Global models: Robot sensing, control, and sensory-motor skills

Robotics research has begun to address the modeling and implementation of a wide variety of unstructured tasks. Examples include automated navigation, platform servicing, custom fabrication and repair, deployment and recovery, and science exploration. Such tasks are poorly described at onset; the workspace layout is partially unfamiliar, and the task control sequence is only qualitatively characterized. The robot must model the workspace, plan detailed physical actions from qualitative goals, and adapt its instantaneous control regimes to unpredicted events. Developing robust representations and computational approaches for these sensing, planning, and control functions is a major challenge. The underlying domain constraints are very general, and seem to offer little guidance for well-bounded approximation of object shape and motion, manipulation postures and trajectories, and the like. This generalized modeling problem is discussed, with an emphasis on the role of sensing. It is also discussed that unstructured tasks often have, in fact, a high degree of underlying physical symmetry, and such implicit knowledge should be drawn on to model task performance strategies in a methodological fashion. A group-theoretic decomposition of the workspace organization, task goals, and their admissible interactions are proposed. This group-mechanical approach to task representation helps to clarify the functional interplay of perception and control, in essence, describing what perception is specifically for, versus how it is generically modeled. One also gains insight how perception might logically evolve in response to needs of more complex motor skills. It is discussed why, of the many solutions that are often mathematically admissible to a given sensory motor-coordination problem, one may be preferred over others

Algorithms and architectures for robot vision

The scope of the current work is to develop practical sensing implementations for robots operating in complex, partially unstructured environments. A focus in this work is to develop object models and estimation techniques which are specific to requirements of robot locomotion, approach and avoidance, and grasp and manipulation. Such problems have to date received limited attention in either computer or human vision - in essence, asking not only how perception is in general modeled, but also what is the functional purpose of its underlying representations. As in the past, researchers are drawing on ideas from both the psychological and machine vision literature. Of particular interest is the development 3-D shape and motion estimates for complex objects when given only partial and uncertain information and when such information is incrementally accrued over time. Current studies consider the use of surface motion, contour, and texture information, with the longer range goal of developing a fused sensing strategy based on these sources and others

Graphics simulation and training aids for advanced teleoperation

Graphics displays can be of significant aid in accomplishing a teleoperation task throughout all three phases of off-line task analysis and planning, operator training, and online operation. In the first phase, graphics displays provide substantial aid to investigate work cell layout, motion planning with collision detection and with possible redundancy resolution, and planning for camera views. In the second phase, graphics displays can serve as very useful tools for introductory training of operators before training them on actual hardware. In the third phase, graphics displays can be used for previewing planned motions and monitoring actual motions in any desired viewing angle, or, when communication time delay prevails, for providing predictive graphics overlay on the actual camera view of the remote site to show the non-time-delayed consequences of commanded motions in real time. This paper addresses potential space applications of graphics displays in all three operational phases of advanced teleoperation. Possible applications are illustrated with techniques developed and demonstrated in the Advanced Teleoperation Laboratory at JPL. The examples described include task analysis and planning of a simulated Solar Maximum Satellite Repair task, a novel force-reflecting teleoperation simulator for operator training, and preview and predictive displays for on-line operations

Line Emitting Galaxies Beyond a Redshift of 7: An Improved Method for Estimating the Evolving Neutrality of the Intergalactic Medium

