| Comparative Genomic Hybridization Onto Dense Arrays of DNA Clones: Development and Application to Breast Cancer Genomes |
SEP 1998 |
8 pages |
| Authors:
Steven M. Clark; CALIFORNIA UNIV SAN FRANCISCO
|
 | The work under the final portion of U.S. Army grant DAMD17-96-1-6165 focused on the technical aspects to produce high density arrays in automated fashion. A printing robot was constructed that used a capillary print head developed in the first year of this grant. This printer was shown to produce arrays that performed as well as our previous hand-spotted arrays. Much less target DNA is necessary, permitting faster, cheaper automated clone ... |
|
| Multiple Resource Host Architecture for the Mobile Detection Assessment and Response System |
AUG 1998 |
115 pages |
| Authors:
H. R. Everett; R. T. Laird; G. Gilbreath; T. A. Heath-Pastore; R. S. Inderieden; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| The initial effort during Phase I of the Mobile Detection Assessment and Response System (MDARS) Program was aimed at demonstrating the feasibility of a single robotic security platform operating under the high-level control of a remote host with the direct supervision of a human operator. This document describes the concept of a distributed host architecture geared towards a single guard controlling up to eight robots and ... |
|
| Implementation of a Multiple Robot Frontier-Based Exploration System as a Testbed for Battlefield Reconnaissance Support |
JUN 1998 |
331 pages |
| Authors:
Patrick A. Hillmeyer; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| Future military battlefields will see smaller forces responsible for ever increasing geographical areas. In addition, future conflicts will occur more often in urban or built-up areas. Both of these trends argue for some type of augmentation for initial reconnaissance, continued observation, and control of lines of communication and other key terrain features. Multisensor systems, mounted on a variety of robotic platforms, can provide this type of battlefield support where it ... |
|
| Feature-Based Localization in Sonar-Equipped Autonomous Mobile Robots Through Hough Transform and Unsupervised Learning Network |
JUN 1998 |
109 pages |
| Authors:
Jonathan S. Glennon; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| As we approach the new millennium, robots are playing an increasingly important role in our everyday lives. Robotics has evolved in industrial and military applications, and unmanned space exploration promises the continued development of ever-more-complex robots. Over the past few decades, research has focused on the development of autonomous mobile robots - robots that can move about without human supervision. This brings with it several problems, however, ... |
|
| Neural Networks for Robot Control |
25 MAY 1998 |
16 pages |
| Authors:
Chaiban Nasr; LEBANESE UNIV TRIPOLI DEPT OF ELECTRICAL AND ELECTRONIC ENGINEERING
|
| This report results from a contract tasking Lebanese University- Faculty of Engineering, Section I as follows: The contractor will perform a simulating investigation of the use of artificial neural networks (ANN) in the control of robot manipulators and the application of this knowledge for the search of optimum architectures of the ANN. |
|
| Automated Inspection of Aircraft |
APR 1998 |
85 pages |
| Authors:
C. J. Alberts; C. W. Carroll; W. M. Kaufman; C. J. Perlee; M. W. Siegel; CARNEGIE-MELLON INST OF RESEARCH PITTSBURGH PA
|
| This report summarizes the development of a robotic system designed to assist aircraft inspectors by remotely deploying non-destructive inspection (NDI) sensors and acquiring, processing, and storing inspection data. Carnegie Mellon University studied the task 9f aircraft inspection, compiled the functional requirements for an automated system to inspect skin fastener rows, and developed a conceptual design of an inspection robot. A prototype of the robotic ... |
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| Multisensor Tracking and Recognition of Animate and Inanimate Objects |
31 MAR 1998 |
23 pages |
| Authors:
J. K. Aggarwal; Joydeep Ghosh; TEXAS UNIV AT AUSTIN COMPUTER AND VISION RESEARCH CENTER
|
| We report on final results arising from this project, in which we proposed to establish a new paradigm for multisensor tracking and recognition of animate and inanimate objects, fusing a model-based methodology with a neural network-based methodology in an integrated and synergistic manner. Important results are report for the four major project areas: (1) Hybrid ATR systems, (2) Human Motion; (3) Multiple Feature Representation; and (4) Detection and Tracking of ... |
