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Autonomous Intelligent Robotic Manipulator for On-Orbit Servicing
AUTONOMOUS INTELLIGENT ROBOTIC MANIPULATOR FOR ON-ORBIT SERVICING BENOIT P. LAROUCHE A DISSERTATION SUBMITTED TO THE FACULTY OF GRADUATE STUDIES IN PARTIAL FULFILMENT OF THE REQUIREMENTS FOR THE DEGREE OF DOCTORATE OF PHILOSOPHY GRADUATE PROGRAM IN EARTH AND SPACE SCIENCE YORK UNIVERSITY TORONTO, ONTARIO AUGUST 2012 Library and Archives Bibliotheque et Canada Archives Canada Published Heritage Direction du 1+1 Branch Patrimoine de I'edition 395 Wellington Street 395, rue Wellington Ottawa ON K1A0N4 Ottawa ON K1A 0N4 Canada Canada Your file Votre reference ISBN: 978-0-494-92801-1 Our file Notre reference ISBN: 978-0-494-92801-1 NOTICE: AVIS: The author has granted a non L'auteur a accorde une licence non exclusive exclusive license allowing Library and permettant a la Bibliotheque et Archives Archives Canada to reproduce, Canada de reproduire, publier, archiver, publish, archive, preserve, conserve, sauvegarder, conserver, transmettre au public communicate to the public by par telecommunication ou par I'lnternet, preter, telecommunication or on the Internet, distribuer et vendre des theses partout dans le loan, distrbute and sell theses monde, a des fins commerciales ou autres, sur worldwide, for commercial or non support microforme, papier, electronique et/ou commercial purposes, in microform, autres formats. paper, electronic and/or any other formats. The author retains copyright L'auteur conserve la propriete du droit d'auteur ownership and moral rights in this et des droits moraux qui protege cette these. Ni thesis. Neither the thesis nor la these ni des extraits substantiels de celle-ci substantial extracts from it may be ne doivent etre imprimes ou autrement printed or otherwise reproduced reproduits sans son autorisation. -
Navegación Y Control De Un Mini Veh´Iculo Submarino Autónomo
CENTRO DE INVESTIGACION´ Y DE ESTUDIOS AVANZADOS DEL INSTITUTO POLITECNICO´ NACIONAL UNIDAD ZACATENCO DEPARTAMENTO DE CONTROL AUTOMATICO´ Navegaci´on y control de un mini veh´ıculo submarino aut´onomo TESIS Que presenta M. en C. Iv´an Torres Tamanaja Para obtener el grado de DOCTOR EN CIENCIAS EN LA ESPECIALIDAD DE CONTROL AUTOMATICO´ Directores de Tesis: Dr. Jorge Antonio Torres Mu˜noz Dr. Rogelio Lozano Leal MEXICO´ DISTRITO FEDERAL AGOSTO DEL 2013. El riego de nadar entre tiburones, no son los tiburones. El verdadero riesgo es sangrar mientras lo haces. (I.T.T.) A la memoria de mi Chan´ın. Q.E.P.D. Dedicatoria A mis padres: Sa´ul Torres Jim´enez Guillermina Tamanaja Ram´ırez Por su palabras de aliento, por la confianza que siempre me han dado, porque son el refugio en mis momentos de duda, porque con nada pago el gran amor y cari˜no que me profesan sin esperar nada a cambio. Por ser una gu´ıa, ejemplo y motor impulsor en mi vida. A mis hermanas: Ivonne e Ivette Qu´epor todo y sobre todo han mostrado ser las mejores hermanas, porque demuestran su afecto y cari˜no con las cosas m´as b´asicas. A mis sobrinos: Iv´an Santiago David Con sus sonrisas me recuerdan que la vida es un juego. Agradecimientos A Dios, que me da la oportunidad de abrir los ojos a un nuevo d´ıatodos los d´ıas. Al CONACYT, por otorgarme una beca para poder realizar mis estudios de docto- rado. Al Dr. Pedro Castillo Garcia, que con su estilo muy particular de aconsejar.. -
Characterizing and Evaluating Autonomous Controllers
Departamento de Autom´atica Programa de Doctorado en Investigaci´on Espacial Characterizing and Evaluating Autonomous Controllers Dissertation written by Pablo Mu~noz Mart´ınez Under the supervision of Dra. Mar´ıa Dolores Rodr´ıguez Moreno International advisors Dr. Amedeo Cesta and Dr. Andrea Orlandini Dissertation submitted to the School of Computing of the Universidad de Alcal´a, in partial fulfilment of the requirements for the degree of Doctor of Philosophy Characterizing and Evaluating Autonomous Controllers 2016 \The Viking Lander is a superbly instrumented and designed ma- chine. It extends human capabilities to other and alien land- scapes. By some standards, it's about as smart as a grasshopper, by others, only as intelligent as a bacterium. There's nothing de- meaning in these comparisons; it took nature hundreds of millions of years to evolve a bacterium, and billions of years to make a grasshopper. With only a little experience in this sort of business, we're getting pretty good at it." Carl Sagan Cosmos { episode 5, 1980. Acknowledgements Como en cualquier tesis, el primer agradecimiento no puede ser m´asque para el director, o directora en este caso. En gran medida esta tesis es fruto de Mar´ıa Dolores. El esfuerzo y dedicaci´onque he puesto yo en su confecci´onposiblemente se vea superado por el suyo. No puedo m´asque expresar mi m´asprofunda admiraci´on por sus conocimientos, aptitudes y el entusiasmo que pone en todo lo que hace. Por ello, muchas gracias por permitirme hacer este viaje junto a ti. Tambi´enquiero agradecer a todos mis compa~neros del laboratorio E31 en el que he pasado m´astiempo que en mi propia casa durante los ´ultimos a~nos, con menci´on especial a Yolanda y Javi. -
ASHS Is Inviting/Encouraging Poster Presenters to Up- Posters: Load a PDF of Their Poster
