The Diversified Farm.

29 p

Development and demonstration of a telerobotic excavation system

Oak Ridge National Laboratory is developing remote excavation technologies for the Department of Energy's Office (DOE) of Technology Development, Robotics Technology Development Program, and also for the Department of Defense (DOD) Project Manager for Ammunition Logistics. This work is being done to meet the need for remote excavation and removal of radioactive and contaminated buried waste at several DOE sites and unexploded ordnance at DOD sites. System requirements are based on the need to uncover and remove waste from burial sites in a way that does not cause unnecessary personnel exposure or additional environmental contamination. Goals for the current project are to demonstrate dexterous control of a backhoe with force feedback and to implement robotic operations that will improve productivity. The Telerobotic Small Emplacement Excavator is a prototype system that incorporates the needed robotic and telerobotic capabilities on a commercially available platform. The ability to add remote dexterous teleoperation and robotic operating modes is intended to be adaptable to other commercially available excavator systems

Farm Records and Accounts.

40 p

Conversion of a servomanipulator from analog to digital control

Oak Ridge National Laboratory (ORNL) has developed expertise in computer control of force-reflecting master/slave servomanipulators as a result of research for the Consolidated Fuel Reprocessing Program. These computer control capabilities have been applied to a commercially available servomanipulator, the TeleOperator Systems SM-229. All of the servo drive and control circuitry has been replaced with commercially available digital controls and amplifiers, and a customer software - package has been developed at ORNL. This conversion to digital computer control resulted in significant improvements in force-reflection characteristics, ease of operation, diagnostic capabilities, indexing features, and potential increased reliability. The system will be used at the Tokamak Fusion Test Reactor at the Princeton Plasma Physics Laboratory (PPPL) for maintenance demonstrations

Synthetic aperture radar and optical remote sensing image fusion for flood monitoring in the Vietnam lower Mekong basin: a prototype application for the Vietnam Open Data Cube

Flood monitoring systems are crucial for flood management and consequence mitigation in flood prone regions. Different remote sensing techniques are increasingly used for this purpose. However, the different approaches suffer various limitations, including cloud and weather effects (optical data), and low spatial resolution and poor colour presentation (synthetic aperture radar data). This study fuses two data types (Landsat and Sentinel-1) to overcome these limitations and produce better quality images for a prototype flood application in the Vietnam Open Data Cube (VODC). Visual and quantitative evaluation of fused image quality revealed improvement in the images compared with the original scenes. Ground-truth data was used to develop the study flood extraction algorithm and we found a good agreement between our results and SERVIR Mekong (a joint initiative by the US agency for International Development (USAID), National Aeronautics and Space Administration (NASA), Myanmar, Thailand, Cambodia, Laos and Vietnam) maps. While the algorithm is run on a personal computer (PC), it has a clear potential to be developed for application on a big data system

Control and electronic subsystems for the advanced servomanipulator

The advanced servomanipulator (ASM) represents a new generation of electrically driven force-reflecting manipulator systems designed to be remotely maintainable. This ASM is being developed to perform remote maintenance in a nuclear fuel reprocessing plant where human access is not allowed. The primary function of the manipulator control system is to maintain stable, accurate master/slave operation while providing sensitive force reflection to the operator. The control system is based upon tightly coupled distributed digital microprocessing methods. The architectural structure of the control system is outlined and is compared to the previously developed Model M-2 control system, and justification for the advances incorporated into the ASM structure are given. The various modes of operation and diagnostics are described, and throughput requirements associated with joint servo-control and counter-balancing are discussed. The fundamental elements of the control system are reviewed, including the processor selection (Motorola MC68000) and the language (FORTH). The purpose of this document is to review the design decisions and the resulting design selections to serve as a base for future improvements. Four main areas will be covered: (1) system overview, (2) hardware implementation, (3) software partitioning, and (4) remote electronics considerations. Each area will address the specifics of the selected equipment or the functional requirements of the control method. 9 references, 4 figures

RNA aptamer delivery through intact human skin

It is generally recognised that only relatively small molecular weight (typically 100,000-fold) and aptamer integrity was confirmed using an oligonucleotide precipitation assay. A Th17 response was stimulated in freshly excised human skin resulting in significantly upregulated IL-17f, and 22; topical application of the IL-23 aptamer decreased both IL-17f and IL-22 by approximately 45% but did not result in significant changes to IL-23 mRNA levels, confirming that the aptamer did not globally suppress mRNA levels. This study demonstrates that very large molecular weight RNA aptamers can permeate across the intact human skin barrier to therapeutically relevant levels into both the epidermis and dermis and that the skin penetrating aptamer retains its biologically active conformational structure capable of binding to endogenous IL-23