Vision-guided gripping of a cylinder

The motivation for vision-guided servoing is taken from tasks in automated or telerobotic space assembly and construction. Vision-guided servoing requires the ability to perform rapid pose estimates and provide predictive feature tracking. Monocular information from a gripper-mounted camera is used to servo the gripper to grasp a cylinder. The procedure is divided into recognition and servo phases. The recognition stage verifies the presence of a cylinder in the camera field of view. Then an initial pose estimate is computed and uncluttered scan regions are selected. The servo phase processes only the selected scan regions of the image. Given the knowledge, from the recognition phase, that there is a cylinder in the image and knowing the radius of the cylinder, 4 of the 6 pose parameters can be estimated with minimal computation. The relative motion of the cylinder is obtained by using the current pose and prior pose estimates. The motion information is then used to generate a predictive feature-based trajectory for the path of the gripper

Efficient visual grasping alignment for cylinders

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available

Reliable vision-guided grasping

Automated assembly of truss structures in space requires vision-guided servoing for grasping a strut when its position and orientation are uncertain. This paper presents a methodology for efficient and robust vision-guided robot grasping alignment. The vision-guided grasping problem is related to vision-guided 'docking' problems. It differs from other hand-in-eye visual servoing problems, such as tracking, in that the distance from the target is a relevant servo parameter. The methodology described in this paper is hierarchy of levels in which the vision/robot interface is decreasingly 'intelligent,' and increasingly fast. Speed is achieved primarily by information reduction. This reduction exploits the use of region-of-interest windows in the image plane and feature motion prediction. These reductions invariably require stringent assumptions about the image. Therefore, at a higher level, these assumptions are verified using slower, more reliable methods. This hierarchy provides for robust error recovery in that when a lower-level routine fails, the next-higher routine will be called and so on. A working system is described which visually aligns a robot to grasp a cylindrical strut. The system uses a single camera mounted on the end effector of a robot and requires only crude calibration parameters. The grasping procedure is fast and reliable, with a multi-level error recovery system

Helping Homeless Veterans

This project is base on me communicating to homeless veterans and passing on research based on my own research on how to connect with them and be able to get them resources to get help. I attempted to gain the trust through conversations and story telling to allow them to feel comfortable with me enough for them to trust me in sharing information about how to get help to get back in the community

Strategic retirement reform: identifying the broader strategic effects from changes in human capital

This project seeks to understand the changes in the decision-making process to stay or leave the military upon adoption of a defined contribution retirement system, and the potential implications of human capital that might follow. Multiple theses have been written regarding potential cost savings of a defined contribution plan and how a change of this nature could affect military personnel retention rates. This project differs from other research in the field in that we assume the Department of Defense will shift the retirement compensation away from a pension system and 20-year vesting of benefits in the near future. This report focuses on the decision-making process that service members use and the potential implications for the services that might follow under a DC plan, and how that decision-making process might change. Specifically, we utilize the unfolding model of voluntary turnover to assess the decision-making process for military personnel and assess the potential impacts from a voluntary turnover, retention, and Human Capital Theory perspective.http://archive.org/details/strategicretirem1094527893Captain, United States Marine CorpsLieutenant, United States NavyApproved for public release; distribution is unlimited

UNWRAPPING RACIAL HARASSMENT LAW

This article is based on a pioneering empirical study of racial harassment in the workplace in which we statistically analyze federal court opinions from 1976 to 2002. Part I offers an overview of racial harassment law and research, noting its common origin with and its close dependence upon sexual harassment legal jurisprudence. In order to put the study’s analysis in context, Part I describes the dispute resolution process from which racial harassment cases arise. Parts II and III present a clear picture of how racial harassment law has played out in the courts—who are the plaintiffs and defendants, the nature of the claims, who wins and loses, and what factors affect those outcomes. We consider dozens of characteristics of the parties, the nature of the harassment, and litigation characteristics (such as the forum, type of proceedings, and legal issues). While it reveals that individuals in all kinds of occupations, in all parts of the country, of all races, and of both genders complain about racial harassment—it also shows that African Americans are disproportionately likely to be plaintiffs. While Whites are the most likely harassers, minority individuals also are defendants. The data also discloses that the most typical legal proceeding is the court’s consideration of the defendants’ motion for summary judgment where the judges end up terminating most plaintiffs’ cases. In fact, the judicial opinions in this study find in the plaintiffs’ favor only 21.5% of the time. (In contrast, an earlier study revealed that judges in sexual harassment cases find in the plaintiffs’ favor 48% of the time – more than twice as often as in racial harassment cases.) As it turns out in racial harassment cases, the race of the plaintiff and of the alleged harasser makes a difference in the parties’ success rates, but the gender of the plaintiff does not. Judges are a bit more likely to find racial harassment when plaintiffs allege blatant racist behavior rather than more subtle and contextual racism. Results vary depending on the location of the case. Part IV provides an integrated analysis of the data, including a look at how racial harassment litigation has evolved over time. It also offers explanations and implications of the study’s results. This article contributes detailed baseline data for litigants, judges, and legislators. Each group can draw upon the totality of racial harassment cases to guide their decisionmaking. The article also offers a sound basis for creating a new racial harassment jurisprudence that should be distinct from both sexual harassment and racial discrimination jurisprudence

Turnabout Time: Public Higher Education in the Commonwealth

Stay the course? Steady as she goes is the wrong prescription for charting the future of public higher education in the Commonwealth. A major course correction is in order if the coalition vital to the system\u27s well-being is to hang together and be strengthened. With sharply divergent views being held by the public at large, political and business leaders, faculties and students--all groups essential to continuing educational progress--mutual accommodations and adjustments are the order of the day. Major changes in finance, institutional missions, curricula, and academic standards for faculty and students alike are imperatives. The classic academic model that has shaped the structure, content, and direction of American higher education for a century and a half--the research university--is no longer sufficient to meet today\u27s economic and social needs in Massachusetts. In some respects it may no longer be necessary. Discovering, defining, and putting in place a new model that commands the support of the key coalition and fits the character of the times should be our overriding aim. Aspiring to a dated model--to be a world-class university--may lift spirits but the ambition lacks content. Specifically, the new priorities for most of the public colleges and universities are to put teaching first, to take service to community and economic development seriously, to focus research investments programmatically, and to be prepared to move increasingly to a technologically-intensive rather than a labor-intensive enterprise. Making this course correction--this turnabout--will require change in the way the state finances education, in the organization and structure of the programs and the curricula offered, in the technology developed, in the criteria applied to evaluate and reward faculty, in the standards used to judge student progress, and in the patterns of collaboration among the public campuses and between the public campuses and those in the private sector