ROBOSIM: An intelligent simulator for robotic systems

The purpose of this paper is to present an update of an intelligent robotics simulator package, ROBOSIM, first introduced at Technology 2000 in 1990. ROBOSIM is used for three-dimensional geometrical modeling of robot manipulators and various objects in their workspace, and for the simulation of action sequences performed by the manipulators. Geometric modeling of robot manipulators has an expanding area of interest because it can aid the design and usage of robots in a number of ways, including: design and testing of manipulators, robot action planning, on-line control of robot manipulators, telerobotic user interface, and training and education. NASA developed ROBOSIM between 1985-88 to facilitate the development of robotics, and used the package to develop robotics for welding, coating, and space operations. ROBOSIM has been further developed for academic use by its co-developer Vanderbilt University, and has been in both classroom and laboratory environments for teaching complex robotic concepts. Plans are being formulated to make ROBOSIM available to all U.S. engineering/engineering technology schools (over three hundred total with an estimated 10,000+ users per year)

Simulation-based intelligent robotic agent for Space Station Freedom

A robot control package is described which utilizes on-line structural simulation of robot manipulators and objects in their workspace. The model-based controller is interfaced with a high level agent-independent planner, which is responsible for the task-level planning of the robot's actions. Commands received from the agent-independent planner are refined and executed in the simulated workspace, and upon successful completion, they are transferred to the real manipulators

A generalized method for multiple robotic manipulator programming applied to vertical-up welding

The application is described of a weld programming algorithm for vertical-up welding, which is frequently desired for variable polarity plasma arc welding (VPPAW). The Basic algorithm performs three tasks simultaneously: control of the robotic mechanism so that proper torch motion is achieved while minimizing the sum-of-squares of joint displacement; control of the torch while the part is maintained in a desirable orientation; and control of the wire feed mechanism location with respect to the moving welding torch. Also presented is a modification of this algorithm which permits it to be used for vertical-up welding. The details of this modification are discussed and simulation examples are provided for illustration and verification

Transformable and Reconfigurable Entry, Descent and Landing Systems and Methods

A deployable aerodynamic decelerator structure includes a ring member disposed along a central axis of the aerodynamic decelerator, a plurality of jointed rib members extending radially from the ring member and a flexible layer attached to the plurality of rib members. A deployment device is operable to reconfigure the flexible layer from a stowed configuration to a deployed configuration by movement of the rib members and a control device is operable to redirect a lift vector of the decelerator structure by changing an orientation of the flexible layer

The Origin of \lya Absorption Systems at z>1z>1---Implications from the Hubble Deep Field

The Hubble Deep Field images have provided us with a unique chance to relate statistical properties of high-redshift galaxies to statistical properties of \lya absorption systems. Combining an {\em empirical} measure of the galaxy surface density versus redshift with an {\em empirical} measure of the gaseous extent of galaxies, we predict the number density of \lya absorption systems that originate in extended gaseous envelopes of galaxies versus redshift. We show that at least 50% and as much as 100% of observed \lya absorption systems of W\apg0.32 \AA can be explained by extended gaseous envelops of galaxies. Therefore, we conclude that known galaxies of known gaseous extent must produce a significant fraction and perhaps all of \lya absorption systems over a large redshift range.Comment: 12 pages, 3 figures, accepted for publication in the Astrophysical Journal, April 10, 2000 issu

A new catalog of photometric redshifts in the Hubble Deep Field

Using the newly available infrared images of the Hubble Deep Field in the J, H, and K bands and an optimal photometric method, we have refined a technique to estimate the redshifts of 1067 galaxies. A detailed comparison of our results with the spectroscopic redshifts in those cases where the latter are available shows that this technique gives very good results for bright enough objects (AB(8140) < 26.0). From a study of the distribution of residuals (Dz(rms)/(1+z) ~ 0.1 at all redshifts) we conclude that the observed errors are mainly due to cosmic variance. This very important result allows for the assessment of errors in quantities to be directly or indirectly measured from the catalog. We present some of the statistical properties of the ensemble of galaxies in the catalog, and finish by presenting a list of bright high-redshift (z ~ 5) candidates extracted from our catalog, together with recent spectroscopic redshift determinations confirming that two of them are at z=5.34 and z=5.60.Comment: 28 pages, 12PS+4JPEG figures, aaspp style. Accepted for publication in The Astrophysical Journal. The catalog, together with a clickable map of the HDF, Tables 4 and 5 (HTML, LaTeX or ASCII format), and the figures, are available at http://bat.phys.unsw.edu.au/~fsoto/hdfcat.htm