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| Robotic Manipulation on a Moving Platform Utilizing Force Sensing and Sonar Ranging |
MAR 1998 |
132 pages |
| Authors:
Roy A. Raphael; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| Robotic manipulators are widely used in industry where the environment may be too hostile for workers. However, their application has been limited to an industrial setting where the robot is mounted on a stationary base. It is of great interest to expand the application of the robot manipulator to where it is mounted on an autonomous delivery vehicle. This application would enable the delivery vehicle not only to locate objects ... |
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| Situation-Dependent Learning for Interleaved Planning and Robot Execution |
FEB 1998 |
|
| Authors:
Karen Zita Haigh; CARNEGIE-MELLON UNIV PITTSBURGH PA DEPT OF COMPUTER SCIENCE
|
 | This dissertation presents the complete integrated planning, executing and learning robotic agent ROGUE. Physical domains are notoriously hard to model completely and correctly. Robotics researchers have developed learning algorithms to successfully tune operational parameters. Instead of improving low-level actuator control, our work focusses instead at the planning stages of the system. The thesis provides techniques to directly process execution experience, and to learn to ... |
|
| FuzzyShell: A Large-Scale Expert System Shell Using Fuzzy Logic for Uncertainty Reasoning |
14 JAN 1998 |
41 pages |
| Authors:
Juiyao Pan; Guilherme N. DeSouza; avinash c. kak; PURDUE UNIV LAFAYETTE IN ROBOT VISION LAB
|
| There exist in the literature today many contributions dealing with the incorporation of fuzzy logic in expert systems. But, unfortunately, much of what has been proposed can only be applied to small-scale expert systems, that is when the number of rules is in the dozens as opposed to in the hundreds. The more traditional (non-fuzzy) expert systems are able to cope with large numbers of rules by using Rete networks ... |
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| Surgical Robot Hand |
JAN 1998 |
185 pages |
| Authors:
Wolfgang Daum; DAUM G M B H SCHWERIN (GERMANY)
|
| It has been demonstrated that a small robotic hand working with Bowden pulleys and SME shape memory elements is possible below the range of 10 mm in diameter and movement of nearly 3 Hz speed. The robot hand can be sterilized and used for medical applications and can easily carry up to 400 g of weight. It can be made adaptable to different software and electronic systems ... |
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| Identification and Control of Haptic Systems: A Computational Theory |
JAN 1998 |
167 pages |
| Authors:
Steingrimur P. Karason; Anurudha M. Annaswamy; Mandayam A. Srinivasan; MASSACHUSETTS INST OF TECH CAMBRIDGE RESEARCH LAB OF ELECTRONICS
|
| This thesis provides a theoretical framework for haptics, the study of exploration and manipulation using hands. Be it human or robotic research, an understanding of the nature of contact, grasp, exploration, and manipulation is of singular importance. In human haptics the objective is to understand the mechanics of hand actions, sensory information processing, and motor control. While robots have lagged behind their human counterparts in dexterity, recent developments in tactile ... |
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| Solar Powered AUVs; Sampling Systems for the 21st Century |
Jan 1998 |
7 pages |
| Authors:
D R Blidberg; Mikhail D Ageev; AUTONOMOUS UNDERSEA SYSTEMS INST LEE NH
|
| The long-term goal of this program is to investigate those technologies that will enable the use of solar energy to power Autonomous Underwater Vehicles (AUVs). The program is focused on an investigation of our ability to extract sufficient energy from the sun's radiation to power an AUV and our ability to efficiently manage the collection, storage, and utilization of that energy such that an AUV is able to perform tasks ... |
|
| Cooperative Distributed Problem Solving for Controlling Semi-Autonomous and Autonomous Oceanographic Sampling Networks |
Jan 1998 |
6 pages |
| Authors:
D R Blidberg; Roy M Turner; Elise H Turner; AUTONOMOUS UNDERSEA SYSTEMS INST LEE NH
|
| The goal of this program is to develop mechanisms for the adaptive control of a distributed system. This capability will provide the means for an Autonomous Oceanographic Sampling Network (AOSN) to effectively control its group of vehicles and instrument platforms (VIPs) in the face of changing mission requirements, a changing pool of available agents, and a dynamic environment. The major objectives of this project are to do the following: (1) ... |
