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open access

Advanced robot locomotion.

Description: This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gr… more
Date: January 1, 2007
Creator: Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E. et al.
Partner: UNT Libraries Government Documents Department
open access

Cooperative sentry vehicles and differential GPS leapfrog

Description: As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories Intelligent Systems and Robotics Center is developing and testing the feasibility of using a cooperative team of robotic sentry vehicles to guard a perimeter, perform a surround task, and travel extended distances. This paper describes the authors most recent activities. In particular, this paper highlights the development of a Differential Global Positioning System (DGPS) leapfrog capability th… more
Date: June 7, 2000
Creator: Feddema, John T.; Lewis, Christopher L. & LaFarge, Robert A.
Partner: UNT Libraries Government Documents Department
open access

An immunological basis for high-reliability systems control.

Description: This reports describes the successful extension of artificial immune systems from the domain of computer security to the domain of real time control systems for robotic vehicles. A biologically-inspired computer immune system was added to the control system of two different mobile robots. As an additional layer in a multi-layered approach, the immune system is complementary to traditional error detection and error handling techniques. This can be thought of as biologically-inspired defense in d… more
Date: March 1, 2005
Creator: Somayaji, Anil B.; Amai, Wendy A. & Walther, Eleanor A.
Partner: UNT Libraries Government Documents Department
open access

I want what you've got: Cross platform portabiity and human-robot interaction assessment.

Description: Human-robot interaction is a subtle, yet critical aspect of design that must be assessed during the development of both the human-robot interface and robot behaviors if the human-robot team is to effectively meet the complexities of the task environment. Testing not only ensures that the system can successfully achieve the tasks for which it was designed, but more importantly, usability testing allows the designers to understand how humans and robots can, will, and should work together to optim… more
Date: August 1, 2005
Creator: Julie L. Marble, Ph.D.*.; Few, Douglas A. & Bruemmer, David J.
Partner: UNT Libraries Government Documents Department
open access

Design and Implementation of Communication Platform for Autonomous Decentralized Systems

Description: This thesis deals with the decentralized autonomous system, in which individual nodes acting like peers, communicate and participate in collaborative tasks and decision making processes. An experimental test-bed is created using four Garcia robots. The robots act like peers and interact with each other using user datagram protocol (UDP) messages. Each robot continuously monitors for messages coming from other robots and respond accordingly. Each robot broadcasts its location to all the other ro… more
Date: December 2010
Creator: Gottipati, Naga Sravani
Partner: UNT Libraries
open access

Development of Monitoring and Diagnostic Methods for Robots Used In Remediation of Waste Sites - Final Report

Description: This project is the first evaluation of model-based diagnostics to hydraulic robot systems. A greater understanding of fault detection for hydraulic robots has been gained, and a new theoretical fault detection model developed and evaluated.
Date: April 1, 2000
Creator: Martin, M.
Partner: UNT Libraries Government Documents Department
open access

A robotic framework for semantic concept learning.

Description: This report describes work carried out under a Sandia National Laboratories Excellence in Engineering Fellowship in the Department of Electrical and Computer Engineering at the University of Illinois at Urbana-Champaign. Our research group (at UIUC) is developing a intelligent robot, and attempting to teach it language. While there are many aspects of this research, for the purposes of this report the most important are the following ideas. Language is primarily based on semantics, not syntax. … more
Date: September 1, 2004
Creator: Squire, Kevin M. (University of Illinois at Urbana-Champaign, Urbana, IL.); Levinson, Stephen E. (University of Illinois at Urbana-Champaign, Urbana, IL.) & Xavier, Patrick Gordon
Partner: UNT Libraries Government Documents Department
open access

Prospecting for lunar ice using a multi-rover cooperative team

Description: A multi-rover cooperative team or swarm developed by Sandia National Laboratories is described, including various control methodologies that have been implemented to date. How the swarm's capabilities could be applied to a lunar ice prospecting mission is briefly explored. Some of the specific major engineering issues that must be addressed to successfully implement the swarm approach to a lunar surface mission are outlined, and potential solutions are proposed.
Date: February 11, 2000
Creator: Klarer, Paul R.; Feddema, John T. & Lewis, Christopher L.
Partner: UNT Libraries Government Documents Department
open access

Developing the VirtualwindoW into a General Purpose Telepresence Interface

Description: An important need while using robots or remotely operated equipment is the ability for the operator or an observer to easily and accurately perceive the operating environment. A classic problem in providing a complete representation of a work area is sensory overload or excessive complexity in the human–machine interface. In addition, remote operations often benefit from depth perception capability while viewing or manipulating objects. Thus, there is an on going effort within the robotic field… more
Date: April 1, 1999
Creator: Kinoshita, Robert Arthur; Anderson, Matthew Oley; Mckay, Mark D & Willis, Walter David
Partner: UNT Libraries Government Documents Department
open access

Distributing Planning and Control for Teams of Cooperating Mobile Robots

Description: This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful dev… more
Date: July 19, 2004
Creator: Parker, L. E.
Partner: UNT Libraries Government Documents Department
open access

