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The effectiveness of a personal robot in presenting a sound/filmstrip as measured by a robotic technology achievement test

Description: The problem of this study was to compare the effects of two methods of filmstrip presentation on student achievement. One method employed a personal robot to automatically advance a filmstrip projector in sequence with an audio cassette tape while the other method had a person manually advancing a filmstrip projector in sequence with an audio cassette tape.
Date: August 1986
Creator: Keenan, Douglas E. (Douglas Earl)
Partner: UNT Libraries

Exploratory Workshop on the Social Impacts of Robotics: Summary and Issues: A Background Paper

Description: A report by the Office of Technology Assessment (OTA) that "contains a summary of the results of the workshop along with copies that were used as starting points for the discussion" (p. iii). The workshop referenced discussed robotics technology and robotics market.
Date: February 1982
Creator: United States. Congress. Office of Technology Assessment.
Partner: UNT Libraries Government Documents Department


Description: MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space. The research associated with this paper hypothesizes that a user interface and complementary radiation compatible robotic hand that integrates the human hand’s anthropometric properties, speed capability, nonlinear strength profile, reduction of active degrees of freedom during the transition from manipulation to grasping, and just noticeable difference force sensation characteristics will enhance a user’s teleoperation performance. The main contribution of this research is in that a system that concisely integrates all these factors has yet to be developed and furthermore has yet to be applied to a hazardous environment as those referenced above. In fact, the most prominent slave manipulator teleoperation technology in use today is based on a design patented in 1945 (Patent 2632574) [1]. The robotic hand/user interface systems of similar function as the one being developed in this research limit their design input requirements in the best case to only complementing the hand’s anthropometric properties, speed capability, and linearly scaled force application relationship (e.g. robotic force is a constant, 4 times that of the user). In this paper a nonlinear relationship between the force experienced between the user interface and the robotic hand was devised based on property differences of manipulation and grasping activities as they pertain to the human hand. The results show that such a relationship when subjected to a manipulation task and grasping task produces increased performance compared to the traditional linear scaling techniques used by other systems. Key Words: ...
Date: July 1, 2012
Creator: Crawford, Anthony L.
Partner: UNT Libraries Government Documents Department

Robotics: Cooperation of Autonomous Robots Using Bluetooth Communication

Description: This poster discusses research on the cooperation of autonomous robots using Bluetooth communication. Researchers explore multi-agent NXT Robotics systems using a Bluetooth communication channel. This research is part of Research Experiences for Teachers (RET) in Sensor Education, a National Science Foundation (NSF) funded grant project.
Date: 2013
Creator: Freeman, Elizabeth; Bell, Jesse; Namuduri, Kamesh & Costilla, Omar
Partner: UNT College of Engineering

Cooperation of Autonomous NXT Robots Using Bluetooth Wireless Technology

Description: This report discusses research on cooperation of autonomous NXT robots using Bluetooth wireless technology. The research project consisted of using Bluetooth technology to coordinate movements between two agents. This research is part of Research Experiences for Teachers (RET) in Sensor Education, a National Science Foundation (NSF) funded grant project.
Date: 2013
Creator: Bell, Jesse; Freeman, Elizabeth; Namuduri, Kamesh & Costilla, Omar
Partner: UNT College of Engineering

Applications of Logic Flowcharting With a Focus in Autonomous Robotic Operations

Description: This report discusses research on applications of logic flowcharting with a focus in autonomous robotic operations. This research project is part of Research Experiences for Teachers (RET) in Sensor Networks, a National Science Foundation (NSF) funded grant project.
Date: 2012
Creator: Sink, Ashley Elizabeth; Gscheidle, Karl H.; Namuduri, Kamesh; Li, Li & Sterling, Phillip
Partner: UNT College of Engineering

Modular Countermine Payload for Small Robots

Description: Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processor that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multi-mission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.
Date: April 1, 2010
Creator: Herman, Herman; Few, Doug; Versteeg, Roelof; Valois, Jean-Sebastien; McMahill, Jeff; Licitra, Michael et al.
Partner: UNT Libraries Government Documents Department

A review of research in the field of nanorobotics.

