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This paper presents a mini-review of the current state of research in mobile manipulators with variable levels of autonomy, emphasizing their associated challenges and application environments. The need for mobile manipulators in different environments is evident due to the unique challenges and risks each presents. Many systems deployed in these environments are not fully autonomous, requiring human-robot teaming to ensure safe and reliable operations under uncertainties. Through this analysis, we identify gaps and challenges in the literature on Variable Autonomy, including cognitive workload and communication delays, and propose future directions, including whole-body Variable Autonomy for mobile manipulators, virtual reality frameworks, and large language models to reduce operators' complexity and cognitive load in some challenging and uncertain scenarios., Comment: Presented at Variable Autonomy for Human-Robot Teaming (VAT) at IEEE RO-MAN 2024 Workshop

In this study, we introduce "SARDiM," a modular semi-autonomous platform enhanced with mixed reality for industrial disassembly tasks. Through a case study focused on EV battery disassembly, SARDiM integrates Mixed Reality, object segmentation, teleoperation, force feedback, and variable autonomy. Utilising the ROS, Unity, and MATLAB platforms, alongside a joint impedance controller, SARDiM facilitates teleoperated disassembly. The approach combines FastSAM for real-time object segmentation, generating data which is subsequently processed through a cluster analysis algorithm to determine the centroid and orientation of the components, categorizing them by size and disassembly priority. This data guides the MoveIt platform in trajectory planning for the Franka Robot arm. SARDiM provides the capability to switch between two teleoperation modes: manual and semi-autonomous with variable autonomy. Each was evaluated using four different Interface Methods (IM): direct view, monitor feed, mixed reality with monitor feed, and point cloud mixed reality. Evaluations across the eight IMs demonstrated a 40.61% decrease in joint limit violations using Mode 2. Moreover, Mode 2-IM4 outperformed Mode 1-IM1 by achieving a 2.33%-time reduction while considerably increasing safety, making it optimal for operating in hazardous environments at a safe distance, with the same ease of use as teleoperation with a direct view of the environment.

We apply the method of controlled Lagrangians by potential shaping to Euler--Poincar\'e mechanical systems with broken symmetry. We assume that the configuration space is a general semidirect product Lie group $\mathsf{G} \ltimes V$ with a particular interest in those systems whose configuration space is the special Euclidean group $\mathsf{SE}(3) = \mathsf{SO}(3) \ltimes \mathbb{R}^{3}$. The key idea behind the work is the use of representations of $\mathsf{G} \ltimes V$ and their associated advected parameters. Specifically, we derive matching conditions for the modified potential exploiting the representations and advected parameters. Our motivating examples are a heavy top spinning on a movable base and an underwater vehicle with non-coincident centers of gravity and buoyancy. We consider a few different control problems for these systems, and show that our results give a general framework that reproduces our previous work on the former example and also those of Leonard on the latter. Also, in one of the latter cases, we demonstrate the advantage of our representation-based approach by giving a simpler and more succinct formulation of the problem., Comment: 26 pages, 5 figures

We extend the method of controlled Lagrangians with kinetic shaping to those mechanical systems on semidirect product Lie groups with broken symmetry, more specifically to the Euler--Poincar\'e equations with advected parameters. We find a matching condition for the controlled Lagrangian for such systems whose configuration manifold is a general semidirect product Lie group $\mathsf{G} \ltimes V$. Our motivating examples are a bottom-heavy underwater vehicle and a top spinning on a movable base. Their configuration space is the special Euclidean group $\mathsf{SE}(3) = \mathsf{SO}(3) \ltimes \mathbb{R}^{3}$, where the $\mathsf{SE}(3)$-symmetry is broken by the gravity. The controls resulting from the matching condition stabilize unstable equilibria of these examples. Furthermore, the matching helps us find additional dissipative controls that asymptotically stabilize those unstable equilibria., Comment: 29 pages, 10 figures

In Titan's atmosphere, composed mainly of N2 (95-98%) and CH4 (2-5%), a complex chemistry occurs at low temperature, and leads to the production of heavy organic molecules and subsequently solid aerosols. Here, we used the Titan Haze Simulation (THS) experiment, an experimental setup developed at the NASA Ames COSmIC simulation facility to study Titan's atmospheric chemistry at low temperature. In the THS, the chemistry is simulated by plasma in the stream of a supersonic expansion. With this unique design, the gas is cooled to Titan-like temperature ( approximately 150K) before inducing the chemistry by plasma, and remains at low temperature in the plasma discharge (approximately 200K). Different N2-CH4-based gas mixtures can be injected in the plasma, with or without the addition of heavier precursors present as trace elements on Titan, in order to monitor the evolution of the chemical growth. Both the gas- and solid phase products resulting from the plasma-induced chemistry can be monitored and analyzed using a combination of complementary in situ and ex situ diagnostics. A recent mass spectrometry[1] study of the gas phase has demonstrated that the THS is a unique tool to probe the first and intermediate steps of Titan's atmospheric chemistry at Titan-like temperature. In particular, the mass spectra obtained in a N2-CH4-C2H2-C6H6 mixture are relevant for comparison to Cassini's CAPS-IBS instrument. The results of a complementary study of the solid phase are consistent with the chemical growth evolution observed in the gas phase. Grains and aggregates form in the gas phase and can be jet deposited on various substrates for ex situ analysis. Scanning Electron Microscopy images show that more complex mixtures produce larger aggregates. A mass spectrometry analysis of the solid phase has detected the presence of aminoacetonitrile, a precursor of glycine, in the THS aerosols. X-ray Absorption Near Edge Structure (XANES) measurements also show the presence of imine and nitrile functional groups, showing evidence of nitrogen chemistry. These complementary studies show the high potential of THS to better understand Titan's chemistry and the origin of aerosol formation.