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| ONR Initiatives Grant |
Jan 1998 |
7 pages |
| Authors:
David L Hall; APPLIED RESEARCH LABORATORY STATE COLLEGE PA
|
| The ONR Initiatives grant is aimed at supporting basic research initiatives to the U. S. Navy. These initiatives encourage interaction between Penn State's Applied Research Laboratory (ARL) researchers and Penn State faculty members, and they provide opportunities for student research. During 1998, the ONR Initiatives program included five research projects and a High School Student Intern Program. The Objectives of the FY 98 ONR Initiatives Projects are as follows: Turbulent ... |
|
| Surf Zone Reconnaissance |
Jan 1998 |
7 pages |
| Authors:
Charles L Bernstein; COASTAL SYSTEMS STATION PANAMA CITY FL
|
| The long-term goal of this project is to develop autonomous multi-robot systems that could replace human divers that are currently performing dangerous reconnaissance and mine neutralization missions in the Very Shallow Water and Surf Zone regions. We are focusing on swarms of small Unmanned Bottom-crawling Vehicles (UBVs) for this purpose. For the purpose of reconnaissance, the swarms would augment overhead (optical) systems to provide seamless maps of littoral areas from ... |
|
| Subsumption Robotics |
Jan 1998 |
7 pages |
| Authors:
Christopher K DeBolt; Craig Freed; Tuan N Nguyen; Helen Greiner; Polly K Pook; George Whittinghill; Anthony Healey; NAVAL EXPLOSIVE ORDNANCE DISPOSAL TECHNOLOGY DIV INDIAN HEAD MD
|
| Through the use of subsumption architectures, low-cost, simple robots can be developed to undertake the hazard of moving a submunition or scatterable mine to a disposal area for neutralization. A number of these robots acting in unison can provide an order of magnitude increase in the ability of one Explosive Ordnance Disposal (EOD) technician to clear an area. The scatterable submunitions are small in size, measuring two to five inches ... |
|
| AOSN MURI: Utility Acoustic Modem and Robust Communications |
Jan 1998 |
7 pages |
| Authors:
Mark Johnson; WOODS HOLE OCEANOGRAPHIC INSTITUTION MA
|
| To create and demonstrate a reactive survey system, capable of long-term unattended deployments in harsh environments. We refer to such a system as an Autonomous Ocean Sampling Network (AOSN). The goal of the Utility Acoustic Modem effort is to develop a low-power hardware platform and a robust signaling strategy for data communications between components such as robotic vehicles, moorings, or ocean-bottom assets, in an AOSN. To develop and evaluate a ... |
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| Exploiting Natural Dynamics in Robot Control |
1998 |
|
| Authors:
Matthew M. Williamson; MASSACHUSETTS INST OF TECH CAMBRIDGE
|
| This paper presents an approach to robot arm control based on exploiting the dynamical properties of an adaptive oscillator circuit coupled to the joints of an arm. The approach is implemented on a real robot arm, and swings pendulums at their natural frequencies, turns cranks and manipulates slinky toys. These actions are all achieved using the same architecture, without any modeling of the arm or its environment. The simple nature ... |
|
| IMACS/IFAC International Symposium on Soft Computing in Engineering Applications (SOFTCOM '98) and the Third European Robotics, Intelligent Systems & Control Conference (EURISCON '98) |
1998 |
291 pages |
| Authors:
NATIONAL TECHNICAL UNIV ATHENS (GREECE)
|
| The Final Proceedings for Third European Robotics, Intelligent Systems and Control Conference (EURISCON 98), 22-25 June 1998. This is an interdisciplinary conference. Topics include: (1) Robotics; (2) Intelligent Systems; (3) Control; Manufacturing; and (4) MobiNet Workshop. |
|
| Design, Construction and Testing of an Autonomous Mine Hunter |
DEC 1997 |
56 pages |
| Authors:
Jeffrey A. Schmidt; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| Landmine detection is a immense technological problem. A small low power metal detector would find application in concert with other search technologies. A detection circuit was designed and constructed consisting of a search coil and a CMOS exclusive OR gate forming an oscillator. This was interfaced to a microprocessor which counted the pulses from the oscillator and decided whether a detection had been made. Detection ... |
|
| Development of the Neptune On-Stream Robotic Inspection System for Above-Ground Storage Tanks |
DEC 97 |
38 pages |
| Authors:
Robert A. Weber; Tagore Sommers; Karl Schmidt; Hagen Schempf; CONSTRUCTION ENGINEERING RESEARCH LAB (ARMY) CHAMPAIGN IL
|