Description: This report highlights the findings of an extensive review of the literature in the area of nanorobotics. The main goal of this midyear LDRD effort is to survey and identify accomplishments and advancements that have been made in this relatively new and emerging field. As a result, it may be determined what routes in the area of nanorobotics are scientifically plausible and technically useful so that the Intelligent Systems and Robotics Center can position itself to play a role in the future development of nanotechnology.
Date: October 1, 2005
Creator: Sierra, Dannelle P.; Weir, Nathan A. & Jones, James Frank
Partner: UNT Libraries Government Documents Department

Exploring the Moon and Mars: Choices for the Nation

Description: This report, the result of an assessment of the potential for automation and robotics technology to assist in the exploration of the Moon and Mars, raises a number of issues related to the goals of the U.S. civilian space program. Among other things, the report discusses how greater attention to automation and robotics technologies could contribute to U.S. space exploration efforts.
Date: July 1991
Creator: United States. Congress. Office of Technology Assessment.
Partner: UNT Libraries Government Documents Department

High performance robotic traverse of desert terrain.

Description: This report presents tentative innovations to enable unmanned vehicle guidance for a class of off-road traverse at sustained speeds greater than 30 miles per hour. Analyses and field trials suggest that even greater navigation speeds might be achieved. The performance calls for innovation in mapping, perception, planning and inertial-referenced stabilization of components, hosted aboard capable locomotion. The innovations are motivated by the challenge of autonomous ground vehicle traverse of 250 miles of desert terrain in less than 10 hours, averaging 30 miles per hour. GPS coverage is assumed to be available with localized blackouts. Terrain and vegetation are assumed to be akin to that of the Mojave Desert. This terrain is interlaced with networks of unimproved roads and trails, which are a key to achieving the high performance mapping, planning and navigation that is presented here.
Date: September 1, 2004
Creator: Whittaker, William (Carnegie Mellon University, Pittsburgh, PA)
Partner: UNT Libraries Government Documents Department

Needs for Robotic Assessments of Nuclear Disasters

Description: Following the nuclear disaster at the Fukushima nuclear reactor plant in Japan, the need for systems which can assist in dynamic high-radiation environments such as nuclear incidents has become more apparent. The INL participated in delivering robotic technologies to Japan and has identified key components which are needed for success and obstacles to their deployment. In addition, we are proposing new work and methods to improve assessments and reactions to such events in the future. Robotics needs in disaster situations include phases such as: Assessment, Remediation, and Recovery Our particular interest is in the initial assessment activities. In assessment we need collection of environmental parameters, determination of conditions, and physical sample collection. Each phase would require key tools and efforts to develop. This includes study of necessary sensors and their deployment methods, the effects of radiation on sensors and deployment, and the development of training and execution systems.
Date: June 1, 2012
Creator: Walker, Victor & Wadsworth, Derek
Partner: UNT Libraries Government Documents Department

Scarab III Remote Vehicle Deployment for Waste Retrieval and Tank Inspection

Description: The Robotics Technology Development Program now known as the Robotics Crosscut Program, funded the development and deployment of a small remotely operated vehicle for inspection and cleanout of small horizontal waste storage tanks that have limited access. Besides the advantage of access through tank risers as small as 18-in. diameter, the small robotic system is also significantly less expensive to procure and to operate than larger remotely operated vehicle (ROV) systems. The vehicle specified to support this activity was the ROV Technologies, Inc., Scarab. The Scarab is a tracked vehicle with an independently actuated front and rear ''toe'' degree-of-freedom which allows the stand-off and angle of the vehicle platform with respect to the floor to be changed. The Scarab is a flexible remote tool that can be used for a variety of tasks with its primary uses targeted for inspection and small scale waste retrieval. The vehicle and any necessary process equipment are mounted in a deployment and containment enclosure to simplify deployment and movement of the system from tank to tank. This paper outlines the technical issues related to the Scarab vehicle and its deployment for use in tank inspection and waste retrieval operation
Date: April 25, 1999
Creator: Burks, B.L.; Falter, D.D.; Noakes, M. & Vesco, D.
Partner: UNT Libraries Government Documents Department

