Towards Autonomous Operation of Robonaut 2

The Robonaut 2 (R2) platform, as shown in Figure 1, was designed through a collaboration between NASA and General Motors to be a capable robotic assistant with the dexterity similar to a suited astronaut [1]. An R2 robot was sent to the International Space Station (ISS) in February 2011 and, in doing so, became the first humanoid robot in space. Its capabilities are presently being tested and expanded to increase its usefulness to the crew. Current work on R2 includes the addition of a mobility platform to allow the robot to complete tasks (such as cleaning, maintenance, or simple construction activities) both inside and outside of the ISS. To support these new activities, R2's software architecture is being developed to provide efficient ways of programming robust and autonomous behavior. In particular, a multi-tiered software architecture is proposed that combines principles of low-level feedback control with higher-level planners that accomplish behavioral goals at the task level given the run-time context, user constraints, the health of the system, and so on. The proposed architecture is shown in Figure 2. At the lowest-level, the resource level, there exists the various sensory and motor signals available to the system. The sensory signals for a robot such as R2 include multiple channels of force/torque data, joint or Cartesian positions calculated through the robot's proprioception, and signals derived from objects observable by its cameras

Robot Task Commander with Extensible Programming Environment

A system for developing distributed robot application-level software includes a robot having an associated control module which controls motion of the robot in response to a commanded task, and a robot task commander (RTC) in networked communication with the control module over a network transport layer (NTL). The RTC includes a script engine(s) and a GUI, with a processor and a centralized library of library blocks constructed from an interpretive computer programming code and having input and output connections. The GUI provides access to a Visual Programming Language (VPL) environment and a text editor. In executing a method, the VPL is opened, a task for the robot is built from the code library blocks, and data is assigned to input and output connections identifying input and output data for each block. A task sequence(s) is sent to the control module(s) over the NTL to command execution of the task

Robonaut 2 - The First Humanoid Robot in Space

NASA and General Motors have developed the second generation Robonaut, Robonaut 2 or R2, and it is scheduled to arrive on the International Space Station in late 2010 and undergo initial testing in early 2011. This state of the art, dexterous, anthropomorphic robotic torso has significant technical improvements over its predecessor making it a far more valuable tool for astronauts. Upgrades include: increased force sensing, greater range of motion, higher bandwidth and improved dexterity. R2 s integrated mechatronics design results in a more compact and robust distributed control system with a faction of the wiring of the original Robonaut. Modularity is prevalent throughout the hardware and software along with innovative and layered approaches for sensing and control. The most important aspects of the Robonaut philosophy are clearly present in this latest model s ability to allow comfortable human interaction and in its design to perform significant work using the same hardware and interfaces used by people. The following describes the mechanisms, integrated electronics, control strategies and user interface that make R2 a promising addition to the Space Station and other environments where humanoid robots can assist people

Feasibility and utility of positive psychology exercises for suicidal inpatients

ObjectiveThe objective was to assess the feasibility and acceptability of nine positive psychology exercises delivered to patients hospitalized for suicidal thoughts or behaviors, and to secondarily explore the relative impact of the exercises.MethodParticipants admitted to a psychiatric unit for suicidal ideation or behavior completed daily positive psychology exercises while hospitalized. Likert-scale ratings of efficacy (optimism, hopelessness, perceived utility) and ease of completion were consolidated and compared across exercises using mixed models accounting for age, missing data and exercise order. Overall effects of exercise on efficacy and ease were also examined using mixed models.ResultsFifty-two (85.3%) of 61 participants completed at least one exercise, and 189/213 (88.7%) assigned exercises were completed. There were overall effects of exercise on efficacy (χ(2)=19.39; P=.013) but not ease of completion (χ(2)=11.64; P=.17), accounting for age, order and skipped exercises. Effect (Cohen's d) of exercise on both optimism and hopelessness was moderate for the majority of exercises. Exercises related to gratitude and personal strengths ranked highest. Both gratitude exercises had efficacy scores that were significantly (P=.001) greater than the lowest-ranked exercise (forgiveness).ConclusionIn this exploratory project, positive psychology exercises delivered to suicidal inpatients were feasible and associated with short-term gains in clinically relevant outcomes

Heraldo de Castellón: Año XLIV Número 13499 - 10 Noviembre 1933

Copia digital. Ministerio de Educación, Cultura y Deporte. Subdirección General de Coordinación Bibliotecaria : Madrid, 201

THE WEALTH OF SINGLE WOMEN: MARITAL STATUS AND PARENTHOOD IN THE ASSET ACCUMULATION OF YOUNG BABY BOOMERS IN THE UNITED STATES

In the United States, household wealth is unequally distributed. While facts about the distribution are readily available, less is known about the family dynamics that underlie this important component of inequality. An increasing number of households are headed by single females (both never married and divorced), and the number of single mothers among these households has grown in recent decades. This article explores differences in wealth in the US by marital status, gender, and parenting status. It focuses on young baby boomers, finding a minimal gender gap in the wealth of never-married people. However, when controlling for parenthood, strong evidence was found of a family gap in household wealth accumulation, with single mothers and fathers economically disadvantaged in comparison to adults without children. Yet, it was fiound that single mothers suffer the most severe economic penalties in household wealth accumulation.Gender, wealth, divorce, marriage, children, parenthood, JEL Codes: D1, D31, G11,