Chapter 10 - A ROBOT-MANAGED LABORATORY OF THE FUTURE

Abstract

This chapter discusses the way discrete event system specification (DEVS)-Scheme environment implements a model base for robot management of space-borne laboratories. The models show how the controlled-models and forward-models classes combine to help specify multi-level organizations of autonomous, mobile agents. The design of a simulation environment is considered for the study of semi-autonomous robot architectures that manage chemical, or similar, laboratories aboard a space station. Laboratory management includes servicing and calibration of equipment, set-up of experiments to external specifications, monitoring and control of experiments in progress, measurement of results, and finally recording and analyzing of data. As experience in space accumulates, approaches and instrumentation are likely to undergo continual modification, enhancement, and replacement. Thus, robots for managing such equipment must be sufficiently intelligent and flexible so that constantly changing environments can be accommodated. The chapter also presents the organizational aspects of the multi-robot system. This requires representing how robots can communicate and coordinate their activities.