| Owners of petroleum storage tanks are required by the Environmental Protection Agency (EPA) to conduct inspections that conform to American Petroleum Institute (API) practices. These APIrecommended practices specify that inspections be conducted every 5 years to make sure storage tanks are not leaking. Compliance with these requirements is essential, but it is especially costly and timeconsuming for the operators of industrial scale tank farms. The U.S. Army Construction Engineering Research ... |
|
| Development of a Control System for a SMA Actuated Medical Manipulator |
DEC 1997 |
88 pages |
| Authors:
Richard A. Thiel; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| This thesis discusses the development of a digital control system for the operation of a conceptual robotic manipulator for use in minimally invasive surgery. The motion of the manipulator is envisioned to be accomplished with actuators made of Shape Memory Alloy (SMA). SMA has the ability to recover permanent deformation by undergoing a phase transformation. The recovery of the deformation results in motion of the SMA ... |
|
| Phoenix Autonomous Underwater Vehicle (AUV): Networked Control of Multiple Analog and Digital Devices Using LonTalk |
DEC 97 |
113 pages |
| Authors:
Forrest C. Young; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| The purpose of this thesis is to simplify analog and digital device control inside the Phoenix autonomous underwater vehicle (AUV). Phoenix is required to process many data information streams associated with a variety of different sensors. Real time processing is required both for input sensing and for output directing. As presently configured, hardware devices aboard the Phoenix are manually connected and configured using parallel ports, serial ports, analog to digital ... |
|
| Implementation and Evaluation of an INS System for the Shepherd Rotary Vehicle |
DEC 1997 |
114 pages |
| Authors:
Thorsten Leonardy; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| An autonomous vehicle must be able to determine its global position even in the absence of external information input. To obtain reliable position information, this would require the integration of multiple navigation sensors and the optimal fusion of the navigation data provided by them. The approach taken in this thesis was to implement two navigation sensors for a four-wheel drive and steer autonomous vehicle: An ... |
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| Shepherd Rotary Vehicle: Multivariate Motion Control and Planning |
SEP 1997 |
305 pages |
| Authors:
Edward J. Mays; Ferdinand A. Reid; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| Millions of acres of the U.S. formerly used defense sites (FUDS) are contaminated with unexploded ordnance (UXO) as a result of past military use. The process of returning the land to the civilian sector is sensitive, intensive, and costly (e.g., millions of dollars, and the loss of human life). Hence'clearing (i.e., site remediation, range clearance, and explosive ordnance disposal) UXO's from FUDS is a complex ... |
|
| Integrated Remote Neurosurgical System |
SEP 97 |
21 pages |
| Authors:
Neal F. Kassell; J. H. Downs III; VIRGINIA UNIV CHARLOTTESVILLE
|
| We are constructing the Integrated Remote Neurosurgical System (IRNS) , a remotely-operated neurosurgical microscope with high-speed communications and a surgeon-accessible user interface. The IRNS will allow high quality bidirectional mentoring in the neurosurgical suite, allowing a remote neurosurgeon to lend expertise to the Operating Room-based (OR) neurosurgical team. The IRNS uses a generic microscope/transport model, allowing the system to be useful for remote operation of a general class of operating ... |
|
| Strong Autonomy for Physical Domains |
25 AUG 1997 |
22 pages |
| Authors:
Nils Nilsson; Pat Langley; Daniel Shapiro; STANFORD UNIV CA AEROSPACE ROBOTICS LAB
|
| A prototype of a strongly autonomous agent has been implemented. This prototype selects its own objectives and its own values. The agent can then calculate expected values, choose courses of action, and measure received reward. |
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| Modeling and Control of Uncertain Systems with Applications to Air Force Problems |
AUG 97 |
26 pages |
| Authors:
Guoxiang Gu; LOUISIANA STATE UNIV BATON ROUGE DEPT OF ELECTRICAL AND COMPUTER ENGINEERING
|
| This primary goal of this research program is investiation of novel approaches to robust-control-orientied system identification techniques and robust feedback control system design methods that solve typical Air Force problems. Theis goal has been accomplished successfully focusing on gap-metric, and a v-metic uncertain systems described by normalized coprime factors, and on rotating stall and surge contorl for axial flow compressors as application platform, that we demonstrated in the 9 journal ... |