Fiber-format dual-comb coherent Raman spectrometer

We demonstrate a fiber-format system for dual-comb coherent anti-Stokes Raman scattering spectroscopy. The system is based on two ytterbium fiber (Yb) femtosecond lasers at repetition frequencies of 94 MHz, a Yb amplifier, and a photonic crystal fiber for spectral broadening and generation of pulses with a central wavelength of 1040 nm and durations in the sub-20-fs regime. We observed Raman spectra of acetonitrile and ethyl acetate with spectral coverage from 100 to 1300  cm-1, resolution of 8  cm-1, and a signal-to-noise ratio of around 100, when averaging over 10 acquisitions. The design is suitable for implementing portable dual-comb coherent Raman spectrometers

A multispectral microscope for in vivo oximetry of rat dorsal spinal cord vasculature

Quantification of blood oxygen saturation (SO2) in vivo is essential for understanding the pathogenesis of diseases in which hypoxia is thought to play a role, including inflammatory disorders such as multiple sclerosis (MS) and rheumatoid arthritis (RA). We describe a low-cost multispectral microscope and oximetry technique for calibration-free absolute oximetry of surgically exposed blood vessels in vivo. We imaged the vasculature of the dorsal spinal cord in healthy rats, and varied inspired oxygen (FiO2) in order to evaluate the sensitivity of the imaging system to changes in SO2. The venous SO2 was calculated as 67.8  ±  10.4% (average  ±  standard deviation), increasing to 83.1  ±  11.6% under hyperoxic conditions (100% FiO2) and returning to 67.4  ±  10.9% for a second normoxic period; the venous SO2 was 50.9  ±  15.5% and 29.2  ±  24.6% during subsequent hypoxic states (18% and 15% FiO2 respectively). We discuss the design and performance of our multispectral imaging system, and the future scope for extending this oximetry technique to quantification of hypoxia in inflamed tissue

Video Guidance Sensor for Surface Mobility Operations

Robotic systems and surface mobility will play an increased role in future exploration missions. Unlike the LRV during Apollo era which was an astronaut piloted vehicle future systems will include teleoperated and semi-autonomous operations. The tasks given to these vehicles will run the range from infrastructure maintenance, ISRU, and construction to name a few. A common task that may be performed would be the retrieval and deployment of trailer mounted equipment. Operational scenarios may require these operations to be performed remotely via a teleoperated mode,or semi-autonomously. This presentation describes the on-going project to adapt the Automated Rendezvous and Capture (AR&C) sensor developed at the Marshall Space Flight Center for use in an automated trailer pick-up and deployment operation. The sensor which has been successfully demonstrated on-orbit has been mounted on an iRobot/John Deere RGATOR autonomous vehicle for this demonstration which will be completed in the March 2008 time-frame

Recommendations for a national agenda to substantially reduce cervical cancer

PURPOSE: Prophylactic human papillomavirus (HPV) vaccines and new HPV screening tests, combined with traditional Pap test screening, provide an unprecedented opportunity to greatly reduce cervical cancer in the USA. Despite these advances, thousands of women continue to be diagnosed with and die of this highly preventable disease each year. This paper describes the initiatives and recommendations of national cervical cancer experts toward preventing and possibly eliminating this disease. METHODS: In May 2011, Cervical Cancer-Free America, a national initiative, convened a cervical cancer summit in Washington, DC. Over 120 experts from the public and private sector met to develop a national agenda for reducing cervical cancer morbidity and mortality in the USA. RESULTS: Summit participants evaluated four broad challenges to reducing cervical cancer: (1) low use of HPV vaccines, (2) low use of cervical cancer screening, (3) screening errors, and (4) lack of continuity of care for women diagnosed with cervical cancer. The summit offered 12 concrete recommendations to guide future national and local efforts toward this goal. CONCLUSIONS: Cervical cancer incidence and mortality can be greatly reduced by better deploying existing methods and systems. The challenge lies in ensuring that the array of available prevention options are accessible and utilized by all age-appropriate women-particularly minority and underserved women who are disproportionately affected by this disease. The consensus was that cervical cancer can be greatly reduced and that prevention efforts can lead the way towards a dramatic reduction in this preventable disease in our country