The Introduction of Robotic Technology: Perceptions of the Work Force of an Aerospace Defense Company

Description: This dissertation examines the effect that the introduction of an advanced manufacturing technology, specifically robotics, has on the work force of an aerospace defense company. In this endeavor, there are two main objectives. First, this study determines whether workers feel that their jobs are threatened by the introduction of robotic technology. Secondly, the research compares the degree to which workers from different labor types feel this threat. A review of the literature reveals that the technical factors involving manufacturing technology have been thoroughly examined and discussed, but the effect that they have on the work force has been somewhat neglected. This dissertation develops ten hypotheses to ascertain the perceived threat to job security for workers within an aerospace defense company. This study is based on an employee survey that examined the employee's perceived threat to job security by the introduction of robotics. The primary research was obtained from employees within an aerospace defense company through the use of questionnaires in a three phase approach. The first phase utilized a pretest that sampled the questionnaire prior to the company-wide solicitation. The second phase administered the questionnaire to the three labor types within the work force. Phase three consisted of data reduction and the comparison of the primary data to the research hypotheses. The results of the study concluded that workers closer to the robotic technology (hands-on employees) felt more threatened about their job security than workers more removed from the technology (support personnel and management). It was further found that the hands-on workers felt that the major factor that lead to the introduction of robots was the desire to lower labor costs while support personnel and managers felt that the major factor that lead to the introduction of robots was due to increasing productivity. Additional hypotheses tested in this study include ...
Date: August 1988
Creator: Rose, William B. (William Burford)
Partner: UNT Libraries

Using Multiple Unmanned Systems for a Site Security Task

Description: Unmanned systems are often used to augment the ability of humans to perform challenging tasks. While the value of individual unmanned vehicles have been proven for a variety of tasks, it is less understood how multiple unmanned systems should be used together to accomplish larger missions such as site security. The purpose of this paper is to discuss efforts by researchers at the Idaho National Laboratory (INL) to explore the utility and practicality of operating multiple unmanned systems for a site security mission. This paper reviews the technology developed for a multi-agent mission and summarizes the lessons-learned from a technology demonstration.
Date: April 1, 2009
Creator: Anderson, Matthew O.; Nielsen, Curtis W.; McKay, Mark D.; Wadsworth, Derek C.; Hruska, Ryan C. & Koudelka, John A.
Partner: UNT Libraries Government Documents Department

Modeling and Control of a Motor System Using the Lego EV3 Robot

Description: In this thesis, I present my work on the modeling and control of a motor system using the Lego EV3 robot. The overall goal is to apply introductory systems and controls engineering techniques for estimation and design to a real-world system. First I detail the setup of materials used in this research: the hardware used was the Lego EV3 robot; the software used was the Student 2014 version of Simulink; a wireless network was used to communicate between them using a Netgear WNA1100 wifi dongle. Next I explain the approaches used to model the robot’s motor system: from a description of the basic system components, to data collection through experimentation with a proportionally controlled feedback loop, to parameter estimation (through time-domain specification relationships, Matlab’s curve-fitting toolbox, and a formal least-squares parameter estimation), to the discovery of the effects of frictional disturbance and saturation, and finally to the selection and verification of the final model through comparisons of simulated step responses of the estimated models to the actual time response of the motor system. Next I explore three different types of controllers for use within the motor system: a proportional controller, a lead compensator, and a PID controller. I catalogue the design and performance results – both in simulation and on the real system – of each controller. One controller is then selected to be used within two Controls Systems Engineering final course projects, both involving the robot traveling along a predetermined route. The controller’s performance is analyzed to determine whether it improves upon the accumulation of error in the robot’s position when the projects are executed without control.
Date: August 2015
Creator: Mitchell, Ashley C.
Partner: UNT Libraries