Polycyclic aromatic hydrocarbon (PAH) molecules are considered the best carriers to account for the ubiquitous infrared emission bands. PAHs have also been proposed as candidates to explain the diffuse interstellar bands (DIBs), a series of absorption features seen on the interstellar extinction curve and are plausible carriers for the extended red emission (ERE), a photoluminescent process associated with a wide variety of interstellar environments. Extensive efforts have been devoted over the past two decades to characterize the physical and chemical properties of PAH molecules and ions in space. Absorption spectra of PAH molecules and ions trapped in solid matrices have been compared to the DIBs. Absorption spectra of several cold, isolated gas-phase PAHs have also been measured under experimental conditions that mimic the interstellar conditions. The purpose of this study is to provide a new dimension to the existing spectroscopic database of neutral and single ionized PAHs that is largely based on absorption spectra by adding emission spectroscopy data. The measurements are based on the laser induced fluorescence (LIF) technique and are performed with the Pulsed Discharge Nozzle (PDN) of the COSmIC laboratory facility at NASA Ames laboratory. The PDN generates a plasma in a free supersonic jet expansion to simulate the physical and the chemical conditions in interstellar environments. We focus, here, on the fluorescence spectra of large neutral PAHs and their cations where there is a lack of fluorescence spectroscopy data. The astronomical implications of the data (e.g., ERE) are examined.

A series of successful laboratory astrophysics experiments performed on International Space Station(ISS) external platforms such as EXPOSE have provided insights into the evolution of organic and biological materials in space and planetary environments. The study of the reactions, destruction, and longevity of organics in the space environment is of fundamental interest. To provide an accurate outer space environment for extended durations, exposure experiments in low Earth orbit have been conducted in the last decades in order to examine the consequences of actual space conditions including combinations of solar and cosmic radiation, space vacuum, and microgravity. The OOREOS (OrganismORganic Exposure to Orbital Stresses) nanosatellite studied in situ during the 6-month primary and 1-year extended mission the photochemical processing of selected PAHs in low Earth orbit (650 km altitude); results were autonomously telemetered to Earth. We report on the methods and flight preparation of samples for space exposure platforms and results on the stability of organic thin-films. The UV-vis degradation process of thin-films was recorded over time, which revealed intriguing and counter-intuitive photolytic kinetics that will be re-investigated on the ISS in a space environment.

The study of formation and destruction processes of cosmic dust is essential to understand and to quantify the budget of extraterrestrial organic molecules. Although dust with all its components plays an important role in the evolution of interstellar chemistry and in the formation of organic molecules, little is known on the formation and destruction processes of carbonaceous dust. PAHs are important chemical building blocks of interstellar dust. They are detected in interplanetary dust particles and in meteoritic samples. Additionally, observational, laboratory, and theoretical studies have shown that PAHs, in their neutral and ionized forms, are an important, ubiquitous component of the interstellar medium. Also, the formation of PAHs from smaller molecules has not been extensively studied. Therefore, it is imperative that laboratory experiments be conducted to study the dynamic processes of carbon grain formation from PAH precursors. Studies of interstellar dust analogs formed from a variety of PAH and hydrocarbon precursors as well as species that include the atoms O, N, and S, have recently been performed in our laboratory under conditions that simulate interstellar and circumstellar environments. The species formed in the pulsed discharge nozzle (PDN) plasma source are detected and characterized with a high-sensitivity cavity ringdown spectrometer (CRDS) coupled to a Reflectron time-of-flight mass spectrometer (ReTOF-MS), thus providing both spectroscopic and ion mass information in-situ. We report the first set of measurements obtained in these experiments and identify the species present in the experiments and the ions that are formed in the plasma process. From these unique measurements, we derive information on the size and the structure of interstellar dust grain particles, the growth and the destruction processes of interstellar dust and the resulting budget of extraterrestrial organic molecules.

A complex organic chemistry between Titan's two main constituents, N2 and CH4, leads to the production of more complex molecules and subsequently to solid organic aerosols. These aerosols are at the origin of the haze layers giving Titan its characteristic orange color. In situ measurements by the Ion Neutral Mass Spectrometer (INMS) and Cassini Plasma Spectrometer (CAPS) instruments onboard Cassini have revealed the presence of large amounts of neutral, positively and negatively charged heavy molecules in the ionosphere of Titan. In particular, benzene (C6H6) and toluene (C6H5CH3), which are critical precursors of polycyclic aromatic hydrocarbon (PAH) compounds, have been detected, suggesting that PAHs might play a role in the production of Titan s aerosols. Moreover, results from numerical models as well as laboratory simulations of Titan s atmospheric chemistry are also suggesting chemical pathways that link the simple precursor molecules resulting from the first steps of the N2-CH4 chemistry (C2H2, C2H4, HCN ...) to benzene, and to PAHs and nitrogen-containing PAHs (or PANHs) as precursors to the production of solid aerosols.