Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace

In situ lunar heat flow experiment using the LUNAR-A penetrator

An in situ lunar heat flow measurement is planned using the Japanese Lunar-A penetrators. The temperature gradient of the regolith is expected to be obtained within 12% error

Mobilizing agro-biodiversity and social networks to cope with adverse effects of climate and social changes: experiences from Kitui, Kenya

Poster presented at 13th Congress of the International Society of Ethnobiology. Montpellier (France), 20-25 May 201

Derivation of globally averaged lunar heat flow from the local heat flow values and the Thorium distribution at the surface: expected improvement by the LUNAR-A Mission

The relationship between the Th abundance and the heat flow data of the Apollo sites and the LUANR-A sites, where the Th concentrations are in the wide range from 1 ppm to 6 ppm, will allow for a more precise estimation of the averaged heat flow value

Thermal in situ measurements in the Lunar Regolith using the LUNAR-A penetrators: an outline of data reduction methods

For determining the lunar heat flow two parameters need to be measured: The thermal gradient and the thermal conductivity of the regolith. Methods for inferring these quantities from in situ measurements using the LUNAR-A penetrators will be presented

Development and Verification for the Control Method Using Surplus Pressure of Primary Pumps in Chiller Plant Systems for Air Conditioning which Adopts Primary/Secondary Piping Systems PPT

The primary/secondary piping systems are often employed in large chiller plant Systems. Normally, the primary flow becomes more than secondary flow, and the flow difference returns to a chiller via decoupler, which is common to primary flow loop (chiller side) and secondary flow loop (load side). It is a huge energy loss, because the primary pumps use their head to lead much flow to the decoupler. Therefore, we have developed new control method using surplus pressure of the primary pump to reduce the primary and secondary pumps' energy. In this paper, we used this control method to the actual chiller plant buildings and verified its effectiveness. As a result, cold water conveyances, both primary loop and secondary loop, could be covered by only primary pumps during plant operating time, and the water conveyance power energy was reduced approximately 80%

Speech Communication

Contains reports on four research projects.U. S. Air Force (Air Force Cambridge Research Center, Air Research and Development Command) under Contract AF19(604)-6102National Science Foundatio

Localized transverse bursts in inclined layer convection

We investigate a novel bursting state in inclined layer thermal convection in which convection rolls exhibit intermittent, localized, transverse bursts. With increasing temperature difference, the bursts increase in duration and number while exhibiting a characteristic wavenumber, magnitude, and size. We propose a mechanism which describes the duration of the observed bursting intervals and compare our results to bursting processes in other systems.Comment: 4 pages, 8 figure

Hadron and Quark Form Factors in the Relativistic Harmonic Oscillator Model

Nucleon, pion and quark form factors are studied within the relativistic harmonic oscillator model including the quark spin. It is shown that the nucleon charge, magnetic and axial form factors and the pion charge form factor can be explained with one oscillator parameter if one accounts for the scaling rule and the size of the constituent quarks.Comment: 9 pages, Latex, 3 postscript figures, DFTT 8/9

Fungicide resistance among Cladobotryum spp. – causal agents of cobweb disease of the edible mushroom Agaricus bisporus

A survey of fungicide resistance among isolates of the mushroom pathogens Cladobotryum mycophilum and C. dendroides Types I and II was undertaken, with respect to the active ingredients thiabendazole, carbendazim (benzimidazoles) and prochloraz manganese following an epidemic in Britain and Ireland in 1994/95. The majority of isolates (41/57) were strongly resistant to thiabendazole (ED50 > 200 ppm) and were exclusively C. dendroides Type II. All C. mycophilum and C. dendroides Type I isolates, and four C. dendroides Type II isolates, were weakly resistant to thiabendazole (ED50 1–10 ppm). Thiabendazole-resistant C. dendroides Type II isolates were only weakly resistant to carbendazim (ED50 2–10 ppm) and isolates which were weakly resistant to thiabendazole were carbendazim-sensitive (ED50 < 1 ppm), demonstrating a lack of complete cross resistance between these two benzimidazole fungicides. The ED50 values for all isolates with respect to prochloraz manganese ranged from 0.14 to 7.8 ppm. Benzimidazole resistance was considered to have been an important factor influencing the severity of the 1994/95 cobweb epidemic but 25% of isolates collected were benzimidazole sensitive