33,985 research outputs found

    Anthropomorphic teleoperation: Controlling remote manipulators with the DataGlove

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    A two phase effort was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real-time based on hand shape, orientation, and movement. The first phase was a period for system integration, checkout, and familiarization in a virtual environment. The second phase was a formal experiment using the DataGlove as input device to control the protoflight manipulator arm (PFMA) - a large telerobotic arm with an 8-ft reach. The first phase was used to explore and understand how the DataGlove functions in a virtual environment, build a virtual PFMA, and consider and select a reasonable teleoperation control methodology. Twelve volunteers (six males and six females) participated in a 2 x 3 (x 2) full-factorial formal experiment using the DataGlove to control the PFMA in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0, 1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible), were manipulated. Gender served as a blocking variable. A main effect of time delay was found for slewing and total task times. Correlations among questionnaire responses, and between questionnaire responses and session mean scores and gender were computed. The experimental data were also compared with data collected in another study that used a six degree-of-freedom handcontroller to control the PFMA in the same task. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface. From an operational point of view, it compares favorably with other 'standard' telerobotic input devices and should be considered in future trades in teleoperation systems' designs

    Collaborative Funding to Facilitate Airport Ground Access, Research Report 11-27

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    This report presents the findings and conclusions from a research study that has examined the challenges of funding airport ground access projects and the role of collaborative funding strategies between the different agencies that typically become involved in such projects. The report reviews the recent literature on funding airport ground access projects, as well as funding transportation projects more generally. This is followed by a detailed review of current federal transportation funding programs relevant to airport ground access projects, as well as a discussion of state and local funding programs and potential opportunities for private-sector funding. A major component of the research described in the report consists of detailed case studies of seven selected airport ground access projects, including a major intermodal center, two automated people-mover projects, two airport access highway projects, and two airport rail links. These case studies examine the history of each project, the costs involved, and the funding programs and mechanisms used to finance the projects. Based on the literature review, the review of current funding programs, and the case study findings, the report identifies potential funding strategies for intermodal airport ground access projects, requirements for effective implementation of these strategies, and a recommended approach to facilitate successful project development and implementation. The report also presents recommended changes to transportation funding program rules and regulations that could facilitate and simplify development of intermodal solutions to future airport ground access needs

    Offshore petroleum and minerals: Plugging gaps in the present framework

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    For twenty years, it has been realized that there is a gap in New Zealand’s environmental law in that there is no general environmental legislation for the exclusive economic zone, and now for the extended continental shelf that includes areas more than 200 nautical miles offshore. The jurisdiction of regional councils under the Resource Management Act 1991 does not extend beyond the 12-mile limit, about 22 km offshore. (The jurisdiction of territorial authorities extends only to the mean low water mark.) That has meant that oil and gas operations beyond the 12-mile limit have not had proper environmental scrutiny. Public concern about such matters has sharpened in the light of petroleum exploration in the Raukumara Basin off the East Cape, although so far it has only reached the stage of seismic exploration. The Deepwater Horizon blowout on the Macondo prospect in the Gulf of Mexico in April 2010 also looms large in public debate. With a lower profile but with a similar potential to cause environmental harm is the possibility of seabed mining operations. A company is gearing up for deep seabed mining off New Britain in Papua New Guinea. Globally, the main targets are cobalt-rich crusts, polymetallic nodules (on the abyssal plain), and massive sulphide deposits (near hydrothermal vents). In New Zealand iron sands are also attractive. Other possible future uses of the offshore are carbon capture and storage and the extraction of gas hydrates. Existing operations such as fishing by bottom trawling present risks of environmental harm to the benthic environment, especially to features such as seamounts. The Minister for the Environment has now announced his intention to introduce a bill to plug this legal gap, at least in relation to petroleum development and seabed mining. Action on this is most welcome. It is desirable to consider the strengths and weaknesses of the proposal, and of the legal framework for oil and gas well drilling in general. Some surprising gaps remain even if the Minister’s proposal is enacted

    Computer vision for real-time orbital operations. Center directors discretionary fund

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    Machine vision research is examined as it relates to the NASA Space Station program and its associated Orbital Maneuvering Vehicle (OMV). Initial operation of OMV for orbital assembly, docking, and servicing are manually controlled from the ground by means of an on board TV camera. These orbital operations may be accomplished autonomously by machine vision techniques which use the TV camera as a sensing device. Classical machine vision techniques are described. An alternate method is developed and described which employs a syntactic pattern recognition scheme. It has the potential for substantial reduction of computing and data storage requirements in comparison to the Two-Dimensional Fast Fourier Transform (2D FFT) image analysis. The method embodies powerful heuristic pattern recognition capability by identifying image shapes such as elongation, symmetry, number of appendages, and the relative length of appendages

    The problem of off duty time in long duration space missions. Volume 1 - Summary and research recommendations

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    Psychological and social factors in using off-duty time during long-duration space flight

    The Continuing Leverage of Releasing Authorities: Findings from a National Survey

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    The Robina Institute of Criminal Law and Criminal Justice launched a national survey of releasing authorities in March 2015 to each state, and the U.S. Parole Commission. The importance of the survey was underscored by an endorsement from the Association of Paroling Authorities International (APAI). We are pleased to present the results from this important survey here. This is the first comprehensive survey of parole boards completed in nearly 10 years. Its findings provide a rich database for better understanding the policy and practice of paroling authorities. The last survey to be conducted of paroling authorities was in 2007/2008.The current report offers an expansion and update of previous surveys. The results summarized throughout the report offer a timely resource for paroling authorities, correctional policy-makers and practitioners, legislators, and those with a public policy interest in sentencing and criminal justice operations. It is our hope that the document and its findings provide key justice system and other stakeholders with an incisive snapshot of the work of paroling authorities across the country in a manner that contributes to a larger conversation about sound and effective parole release and revocation practices.The completion of this comprehensive survey and the reporting of its findings offers a timely and invaluable resource for releasing authorities. It provides them and other key justice system stakeholders with a comparative understanding of their colleagues' work across the nation, and contributes to a larger conversation pertaining to effective parole release and revocation practices
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