Demonstration of the Robotic Gamma Locating and Isotopic Identification Device

Description: The United States Department of Energy (DOE) continually seeks safer and more cost- effective technologies for use in decontaminating and decommissioning nuclear facilities. To this end, the Deactivation and Decommissioning Focus Area of DOE's Office of Science and Technology sponsors Large-Scale Demonstration and Deployment Projects (LSDDP) to test new technologies. As part of these projects, developers and vendors showcase new products designed to decrease health and safety risks to personnel and the environment, increase productivity, and lower costs. As part of the FY 2000 and 2001 LSDDP, the Idaho National Engineering and Environmental Laboratory (INEEL) collaborated with the Russian Research and Development Institute of Construction Technology (NIKIMT). This collaboration resulted in the development of the Robotic Gamma Locating and Isotopic Identification Device (RGL&IID) which integrated DOE Robotics Crosscutting (Rbx) technology with NIKIMT Russian gamma locating and isotopic identification technology. This paper will discuss the technologies involved in this integration and results from the demonstration including reduction of personnel exposure, increase in productivity, and reduced risk.
Date: August 1, 2002
Creator: Anderson, Matthew Oley; Conner, Craig C; Daniel, Vincent Elvernard; Mckay, Mark D & Yancey, Neal Adam
Partner: UNT Libraries Government Documents Department

CMMAD Usability Case Study in Support of Countermine and Hazard Sensing

Description: During field trials, operator usability data were collected in support of lane clearing missions and hazard sensing for two robot platforms with Robot Intelligence Kernel (RIK) software and sensor scanning payloads onboard. The tests featured autonomous and shared robot autonomy levels where tasking of the robot used a graphical interface featuring mine location and sensor readings. The goal of this work was to provide insights that could be used to further technology development. The efficacy of countermine systems in terms of mobility, search, path planning, detection, and localization were assessed. Findings from objective and subjective operator interaction measures are reviewed along with commentary from soldiers having taken part in the study who strongly endorse the system.
Date: April 1, 2010
Creator: Walker, Victor G. & Gertman, David I.
Partner: UNT Libraries Government Documents Department

UNIVERSITY RESEARCH PROGRAM IN ROBOTICS, Final Technical Annual Report, Project Period: 9/1/04 - 8/31/05

Description: The University Research Program in Robotics (URPR) Implementation Plan is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities of robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.
Date: February 15, 2006
Creator: Tulenko, James S. & III, Carl D. Crane
Partner: UNT Libraries Government Documents Department

University Research Program in Robotics - "Technologies for Micro-Electrical-Mechanical Systems in directed Stockpile Work (DSW) Radiation and Campaigns", Final Technical Annual Report, Project Period 9/1/06 - 8/31/07

Description: The University Research Program in Robotics (URPR) is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities in robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.
Date: December 13, 2007
Creator: Tulenko, James S. & Crane, Carl D.
Partner: UNT Libraries Government Documents Department


Description: The research performed by the University of Florida (UF) is directed to the development of technologies that can be utilized at a micro-scale in varied environments. Work is focused on micro-scale energy systems, visualization, and mechanical devices. This work will impact the NNSA need related to micro-assembly operations. The URPR activities are executed in a University environment, yet many applications of the resulting technologies may be classified or highly restrictive in nature. The NNSA robotics technologists apply an NNSA needs focus to the URPR research, and actively work to transition relevant research into the deployment projects in which they are involved. This provides a “Research to Development to Application” structure within which innovative research has maximum opportunity for impact without requiring URPR researchers to be involved in specific NNSA projects. URPR researchers need to be aware of the NNSA applications in order to ensure the research being conducted has relevance, the URPR shall rely upon the NNSA sites for direction.
Date: November 30, 2006
Creator: Tulenko, James S.; Schoenfeld, Dean; Hintenlang, David; Crane, Carl; Ridgeway, Shannon; Santiago, Jose et al.
Partner: UNT Libraries Government Documents Department