RATLER: Robotic All-Terrain Lunar Exploration Rover

A robotic rover vehicle designed for use in the exploration of the Lunar surface is described. The Robotic All-Terrain Lunar Exploration Rover (RATLER) is a four wheeled all-wheel-drive dual-body vehicle. A uniquely simple method of chassis articulation is employed which allows all four wheels to remain in contact with the ground, even while climbing over step-like obstacles as large as 1.3 wheel diameters. Skid steering and modular construction are used to produce a simple, rugged, highly agile mobility chassis with a reduction in the number of parts required when compared to current designs being considered for planetary exploration missions. The design configuration, mobility parameters, and performance of several existing RATLER prototypes are discussed

A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)

An alternative methodology for designing an autonomous navigation and control system is discussed. This generalized hybrid system is based on a less sequential and less anthropomorphic approach than that used in the more traditional artificial intelligence (AI) technique. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules. This is accomplished by intertask communications channels which implement each behavior module and each interconnection node as a stand-alone task. The proposed design architecture allows for construction of hybrid systems which employ both subsumption and traditional AI techniques as well as providing for a teleoperator's interface. Implementation of the architecture is planned for the prototype Robotic All Terrain Lunar Explorer Rover (RATLER) which is described briefly

Lunar exploration rover program developments

The Robotic All Terrain Lunar Exploration Rover (RATLER) design concept began at Sandia National Laboratories in late 1991 with a series of small, proof-of-principle, working scale models. The models proved the viability of the concept for high mobility through mechanical simplicity, and eventually received internal funding at Sandia National Laboratories for full scale, proof-of-concept prototype development. Whereas the proof-of-principle models demonstrated the mechanical design's capabilities for mobility, the full scale proof-of-concept design currently under development is intended to support field operations for experiments in telerobotics, autonomous robotic operations, telerobotic field geology, and advanced man-machine interface concepts. The development program's current status is described, including an outline of the program's work over the past year, recent accomplishments, and plans for follow-on development work

Phase II trial of the regulatory T cell-depleting agent, denileukin diftitox, in patients with unresectable stage IV melanoma

<p>Abstract</p> <p>Background</p> <p>We previously found that administration of an interleukin 2/diphtheria toxin conjugate (DAB/IL2; Denileukin Diftitox; ONTAK) to stage IV melanoma patients depleted CD4⁺CD25^HIFoxp3⁺regulatory T cells and expanded melanoma-specific CD8⁺T cells. The goal of this study was to assess the clinical efficacy of DAB/IL2 in an expanded cohort of stage IV melanoma patients.</p> <p>Methods</p> <p>In a single-center, phase II trial, DAB/IL2 (12 μg/kg; 4 daily doses; 21 day cycles) was administered to 60 unresectable stage IV melanoma patients and response rates were assessed using a combination of 2-[¹⁸F]-fluoro-2-deoxy-glucose (FDG)-positron emission tomography (PET) and computed tomography (CT) imaging.</p> <p>Results</p> <p>After DAB/IL2 administration, 16.7% of the 60 patients had partial responses, 5% stable disease and 15% mixed responses. Importantly, 45.5% of the chemo/immuno-naïve sub-population (11/60 patients) experienced partial responses. One year survival was markedly higher in partial responders (80 ± 11.9%) relative to patients with progressive disease (23.7 ± 6.5%; <it>p </it>value < 0.001) and 40 ± 6.2% of the total DAB/IL2-treated population were alive at 1 year.</p> <p>Conclusions</p> <p>These data support the development of multi-center, randomized trials of DAB/IL2 as a monotherapy and in combination with other immunotherapeutic agents for the treatment of stage IV melanoma.</p> <p>Trial registration</p> <p><a href="http://www.clinicaltrials.gov/ct2/show/NCT00299689">NCT00299689</a></p

Studies on Lake Erie's littoral algae; Host specificity and temporal periodicity of epiphytic diatoms

Substratum specificity and temporal periodicity of the attached diatom flora upon three aquatic vascular plants and an artificial substratum were examined in three Lake Erie marshes. No qualitative or quantitative specificity for substrata was observed. Variability of diatom assemblage structure within replicate samples of a particular substratum type was as great as, or greater than, variability between substrata. Diatom assemblages upon dowel rod displayed a mid to late summer density maximum. Variability of density maxima upon natural substrata was attributed to different growth rates of the host macrophytes. Diatom assemblages within each sampling site possessed a distinct temporal periodicity indicating that factors affecting diatom growth are heterogeneous in distribution throughout Lake Erie's littoral zone.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/42923/1/10750_2004_Article_BF00013712.pd

Flocking small smart machines: An experiment in cooperative, multi-machine control

The intent and purpose of this work was to investigate and demonstrate cooperative behavior among a group of mobile robot machines. The specific goal of this work was to build a small swarm of identical machines and control them in such a way as to show a coordinated movement of the group in a flocking manner, similar to that observed in nature. Control of the swarm`s individual members and its overall configuration is available to the human user via a graphic man-machine interface running on a base station control computer. Any robot may be designated as the nominal leader through the interface tool, which then may be commanded to proceed to a particular geographic destination. The remainder of the flock follows the leader by maintaining their relative positions in formation, as specified by the human controller through the interface. The formation`s configuration can be altered manually through an interactive graphic-based tool. An alternative mode of control allows for teleoperation of one robot, with the flock following along as described above

Control of Multiple Robotic Sentry Vehicles

As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories is developing and testing the feasibility of using of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform surround and diversion tasks. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight ''Roving All Terrain Lunar Explorer Rover'' (RATLER{trademark}) vehicles, a laptop-based base-station, and several Miniature Intrusion Detection Sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm. As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm. We have also demonstrated the ability to drive multiple vehicles in formation via tele-operation or by waypoint GPS navigation. This is currently being extended to include mission planning capabilities. At the base-station, the operator can draw on an aerial map the goal regions to be surrounded and the repulsive regions to be avoided. A potential field path planner automatically generates a path from the vehicles' current position to the goal regions while avoiding the repulsive regions and the other vehicles. This path is previewed to the operator before the regions are downloaded to the vehicles. The same potential field path planner resides on the vehicle, except additional repulsive forces from on-board proximity sensors guide the vehicle away from unplanned obstacles