The redshift-dependent fraction of color-selected galaxies revealing Lyman alpha emission has become the most valuable constraint on the evolving neutrality of the early intergalactic medium. However, in addition to resonant scattering by neutral gas, the visibility of Lyman alpha is also dependent on the intrinsic properties of the host galaxy, including its stellar population, dust content and the nature of outflowing gas. Taking advantage of significant progress we have made in determining the line emitting properties of $z \simeq 4-6$ galaxies, we propose an improved method, based on using the measured slopes of the rest-frame ultraviolet continua of galaxies, to interpret the growing body of near-infrared spectra of $z>7$ galaxies in order to take into account these host galaxy dependencies. In a first application of our new method, we demonstrate its potential via a new spectroscopic survey of $7<z<8$ galaxies undertaken with the Keck MOSFIRE spectrograph. Together with earlier published data our data provides improved estimates of the evolving visibility of Lyman alpha, particularly at redshift $z\simeq 8$. As a byproduct, we also present a new line emitting galaxy at a redshift $z=7.62$ which supersedes an earlier redshift record. We discuss the improving constraints on the evolving neutral fraction over $6<z<8$ and the implications for cosmic reionization.Comment: To be submitted to Ap

Performance experiments with alternative advanced teleoperator control modes for a simulated solar maximum satellite repair

Experiments are described which were conducted at the JPL Advanced Teleoperator Lab to demonstrate and evaluate the effectiveness of various teleoperator control modes in the performance of a simulated Solar Max Satellite Repair (SMSR) task. THe SMSR was selected as a test because it is very rich in performance capability requirements and it actually has been performed by two EVA astronauts in the Space Shuttle Bay in 1984. The main subtasks are: thermal blanket removal; installation of a hinge attachment for electrical panel opening; opening of electrical panel; removal of electrical connectors; relining of cable bundles; replacement of electrical panel; securing parts and cables; re-mate electrical connectors; closing of electrical panel; and reinstating thermal blanket. The current performance experiments are limited to thermal blanket cutting, electrical panel unbolting and handling electrical bundles and connectors. In one formal experiment even different control modes were applied to the unbolting and reinsertion of electrical panel screws subtasks. The seven control modes are alternative combinations of manual position and rate control with force feedback and remote compliance referenced to force-torque sensor information. Force-torque sensor and end effector position data and task completion times were recorded for analysis and quantification of operator performance

Does the Presence of a Measurable Blood Alcohol Level in a Potential Organ Donor Affect the Outcome of Liver Transplantation?

The widespread application of hepatic transplantation has created a tremendous demand for donor organs. An assessment of donor parameters is thought to be important in selecting good donors; however, the criteria utilized have not been standardized. This study was performed to determine the effect of a measurable donor blood alcohol level on graft survival. Fifty‐two patients who underwent orthotopic liver transplantation at the University of Pittsburgh were included in the study. Twenty‐five patients received liver grafts from donors having a blood alcohol level between 0.04 and 0.4 g/I with a mean of 0.17 g/I. Twenty‐seven patients received a liver graft from a donor who had no measurable blood alcohol. There were no differences between these two groups of donors regarding the time of initial hospitalization until the time of donation. Graft failure within the first 30 days was 24% for those receiving an organ from an alcohol‐positive donor as compared with 22.2% in those receiving an organ from an alcohol negative donor. The recipient mortality rate was 16% and 11%, respectively. No relationships between the donor blood alcohol level and organ performance, frequency of primary graft nonfunction, or number of episodes of acute cellular rejection were evident. Based upon these data, the presence of a measurable blood alcohol level in a donor should not mitigate against organ donation. Copyright © 1991, Wiley Blackwell. All rights reserve

A US-Japan collaborative robotics research program

The Jet Propulsion Laboratory (JPL) and the Electrotechnical Laboratory (ETL) have recently initiated a cooperative R&D effort in telerobotics. This new effort, sponsored by the U.S. National Aeronautics and Space Administration (NASA) and Japan's Ministry of International Trade and Industry (MITI), has two major themes. First, our work broadens the outreach of space telerobotics R&D to international technical collaboration and facilities usage in the United States and Japan. Second, our work fosters development and demonstration of new operator interface technologies to improve the flexibility and reliability of ground-to-orbit telerobotic operations. This new technology is important, given the continuing imperatives to off-load platform maintenance from the extravehicular activity/intravehicular activity (EVA/IVA) crew to on-board robot assists under direct ground mission control