s most hostile environments. Its unique location and complete inaccessibility for nine months every year makes it an invaluable long-term analogue for space. Since 2005, the European Space Agency has implemented a biomedical research program to study human adaptation in such an extreme environment. The temperatures, altitude and polar light cycle subject Concordia’s inhabitants to chronic physiological and psychological stressors. Twenty years of research on ‘White Mars’ has informed our understanding of human adaptability and health risks of life in isolated, confined and extreme (ICE) environments like Concordia. Sleep health and human psychology have been the most studied biomedical fields at Concordia. The exposure to such an extreme environment entrains acute and possible long-term health issues affecting every body system that still need to be addressed. Furthermore, as a rapid increase in space travel and use of ICE environments is expected in the upcoming decades, this review highlights the importance of further research to develop robust countermeasures to the challenges faced at Concordia station for ensuring a successful mission in any ICE environment. In particular, more research is required on women’s health, especially considering recent findings on sex differences in adaptability to space and work in ICE environments.

Advancements in thermal properties analysis is crucial for improvement of existing and next generation reactors, space exploration, and environmental safety. Extreme environments pose a great hurdle for instrumentation to measure real time thermal properties due to the extreme temperatures, high radiation, and variable electromagnetic environments. Nevertheless, measurement systems are tremendously important for the design, P.E.rformance, and safety considerations of nuclear fuels, space crafts, and deep sea/deep earth drilling. Thermal properties may change significantly in these environments creating challenging problems for temperature and thermal conductivity measurement systems. A recent focus has surrounded improvements in such systems for accurate determination of temperature and thermal properties to increase efficiencies, reduce costs, calibrate models, and tackle problems previously unfulfilled. Here we report on various devices and techniques for measuring temperature and thermal conductivity in harsh environments. First, a novel 1-wire line heat source probe and measurement technique were developed to monitor the temperature rise of the sample via the temperature dependent resistance of the probe’s heater wire and using a multilayer analytical model in tandem to extract the thermal conductivity of the sample. Second, a more robust 2-wire probe geometry was developed that improves upon the 1-wire approach. This geometry allows the use of a thermocouple as a dual temperature and thermal conductivity probe. Analytical models for both geometries were verified against COMSOL Multiphysics finite element analysis and experimental measurements. Finally, a third device is proposed for temperature measurements; a printed niobium/molybdenum (Nb/Mo) high temperature irradiation resistant thermocouple (HTIR-TC). This device will have the durability necessary for surviving extreme radiation and temperatures while being compact and versatile in design. These innovative approaches provide feasible methods for extracting temperature and thermal conductivity in extreme environments.

Field analogues for planetary exploration are terrestrial environments and/or associated geomaterials that share physical, chemical and/or geological similarities with modern or ancient extraterrestrial environments or with conditions or features that approximate those found on other planetary bodies. Field analogue sites are used to train astronauts, test instruments and/or assist the interpretation of observations made during space missions and as such are of crucial support for planetary exploration (Foucher et al., 2021). Some of these terrestrial analogues are characterised by extreme physical and chemical conditions (very high or low temperature, very high or low pH, etc.) and as such considered extreme environments as they are generally considered inhospitable for most (known) lifeforms (e.g. Cavalazzi et al., 2019;Cavalazzi and Filippidou, 2021). Such environments are inhabited by organisms known as extremophiles, which are mostly bacteria that can survive the extreme conditions and develop special metabolic pathways of great interest when searching for extraterrestrial life.Planetary scientists and astrobiologists use these extreme terrestrial environments as natural laboratories to explore the limits of microbial life as we know it, and as analogues for the study of similarly harsh environments on other celestial bodies, e.g. the Moon, Mars, asteroids and also exoplanets. The aim is to focus our search on where we can potentially find evidence of life and, if possible, how to unambiguously recognise it. This database of biosignatures is essential as a baseline comparison for information we obtain from past and future planetary missions (Westall et al., 2022).Detailed characterization and understanding of terrestrial analogues are essential to prepare for upcoming and ongoing missions, including testing and improving technologies, developing workflows, protocols and space mission concepts, understanding human factors in space exploration, and understanding bio-geochemical processes and how microbiological activity is preserved as biosignatures in the rock record. This collection includes a review paper on impact craters, offering a new perspective to the study and exploitation of these well-known planetary analogues. Impact craters present morphologies and processes as well as high-pressure minerals that are common across the Solar System, but they also present a unique opportunity for training scientists and astronauts.The paper from Lambert and Reimold (2023) offers a new method for the assessment of the suitability of different terrestrial impact craters as geological and planetary training sites.The goal of this Research Topic is to advance our knowledge of how terrestrial analogues can efficiently be exploited for the production of valuable benchmarking data for ongoing and future planetary missions and for testing instruments and techniques. The study of these extreme terrestrial environments has the potential to expand our knowledge of the processes to be expected on other planets and the type of evidence expected from the presence of extant or fossil water activity and associated microbial life. It is also our job to protect and preserve these analogue systems, to make a rationale use of them is critical (Marino et al., 2023) since we rely on planetary analogues to obtain a better understanding our own Planet and other planetary bodies.

This paper presents a design method and experiments for whole-body locomotion by a modular robot. There are two types of locomotion for modular robots: a repeating self-reconfiguration and whole-body motion such as walking or crawling. For whole-body locomotion, designing a control method is more difficult than for ordinary robots because a modular robotic system can form various configurations, each of which has many degrees of freedom. This study proposes a unified framework for automatically designing an efficient locomotion controller suitable for any module configuration. The method utilizes neural oscillators (central pattern generators, CPGs), each of which works as a distributed joint controller of each module, and a genetic algorithm to optimize the CPG network. We verified the method by software simulations and hardware experiments, in which our modular robotic system, named M-TRAN II, performed stable and effective locomotion in various configurations.

In comparison with dedicated robot systems, the main goal of modular robot systems is to achieve system adaptability by providing various modular configuration variations to meet possible task requirements. System architecture determines the system configuration variations, as the architecture specifies primary building blocks and the types of ways they are connected. In order to make systems more adaptive, configuration variations are expected to be as many as possible subject to the constraints of machining manufacturing applications. This paper reported briefly our recent research progresses on modular robot system architecture, including: (1) a proposed strategy to achieve high system adaptability; (2) a systematic method to develop modular system architecture; (3) the general representation of modular robot configurations.

This paper investigates the effects of changes in crude oil prices and offshore oil and gas production on the economic performance of U.S. Coastal Gulf States—Texas, Louisiana, Alabama and Mississippi. The empirical results do not provide statistical evidence to reject the hypothesis that positive shocks to oil and gas prices and production variation increase the economic performance of these coastal Gulf States. However, the magnitude of the response to changes in prices varies across the states. In addition, the empirical results show significant differences in the duration of the lingering economic effects of price shocks and changes in production among the states. The duration varies depending upon whether the state is a net petroleum exporter or net importer, and whether the state has a diversified economic base or structure.