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| Recognizing 3D Objects Using Tactile Sensing and Curve Invariants |
JUL 1997 |
|
| Authors:
David Keren; Ehud Rivlin; Han Shimshoni; Isaac Weiss; HAIFA UNIV (ISRAEL)
|
| A general paradigm for recognizing 3D objects is offered, and applied to some geometric primitives (spheres, cylinders, cones, and tori). The assumption is that a curve on the surface, or a pair of intersecting curves, has been measured with high accuracy (for instance, by a sensory robot). Differential invariants of the curve(s) are then used to recognize the surface. The motivation is twofold: the output of some ... |
|
| International Conference on Informatics and Control Proceedings 9-13 June 1997, St. Petersburg, Russia. Volume 2 |
12 JUN 97 |
|
| Authors:
AKADEMIYA NAUK SSSR ST PETERSBURG INST OF MACHINE SCIENCE PROBLEMS
|
| The Final Proceedings for International Conference on Informatics and Control, 9 June 1997 - 13 June 1997. The Topics covered include: Intelligent control systems and information processing; Neuroinformatics and neuronet control; Robots' control and computer integrated technologies; Qualitative techniques for control and information processing tasks; Stochastic systems for information processing in motion control tasks; Safety control in complex systems. Transport Control (vehicles, vessels, aircraft, etc.); Satellite remote sensing in control ... |
|
| International Conference on Informatics and Control Proceedings 9-13 June 1997, St. Petersburg, Russia. Volume 3 |
12 JUN 97 |
|
| Authors:
AKADEMIYA NAUK SSSR ST PETERSBURG INST OF MACHINE SCIENCE PROBLEMS
|
| The Final Proceedings for International Conference on Informatics and Control, 9 June 1997 - 13 June 1997. The Topics covered include: Intelligent control systems and information processing; Neuroinformatics and neuronet control; Robots' control and computer integrated technologies; Qualitative techniques for control and information processing tasks; Stochastic systems for information processing in motion control tasks; Safety control in complex systems, Transport Control (vehicles, vessels, aircraft, etc.); Satellite remote sensing in control ... |
|
| International Conference on Informatics and Control Proceedings 9-13 June 1997, St. Petersburg, Russia. Volume 1 |
12 JUN 97 |
|
| Authors:
AKADEMIYA NAUK SSSR ST PETERSBURG INST OF MACHINE SCIENCE PROBLEMS
|
| The Final Proceedings for International Conference on Informatics and Control, 9 June 1997 - 13 June 1997. The Topics covered include: Intelligent control systems and information processing; Neuroinformatics and neuronet control; Robots' control and computer integrated technologies; Qualitative techniques for control and information processing tasks; Stochastic systems for information processing in motion control tasks; Safety control in complex systems, Transport Control (vehicles, vessels, aircraft, etc.); Satellite remote sensing in control ... |
|
| Control-Display Mapping with Three Translational Degrees of Freedom |
29 MAY 97 |
|
| Authors:
J. B. van Erp; A. Oving; J. E. Korteling; HUMAN FACTORS RESEARCH INST TNO SOESTERBERG (NETHERLANDS)
|
| Situations in which the human operator must control three translational degrees of freedom are common in, for example, control of robot arms, remotely controlled cameras, and tele-surgery. Often, the operator has no direct view on the controlled object, but receives information on the motions of the object via a camera - monitor system or a simplified graphical display. In the design of such systems, it is important that the mapping ... |
|
| Control of Small Robotic Vehicles In Unexploded Ordnance Clearance |
APR 1997 |
7 pages |
| Authors:
A. J. Healey; Y. Kim; NAVAL POSTGRADUATE SCHOOL MONTEREY CA CENTER FOR AUTONOMOUS UNDERWATER VEHICLE RESEARCH
|
| This paper presents the work of several ongoing studies to determine the effectiveness of multiple small robotic vehicles for performing mine field clearance, and the related problem of clearing unexploded ordnance from areas of interest. Many issues are implied in this opening sentence. Not the least of these is knowing, out the many items cluttering a battlefield, which ones need to be cleared. There is the problem of transiting through ... |
|
| Optimizing Aerobot Exploration of Venus |
MAR 97 |
88 pages |
| Authors:
Kevin S. Ford; NAVAL POSTGRADUATE SCHOOL MONTEREY CA DEPT OF OPERATIONS RESEARCH
|
