Climbing and Walking Robots

Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study

Rotorcraft Blade Pitch Control Through Torque Modulation

Micro air vehicle (MAV) technology has broken with simple mimicry of manned aircraft in order to fulfill emerging roles which demand low-cost reliability in the hands of novice users, safe operation in confined spaces, contact and manipulation of the environment, or merging vertical flight and forward flight capabilities. These specialized needs have motivated a surge of new specialized aircraft, but the majority of these design variations remain constrained by the same fundamental technologies underpinning their thrust and control. This dissertation solves the problem of simultaneously governing MAV thrust, roll, and pitch using only a single rotor and single motor. Such an actuator enables new cheap, robust, and light weight aircraft by eliminating the need for the complex ancillary controls of a conventional helicopter swashplate or the distributed propeller array of a quadrotor. An analytic model explains how cyclic blade pitch variations in a special passively articulated rotor may be obtained by modulating the main drive motor torque in phase with the rotor rotation. Experiments with rotors from 10 cm to 100 cm in diameter confirm the predicted blade lag, pitch, and flap motions. We show the operating principle scales similarly as traditional helicopter rotor technologies, but is subject to additional new dynamics and technology considerations. Using this new rotor, experimental aircraft from 29 g to 870 g demonstrate conventional flight capabilities without requiring more than two motors for actuation. In addition, we emulate the unusual capabilities of a fully actuated MAV over six degrees of freedom using only the thrust vectoring qualities of two teetering rotors. Such independent control over forces and moments has been previously obtained by holonomic or omnidirection multirotors with at least six motors, but we now demonstrate similar abilities using only two. Expressive control from a single actuator enables new categories of MAV, illustrated by experiments with a single actuator aircraft with spatial control and a vertical takeoff and landing airplane whose flight authority is derived entirely from two rotors

Neural Radiance Fields: Past, Present, and Future

The various aspects like modeling and interpreting 3D environments and surroundings have enticed humans to progress their research in 3D Computer Vision, Computer Graphics, and Machine Learning. An attempt made by Mildenhall et al in their paper about NeRFs (Neural Radiance Fields) led to a boom in Computer Graphics, Robotics, Computer Vision, and the possible scope of High-Resolution Low Storage Augmented Reality and Virtual Reality-based 3D models have gained traction from res with more than 1000 preprints related to NeRFs published. This paper serves as a bridge for people starting to study these fields by building on the basics of Mathematics, Geometry, Computer Vision, and Computer Graphics to the difficulties encountered in Implicit Representations at the intersection of all these disciplines. This survey provides the history of rendering, Implicit Learning, and NeRFs, the progression of research on NeRFs, and the potential applications and implications of NeRFs in today's world. In doing so, this survey categorizes all the NeRF-related research in terms of the datasets used, objective functions, applications solved, and evaluation criteria for these applications.Comment: 413 pages, 9 figures, 277 citation

An interest point based illumination condition matching approach to photometric registration within augmented reality worlds

With recent and continued increases in computing power, and advances in the field of computer graphics, realistic augmented reality environments can now offer inexpensive and powerful solutions in a whole range of training, simulation and leisure applications. One key challenge to maintaining convincing augmentation, and therefore user immersion, is ensuring consistent illumination conditions between virtual and real environments, so that objects appear to be lit by the same light sources. This research demonstrates how real world lighting conditions can be determined from the two-dimensional view of the user. Virtual objects can then be illuminated and virtual shadows cast using these conditions. This new technique uses pairs of interest points from real objects and the shadows that they cast, viewed from a binocular perspective, to determine the position of the illuminant. This research has been initially focused on single point light sources in order to show the potential of the technique and has investigated the relationships between the many parameters of the vision system. Optimal conditions have been discovered by mapping the results of experimentally varying parameters such as FoV, camera angle and pose, image resolution, aspect ratio and illuminant distance. The technique is able to provide increased robustness where greater resolution imagery is used. Under optimal conditions it is possible to derive the position of a real world light source with low average error. An investigation of available literature has revealed that other techniques can be inflexible, slow, or disrupt scene realism. This technique is able to locate and track a moving illuminant within an unconstrained, dynamic world without the use of artificial calibration objects that would disrupt scene realism. The technique operates in real-time as the new algorithms are of low computational complexity. This allows high framerates to be maintained within augmented reality applications. Illuminant updates occur several times a second on an average to high end desktop computer. Future work will investigate the automatic identification and selection of pairs of interest points and the exploration of global illuminant conditions. The latter will include an analysis of more complex scenes and the consideration of multiple and varied light sources.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

NASA patent abstracts bibliography: A continuing bibliography. Section 2: Indexes (supplement 04)

For abstract, see N74-20609

Aesthetic choices: Defining the range of aesthetic views in interactive digital media including games and 3D virtual environments (3D VEs)

Defining aesthetic choices for interactive digital media such as games is a challenging task. Objective and subjective factors such as colour, symmetry, order and complexity, and statistical features among others play an important role for defining the aesthetic properties of interactive digital artifacts. Computational approaches developed in this regard also consider objective factors such as statistical image features for the assessment of aesthetic qualities. However, aesthetics for interactive digital media, such as games, requires more nuanced consideration than simple objective and subjective factors, for choosing a range of aesthetic features. From the study it was found that the there is no one single optimum position or viewpoint with a corresponding relationship to the aesthetic considerations that influence interactive digital media. Instead, the incorporation of aesthetic features demonstrates the need to consider each component within interactive digital media as part of a range of possible features, and therefore within a range of possible camera positions. A framework, named as PCAWF, emphasized that combination of features and factors demonstrated the need to define a range of aesthetic viewpoints. This is important for improved user experience. From the framework it has been found that factors including the storyline, user state, gameplay, and application type are critical to defining the reasons associated with making aesthetic choices. The selection of a range of aesthetic features and characteristics is influenced by four main factors and sub-factors associated with the main factors. This study informs the future of interactive digital media interaction by providing clarity and reasoning behind the aesthetic decision-making inclusions that are integrated into automatically generated vision by providing a framework for choosing a range of aesthetic viewpoints in a 3D virtual environment of a game. The study identifies critical juxtapositions between photographic and cinema-based media aesthetics by incorporating qualitative rationales from experts within the interactive digital media field. This research will change the way Artificial Intelligence (AI) generated interactive digital media in the way that it chooses visual outputs in terms of camera positions, field-view, orientation, contextual considerations, and user experiences. It will impact across all automated systems to ensure that human-values, rich variations, and extensive complexity are integrated in the AI-dominated development and design of future interactive digital media production

Space Tug systems study. Volume 2: Compendium

Possible storable propellant configurations and program plans are evaluated for the space tug. Alternatives examined include: use of existing expendable stages modified for use with shuttle, followed by a space tug at a later date; use of a modified growth version of existing expendable stages for greater performance and potential reuse, followed by a space tug at a later date; use of a low development cost, reusable, interim space tug available at shuttle initial operational capability (IOC) that could be evolved to greater system capabilities at a later date; and use a direct developed tug with maximum potential to be available at some specified time after space shuttle IOC. The capability options were narrowed down to three final options for detailed program definition

NASA patent abstracts bibliography: A continuing bibliography. Section 2: Indexes (supplement 05)

For abstract, see N75-13677

The 1982 NASA/ASEE Summer Faculty Fellowship Program

A NASA/ASEE Summer Faculty Fellowship Research Program was conducted to further the professional knowledge of qualified engineering and science faculty members, to stimulate an exchange of ideas between participants and NASA, to enrich and refresh the research and teaching activities of participants' institutions, and to contribute to the research objectives of the NASA Centers