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

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

Advanced teleoperation: Technology innovations and applications

The capability to remotely, robotically perform space assembly, inspection, servicing, and science functions would rapidly expand our presence in space, and the cost efficiency of being there. There is considerable interest in developing 'telerobotic' technologies, which also have comparably important terrestrial applications to health care, underwater salvage, nuclear waste remediation and other. Such tasks, both space and terrestrial, require both a robot and operator interface that is highly flexible and adaptive, i.e., capable of efficiently working in changing and often casually structured environments. One systems approach to this requirement is to augment traditional teleoperation with computer assists -- advanced teleoperation. We have spent a number of years pursuing this approach, and highlight some key technology developments and their potential commercial impact. This paper is an illustrative summary rather than self-contained presentation; for completeness, we include representative technical references to our work which will allow the reader to follow up items of particular interest

Observation of single collisionally cooled trapped ions in a buffer gas

Individual Ba ions are trapped in a gas-filled linear ion trap and observed with a high signal-to-noise ratio by resonance fluorescence. Single-ion storage times of ~5 min (~1 min) are achieved using He (Ar) as a buffer gas at pressures in the range 8e-5 - 4e-3 torr. Trap dynamics in buffer gases are experimentally studied in the simple case of single ions. In particular, the cooling effects of light gases such as He and Ar and the destabilizing properties of heavier gases such as Xe are studied. A simple model is offered to explain the observed phenomenology.Comment: 5 pages, 4 figures, accepted for publication in Phys. Rev. A. Minor text and figure change

A linear RFQ ion trap for the Enriched Xenon Observatory

The design, construction, and performance of a linear radio-frequency ion trap (RFQ) intended for use in the Enriched Xenon Observatory (EXO) are described. EXO aims to detect the neutrinoless double-beta decay of $^{136}$Xe to $^{136}$Ba. To suppress possible backgrounds EXO will complement the measurement of decay energy and, to some extent, topology of candidate events in a Xe filled detector with the identification of the daughter nucleus ($^{136}$Ba). The ion trap described here is capable of accepting, cooling, and confining individual Ba ions extracted from the site of the candidate double-beta decay event. A single trapped ion can then be identified, with a large signal-to-noise ratio, via laser spectroscopy.Comment: 18 pages, pdflatex, submitted to NIM

Fatal hepatic necrosis associated with parenteral gold therapy

Two young black male patients with seronegative rheumatoid arthritis and treated with nonsteroidal antiinflammatory agents developed fulminant hepatic necrosis following the institution of parenteral gold therapy. These cases, reported from different institutions, may represent a severe form of idiosyncratic gold hepatonecrosis. Awareness of the possible association between gold therapy and severe hepatic injury may become increasingly important as oral gold preparations become widely available.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/44407/1/10620_2005_Article_BF01536001.pd

First World Consensus Conference on pancreas transplantation: Part II - recommendations.

Funder: Fondazione Pisa, Pisa, Italy; Id: http://dx.doi.org/10.13039/100007368Funder: Tuscany Region, Italy; Id: http://dx.doi.org/10.13039/501100009888Funder: Pisa University Hospital, Pisa, ItalyFunder: University of Pisa, Pisa, Italy; Id: http://dx.doi.org/10.13039/501100007514The First World Consensus Conference on Pancreas Transplantation provided 49 jury deliberations regarding the impact of pancreas transplantation on the treatment of diabetic patients, and 110 experts' recommendations for the practice of pancreas transplantation. The main message from this consensus conference is that both simultaneous pancreas-kidney transplantation (SPK) and pancreas transplantation alone can improve long-term patient survival, and all types of pancreas transplantation dramatically improve the quality of life of recipients. Pancreas transplantation may also improve the course of chronic complications of diabetes, depending on their severity. Therefore, the advantages of pancreas transplantation appear to clearly surpass potential disadvantages. Pancreas after kidney transplantation increases the risk of mortality only in the early period after transplantation, but is associated with improved life expectancy thereafter. Additionally, preemptive SPK, when compared to SPK performed in patients undergoing dialysis, appears to be associated with improved outcomes. Time on dialysis has negative prognostic implications in SPK recipients. Increased long-term survival, improvement in the course of diabetic complications, and amelioration of quality of life justify preferential allocation of kidney grafts to SPK recipients. Audience discussions and live voting are available online at the following URL address: http://mediaeventi.unipi.it/category/1st-world-consensus-conference-of-pancreas-transplantation/246

Analog implementation of an insect visual homing strategy on a mobile robot

Möller R. Analog implementation of an insect visual homing strategy on a mobile robot. In: McKee GT, Schenker PS, eds. Proceedings of SPIE: Sensor Fusion and Decentralized Control in Robotics Systems III, Vol. 4196. SPIE - The International Society for Optical Engineering; 2000: 156-167