| Venus Flyer Robot (VFR) is an aerobot; an autonomous balloon probe designed for remote exploration of Earth's sister planet in 2003. VFR's simple navigation and control system permits travel to virtually any location on Venus, but it can survive for only a limited duration in the harsh Venusian environment. To help address this limitation, we develop: (1) a global circulation model that captures the most important characteristics of the Venusian ... |
|
| Outdoor Landmark Recognition Using Hybrid Fractal Vision System and Neural Networks |
24 FEB 97 |
51 pages |
| Authors:
Ren C. Luo; NORTH CAROLINA STATE UNIV AT RALEIGH DEPT OF ELECTRICAL AND COMPUTER ENGINEERI NG
|
| The objective of this research project is to develop a hybrid vision system to isolate and recognize landmarks in outdoor natural scenes. We have used two-steps approach to solve this problem. The first step is to isolate the landmarks based on image segmentation using fractal models for objects in the images, and the second step is to recognize the isolated landmarks using neural networks. An Incremental Fractional Brownian Motion(IFBM) model ... |
|
| Nonparametric Modeling and Control of High Performance Maneuvers |
20 JAN 97 |
6 pages |
| Authors:
Christopher G. Atkeson; GEORGIA INST OF TECH ATLANTA COLL OF COMPUTING
|
| We developed several nonparametric modeling techniques as well as nonlinear controller design techniques. We successfully implementing these techniques on a robot arm. We used a locally weighted modeling approach as the basis of our nonparametric modeling technique. Locally weighted modeling avoids negative interference by retaining the original training data, so the approach is adaptive to changing data distributions. We used sophisticated representations of high dimensional sub-manifolds to enable dynamic programming ... |
|
| STRIPE: Remote Driving Using Limited Image Data |
JAN 97 |
|
| Authors:
Jennifer Kay; CARNEGIE-MELLON UNIV PITTSBURGH PA DEPT OF COMPUTER SCIENCE
|
| Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle ... |
|
| Managing Emergent Behavior in Distributed Control Systems |
1997 |
9 pages |
| Authors:
H. Van Dyke Parunak; Raymond S. VanderBok; INDUSTRIAL TECHNOLOGY INST ANN ARBOR MI
|
| Distributed control architectures are becoming increasingly popular because their modularity makes them easy to install, configure, and modify. These benefits do not come for free. A population of asynchronously executing processes without central top-down control can exhibit unexpected or emergent" behavior at the system level. To the plant engineer, this behavior may look lIke noise or error conditions, but it is generated by deterministic interactions among control elements, not random ... |
|
| Analysis and Design of Standard Telerobotic Control Software |
DEC 96 |
144 pages |
| Authors:
Matthew L. June; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING
|
| The Robotics and Automation Center for Excellence (RACE) has defined an open telerobotics control architecture. This architecture, called the Unified Telerobotic Architecture Project (UTAP), is a proposed standard for all Air Force telerobotic systems. Implementation of UTAP will reduce the cost of robotic applications by increasing software modularity, portability, and reusability. This thesis continued the effort to prove the feasibility of UTAP. In December, 1995, 1st Lt Anchor implemented a ... |
|
| Development of Object-Based Teleoperator Control for Unstructured Applications |
DEC 96 |
209 pages |
| Authors:
Hyunki Cho; AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH
|
| For multi-fingered end effectors in unstructured applications, the main issues are control in the presence of uncertainties and providing grasp stability and object manipulability. The suggested concept in this thesis is object based teleoperator control which provides an intuitive way to control the robot in terms of the grasped object and reduces the operator's conceptual constraints. The general control law is developed using a hierarchical control structure, i.e., human interface ... |
|
| The National Shipbuilding Research Program. Evaluation of Shipbuilding CAD/CAM Systems (Phase I) |
14 OCT 1996 |
207 pages |
| Authors:
Richard C. Moore; MICHIGAN UNIV ANN ARBOR TRANSPORTATION RESEARCH INST
|
| This report is the Phase I final report of the National Shipbuilding Research Program (NSRP) project (Project Number 4-94-1) to evaluate world-class shipbuilders' existing CAD/CAM/CIM system implementations. Five U.S. shipyards participated in this study along with personnel from University of Michigan, Proteus Engineering, and Cybo Robots. Project participants have backgrounds in design, computer-aided design (CAD), manufacturing processes, computer-aided manufacturing (CAM), production planning, and computer-integrated manufacturing/management (CIM). The results of this ... |
|