Distributed Planning and Control for Teams of Cooperating Mobile Robots

Description: This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful dev… more
Date: June 15, 2004
Creator: Parker, L. E.
Partner: UNT Libraries Government Documents Department
open access

Exploring Adoption, Implementation, and Use of Autonomous Mobile Robots in Intralogistics Applications

Description: Autonomous mobile robots (AMRs) use decentralized, AI-driven decision-making processes to providing material handling capabilities in industrial settings. Essay 1 examines how firms organize and engage to mitigate uncertainty during external technology integration (ETI), using an abductive approach with dyadic customer-supplier data to extend prior ETI models by exploring firm engagement, organizational adaptation, and distinct uncertainty types in AMR ETI projects. Essay 2 applies a grounded … more
Date: August 2022
Creator: Maywald, Jacob Daniel
Partner: UNT Libraries
open access

Passive legged, multi-segmented, robotic vehicle.

Description: The Passive-legged, Multi-segmented, Robotic Vehicle concept is a simple legged vehicle that is modular and scaleable, and can be sized to fit through confined areas that are slightly larger than the size of the vehicle. A specific goal of this project was to be able to fit through the opening in the fabric of a chain link fence. This terrain agile robotic platform will be composed of multiple segments that are each equipped with appendages (legs) that resemble oars extending from a boat. Motio… more
Date: November 1, 2003
Creator: Hayward, David R.
Partner: UNT Libraries Government Documents Department
open access

Perceptual basis for reactive teleoperation.

Description: To enhance task performance in partially structured environment, enhancement of teleoperation was proposed by introducing autonomous behaviors. Such autonomy is implemented based on reactive robotic architecture, where reactive motor agents that directly couples sensory inputs and motor actions become the building blocks. To this end, presented in this paper is a perceptual basis for the motor agents. The perceptual basis consists of perceptual agents that extracts environmental information fro… more
Date: August 28, 2001
Creator: Park, Y. S.; Ewing, T. F.; Boyle, J. M. & Yule, T. J.
Partner: UNT Libraries Government Documents Department
open access

Parallel Assembly of LIGA Components

Description: In this paper, a prototype robotic workcell for the parallel assembly of LIGA components is described. A Cartesian robot is used to press 386 and 485 micron diameter pins into a LIGA substrate and then place a 3-inch diameter wafer with LIGA gears onto the pins. Upward and downward looking microscopes are used to locate holes in the LIGA substrate, pins to be pressed in the holes, and gears to be placed on the pins. This vision system can locate parts within 3 microns, while the Cartesian manip… more
Date: March 4, 1999
Creator: Christenson, T.R. & Feddema, J.T.
Partner: UNT Libraries Government Documents Department
open access

Pioneer Robot Testing Program and Status

Description: The U.S. Department of Energy (USDOE) and Ukraine established a joint program in 1997 to address the need for remotely operated systems for unstructured environments in Ukraine such as the highly hazardous conditions inside the failed Chernobyl Nuclear Power Plant (ChNPP) Unit 4, or Shelter Object. The environment inside Shelter Object is extremely hazardous due to ionizing radiation fields, high airborne contamination, and major industrial safety issues. Although Ukrainian workers have explore… more
Date: February 2, 2001
Creator: Herndon, J.N.
Partner: UNT Libraries Government Documents Department
open access

Robust Planning for Autonomous Navigation of Mobile Robots in Unstructured, Dynamic Environments: An LDRD Final Report

Description: This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Robust Planning for Autonomous Navigation of Mobile Robots In Unstructured, Dynamic Environments (AutoNav)''. The project goal was to develop an algorithmic-driven, multi-spectral approach to point-to-point navigation characterized by: segmented on-board trajectory planning, self-contained operation without human support for mission duration, and the deve… more
Date: August 1, 2002
Creator: EISLER, G. RICHARD
Partner: UNT Libraries Government Documents Department
open access

EVALUATION OF STATE-OF-THE-ART MANIPULATORS AND REQUIREMENTS FOR DOE ROBOTICS APPLICATIONS

Description: This report provides an overview of applications within the DOE complex which could benefit from the use of modular robotics technology during remediation operations. Each application area contains one or more specific tasks which are presently conducted by humans under hazardous conditions or which are deemed highly impractical, or are altogether impossible without automation. Five major areas were investigated for specific needs with respect to automation. Information was collected on Mixed W… more
Date: October 8, 1998
Creator: BLACK, DEREK & GRUPINSKI, STEPHEN
Partner: UNT Libraries Government Documents Department
open access

Experimental Results for Minimum-Time Trajectory Tracking of a Direct-Drive Three-Link Planar Arm

Description: This work is an experimental investigation of the ability of a real three-link direct-drive arm to track model-based minimum-time trajectories that have been found off-line. Sufficiently large velocity gains in the computed torque control law were not achievable with the velocity sensors described herein. This indicates the critical importance of the velocity sensing when attempting to track trajectories that push the envelope of the system's torque capabilities.
Date: September 1, 1999
Creator: Driessen, Brian & Parker, Gordon G.
Partner: UNT Libraries Government Documents Department
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