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Autonomous intelligent assembly systems LDRD 105746 final report.

Description: This report documents a three-year to develop technology that enables mobile robots to perform autonomous assembly tasks in unstructured outdoor environments. This is a multi-tier problem that requires an integration of a large number of different software technologies including: command and control, estimation and localization, distributed communications, object recognition, pose estimation, real-time scanning, and scene interpretation. Although ultimately unsuccessful in achieving a target brick stacking task autonomously, numerous important component technologies were nevertheless developed. Such technologies include: a patent-pending polygon snake algorithm for robust feature tracking, a color grid algorithm for uniquely identification and calibration, a command and control framework for abstracting robot commands, a scanning capability that utilizes a compact robot portable scanner, and more. This report describes this project and these developed technologies.
Date: April 1, 2013
Creator: Anderson, Robert J.
Partner: UNT Libraries Government Documents Department

Advanced dexterous manipulation for IED defeat : report on the feasibility of using the ShadowHand for remote operations.

Description: Improvised Explosive Device (IED) defeat (IEDD) operations can involve intricate operations that exceed the current capabilities of the grippers on board current bombsquad robots. The Shadow Dexterous Hand from the Shadow Robot Company or 'ShadowHand' for short (www.shadowrobot.com) is the first commercially available robot hand that realistically replicates the motion, degrees-of-freedom and dimensions of a human hand (Figure 1). In this study we evaluate the potential for the ShadowHand to perform potential IED defeat tasks on a mobile platform.
Date: January 1, 2011
Creator: Anderson, Robert J.
Partner: UNT Libraries Government Documents Department

Automated visual direction : LDRD 38623 final report.

Description: Mobile manipulator systems used by emergency response operators consist of an articulated robot arm, a remotely driven base, a collection of cameras, and a remote communications link. Typically the system is completely teleoperated, with the operator using live video feedback to monitor and assess the environment, plan task activities, and to conduct the operations via remote control input devices. The capabilities of these systems are limited, and operators rarely attempt sophisticated operations such as retrieving and utilizing tools, deploying sensors, or building up world models. This project has focused on methods to utilize this video information to enable monitored autonomous behaviors for the mobile manipulator system, with the goal of improving the overall effectiveness of the human/robot system. Work includes visual servoing, visual targeting, utilization of embedded video in 3-D models, and improved methods of camera utilization and calibration.
Date: January 1, 2005
Creator: Anderson, Robert J.
Partner: UNT Libraries Government Documents Department

A Modular Telerobot Control System for Accident Response

Description: The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART (Sandia's Modular Architecture for Robotic and Teleoperation) was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements eight different behavior modes. This paper describes the integration of SMART into the ARMMS system.
Date: July 20, 1999
Creator: Anderson, Robert J. & Shirey, David L.
Partner: UNT Libraries Government Documents Department

Robotic Mobile Manipulation Experiments at the U.S. Army Maneuver Support Center

Description: This activity brought two robotic mobile manipulation systems developed by Sandia National Laboratories to the Maneuver Support Center (MANSCEN) at Ft. Leonard Wood for the following purposes: Demonstrate advanced manipulation and control capabilities; Apply manipulation to hazardous activities within MANSCEN mission space; Stimulate thought and identify potential applications for future mobile manipulation applications; and Provide introductory knowledge of manipulation to better understand how to specify capability and write requirements.
Date: June 1, 2002
Creator: BENNETT, PHIL C. & ANDERSON, ROBERT J.
Partner: UNT Libraries Government Documents Department

Apparent Effect of Inlet Temperature on Adiabatic Efficiency of Centrifugal Compressors

Description: From Introduction: "The results of varying only Reynolds number for several equivalent tip speeds are presented and probable reasons for the apparent variation of adiabatic efficiency with inlet temperature are discussed."
Date: February 1948
Creator: Anderson, Robert J.; Ritter, William K. & Parsons, Shirley R.
Partner: UNT Libraries Government Documents Department

Reconfigurable mobile manipulation for accident response

Description: The need for a telerobotic vehicle with hazard sensing and integral manipulation capabilities has been identified for use in transportation accidents where nuclear weapons are involved. The Accident Response Mobile Manipulation System (ARMMS) platform has been developed to provide remote dexterous manipulation and hazard sensing for the Accident Response Group (ARG) at Sandia National Laboratories. The ARMMS' mobility platform is a military HMMWV [High Mobility Multipurpose Wheeled Vehicle] that is teleoperated over RF or Fiber Optic communication channels. ARMMS is equipped with two high strength Schilling Titan II manipulators and a suite of hazardous gas and radiation sensors. Recently, a modular telerobotic control architecture call SMART (Sandia Modular Architecture for Robotic and Teleoperation) has been applied to ARMMS. SMART enables input devices and many system behaviors to be rapidly configured in the field for specific mission needs. This paper summarizes current SMART developments applied to ARMMS.
Date: June 6, 2000
Creator: ANDERSON,ROBERT J.; MORSE,WILLIAM D.; SHIREY,DAVID L.; CDEBACA,DANIEL M.; HOFFMAN JR.,JOHN P. & LUCY,WILLIAM E.
Partner: UNT Libraries Government Documents Department

RoboHound:developing sample collection and preconcentration hardware for a remote trace explosives detection system.

Description: The RoboHound{trademark} Project was a three-year, multiphase project at Sandia National Laboratories to build and refine a working prototype trace explosive detection system as a tool for a commercial robot. The RoboHound system was envisioned to be a tool for emergency responders to test suspicious items (i.e., packages or vehicles) for explosives while maintaining a safe distance. The project investigated combining Sandia's expertise in trace explosives detection with a wheeled robotic platform that could be programmed to interrogate suspicious items remotely for the presence of explosives. All of the RoboHound field tests were successful, especially with regards to the ability to collect and detect trace samples of RDX. The project has gone from remote sampling with human intervention to a fully automatic system that requires no human intervention until the robot returns from a sortie. A proposal is being made for additional work leading towards commercialization.
Date: September 1, 2005
Creator: Peterson, David J. (New Mexico Tech, Socorro, NM); Denning, David J.; Hobart, Clinton G.; Lenz, Michael C.; Anderson, Robert J.; Carlson, Dennis L. et al.
Partner: UNT Libraries Government Documents Department