Advancing On-Orbit Assembly With ISAR

The U.S. Naval Academy (USNA) is looking to advance autonomous assembly with a next-generation Intelligent Space Assembly Robot (ISAR) system, which seeks to demonstrate semi-autonomous robotic assembly capabilities on orbit. ISAR is a small size form, low cost, 3U CubeSat-class satellite intending to mature robotic assembly capabilities. It is comprised of two key subsystems: twin 60 cm seven degree of freedom robotic arms, RSat, and the sensors which utilize one 3D camera and two 2D cameras to increase spatial awareness and aid real-time responsible maneuvering in a dynamic space environment. RSat, developed by the Naval Academy, is an existing set of robotic arms housed in a 3U CubeSat. RSat serves as the foundation for the next-generation ISAR program and will be launched as a free-flyer mission in 2018 as part of NASA\u27s ElaNa XIX launch. On-orbit demonstrations of ISAR will test the ability to perform a test structure assembly with robotic arm actuation at a fraction of size and cost of previous space robotic platforms. This paper will present an overview of the ISAR system, outline design, operation, and demonstration modifications for the on orbit experiment and present a novel concept for autonomous operations

Use of computer alerts to prevent the inappropriate use of metformin in an inpatient setting.

BACKGROUND: Metformin is recommended as initial therapy for most patients with type 2 diabetes mellitus. Its most serious adverse effect, lactic acidosis, is a rare entity with a high mortality rate. Despite well-publicized contraindications, metformin is inappropriately prescribed to many hospitalized patients. OBJECTIVE: To determine the efficacy of computer alerts at reducing inappropriate metformin prescribing. METHODS: Retrospective chart review of all hospitalized patients who received an order for metformin, before (n = 144) and after (n = 147) an intervention designed to reduce inappropriate administration. This intervention included 2 hard-stop computer alerts that prevented prescribing metformin to patients with renal dysfunction and in critical care or postoperative units; and 2 soft alerts that fired when no serum creatinine was available or the patient was in an outpatient surgical unit. Charts were reviewed for the presence of contraindications: renal insufficiency, congestive heart failure, recent myocardial infarction, surgery, or intravenous contrast use within 48 hours of metformin administration. RESULTS: In the preintervention group there were 47 violations compared with 13 violations in the postintervention group (P \u3c .001). The greatest improvement was in surgical patients (39 violations vs 11, P \u3c .001). CONCLUSIONS: Computer alerts at order entry were effective in decreasing the inappropriate prescribing of metformin in an inpatient setting

Intelligent Space Assembly Robot (ISAR)

On orbit assembly of spacecraft has historically involved human intensive robotic operations. To facilitate this construction process the U.S. Naval Academy is augmenting its current robotic arm capabilities with the Intelligent Space Assembly Robot (ISAR) program. This research is aimed to identify key requirements and select a 3D camera for use in ISAR\u27s robotic operations. The research has three stages: 1) requirements identification, 2) ground testing and 3) an on orbit demonstration. The camera requirements were identified based on the current robotic arm capacity of the previous version of the arms, and three cameras (Intel R200, DuoM, and Tara) were chosen for further testing. Terrestrial testing consisted of demonstrating capabilities of each camera by taking and processing photos of a test satellite that represented common spacecraft features. The second phase of testing was a comparison of real and measured depth data using CloudCompare software. This paper also details the design modifications required to incorporate the updated sensors as well as an outline for ground testing of the system. The on orbit demonstration of the system’s capabilities is planned to occur in 2019 with the launch of ISAR to the interior of the International Space Station as a payload science experiment