| New Developments Abroad in Space Flight Control Technology |
01 OCT 96 |
27 pages |
| Authors:
Zugui Chen; NATIONAL AIR INTELLIGENCE CENTER WRIGHT-PATTERSON AFB OH
|
| This article introduces achievements over the past few years and the direction of developments in the major fields involving space control technology at the 12th Conference on Space Automated Control. It emphasizes a description of ground testing technology of space vehicle GNC systems, space vehicle autonomous control technology, space robot technology and mechanical arm technology as well as flexible space vehicle control technology and GPS navigation technology. Finally it concludes ... |
|
| Potential Technology Transfer to the DoD Unmanned Ground Vehicle Program |
OCT 96 |
|
| Authors:
Derek H. Squire; INSTITUTE FOR DEFENSE ANALYSES ALEXANDRIA VA
|
| The Joint Robotics Program (JRP), managed by the Office of the Secretary of Defense, is developing unmanned ground vehicles (UGVs) for a number of military applications. These applications currently include scout vehicles, engineer vehicles for mine detection and clearing, security robots, explosive ordnance disposal, and construction-type robots for detecting and removing unexploded ordnance. Future applications may include convoys and other logistic applications, both nonlethal and lethal weapons platforms, and a ... |
|
| Proceedings of the Third International Workshop on Multistrategy Learning, May 23-25 Harpers Ferry, WV |
16 SEP 96 |
333 pages |
| Authors:
Ryszard S. Michalski; Janusz Wnek; GEORGE MASON UNIV FAIRFAX VA
|
| The Third International Workshop on Multistrategy Learning (MSL-96), held in Harpers Ferry, WV, May 23-25, 1996, attracted leading researchers in this area from Australia, Austria, Belgium, France, Germany, Italy, Japan, New Zealand, Poland, and the United States. The workshop covered theoretical and empirical issues in the development of learning systems that employ multiple inferential and/or computational strategies. The study of such systems draws upon the achievements in all subareas of ... |
|
| Integrated Remote Neurosurgical System |
SEP 96 |
14 pages |
| Authors:
Neal F. Kassell; J. H. Downs III; VIRGINIA UNIV CHARLOTTESVILLE
|
| The Neurovisualization Lab at the University of Virginia is currently developing the Integrated Remote Neurosurgical System (IRNS) to allow remote neurosurgical procedures for access to underserved localities. The system allows a remote neurosurgeon to control a robotic microscope through the use of 3-D input devices, communicate through live audio and video over an ATM switch, and view presurgical imagery. The surgical team in the operating room will also have access ... |
|
| New Motion Planning and Real-Time Localization Methods Using Proximity for Autonomous Mobile Robots |
SEP 96 |
250 pages |
| Authors:
Mahmoud A. Wahdan; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| One of the most difficult theoretical problems in robotics--motion planning for rigid body robots-- must be solved before a robot can perform real- world tasks such as mine searching and processing. This dissertation proposes a new motion planning algorithm for an autonomous robot, as well as the method and results of implementing this algorithm on a real vehicle. This dissertation addresses the problem of safely navigating an autonomous vehicle through ... |
|
| Cryofracture Demilitarization of Munitions. (Phase I) |
SEP 96 |
165 pages |
| Authors:
Jim Huntsinger; Paul Betts; Andrew Lute; GENERAL ATOMICS SAN DIEGO CA
|
| The U.S. Army has been tasked with the responsibility of overseeing the demilitarization of obsolete munitions currently in the stockpile. In support of this activity, efforts are underway to develop technologies which will accomplish the demilitarization in a safe and environmentally friendly manner. The use of cryofracture to accomplish this task for small explosive loaded munitions is one of the technologies being developed. This report details the results of tests ... |
|
| 114 Untethered UUV Dives: Lessons Learned |
JUL 96 |
8 pages |
| Authors:
J. M. Walton; R. W. Uhrich; NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA
|
| The Ocean Engineering Division at the Naval Command, Control and Ocean Surveillance Center RDT&E Division (NRaD) has developed and fielded two successive untethered, supervisory controlled UUV systems: a prototype, and an improved model. These robotic vehicle systems were part of the Advanced Unmanned Search System (AUSS) program that had its genesis in the early 197Os. At that time the idea of performing useful work with untethered robots in the deep ... |
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Reports by Keyword(s)
ROBOTS