vt- •• ��t E�. Gallo Winery � BalL American Funding Generations of Floral Progress Through Research Image Analysis for Plant Science Endowment and Scholarships 1 of 262 General Information Conference Facilities: Speaker Ready Room: All Conference activities will take place at the Tropicana Oral, Workshop, Special Sessions, and Keynote speakers Las Vegas. are requested to check in at the Speaker Ready Room located in Churchill. Please note, even if you have Registration hours: uploaded in advance, you are still asked to check in at the Speaker Ready room at least 24 hours in advance of Sunday, July 21. .3:00 PM – 6:00 PM your presentation to confirm that your media and Pow- erPoint presentations were successfully uploaded and Monday, July 22 .............7:30 AM – 6:00 PM running properly. Updates and modifications can only Tuesday, July 23. 7:30 AM – 6:00 PM be made up to 24 hours in advance of your presentation. Wednesday, July 24. .7:30 AM – 5:00 PM Thursday, July 25 ............7:30 AM – 2:00 PM Poster Presenters and E-Posters: ASHS is inviting/encouraging poster presenters to up- Posters: load a PDF of their poster. You may also upload mp4 video or audio files to go along with the poster. Posters are located in Cohiba 5-12. As part of enhancing the ASHS online conference proceedings, you have the option to make your poster Poster Set Up: into an interactive electronic version (E-Poster). If you would like to explore this option, a link will appear once Monday, July 22 .............2:00 PM – 5:00 PM you have uploaded your PDF file with instructions on how to create your E-Poster. -
Getting Kids Into Robotics
Tune in each month for a heads-up on where to get all of your “robotics resources” for the best prices! Getting Kids into Robotics obots and kids go together like rudimentary actions, such as reacting are available from several retailers Rbacon and eggs, peaches and to light or following a black line on a (a couple of the main online stores cream, resistors and capacitors. white piece of paper. Fortunately, are listed in the Sources), and are Thanks to low-cost construction kits there are many such kits available, at grouped by skill level. These basic — and not to mention popular prices starting at about $20. Of mechanical-only kits comprise the movies that glamorize automatons course, the more sophisticated the least expensive of the lot. Next, are — more and more children are robot and its abilities, the more the the kits that require electronics of exploring the world of robots. robot will cost. some kind come with complete and And that’s not a bad thing. At the lower end of the scale is ready-to-go circuit boards, though a Robotics encompasses multiple the single-function kit, requiring at few models are available with the disciplines, including mechanical least mechanical assembly. By electronics also in kit form. These are engineering, software “single-function,” it means just that. handy for learning about soldering programming, electronics, even These ‘bots are made to do and electronics construction. human psychology. In all, it’s a one thing and encompass no For purely mechanical great field to be interested in, intelligence or programming. -
Microsoft Kinect Based Mobile Robot Car
Microsoft Kinect Based Mobile Robot Car China Project Center E term, 2012 A Major Qualifying Project submitted to the Faculty of WORCESTER POLYTECHNIC INSTITUTE in partial fulfillment of the requirements for the Degree of Bachelor of Science Authors Max Saccoccio, Robotics and Mechanical Engineering, 2013 ([email protected]) Joseph Taleb, Electrical and Computer Engineering, 2013 ([email protected]) Partnered With: Kang Lutan, Mechanical Engineering ([email protected]) Xie Man, Mechanical Engineering, ([email protected]) Wei Bo, Mechanical Engineering ([email protected]) Wang Li, Mechanical Engineering ([email protected]) Liaison Zhang Huiping, DEPUSH Technologies Ltd., Wuhan, China Project Advisors Professor Lingsong He, HUST Dept. of Mechanical Engineering Professor Xinmin Huang, WPI Dept. of Electrical and Computer Engineering Professor Yiming Rong, WPI Dept. of Mechanical Engineering Professor Stephen Nestinger, WPI Dept. of Mechanical Engineering Abstract Using Microsoft Robotics Developer Studio and the Parallax Eddie robot platform, a mobile robot car was developed using the Microsoft Kinect as the primary computer vision sensor to identify and respond to voice and gesture commands. The project sponsor, Depush Technology of Wuhan, China has requested a commercially viable educational platform. The end user programs the robot using Microsoft Visual Programming Language to implement code written in C#. ii Acknowledgements We would like to thank our project advisors, Professor Rong of Worcester Polytechnic Institute, and Professor He of Huazhong University of Technology, for their help with our project. We would like to thank them for the input they have provided to our project, especially to our presentation and this report. Professor Rong supplied valuable suggestions to help us make our presentation the best that it could be. -
Human-Robot Interaction Directed Reseach Project
HRP Investigators’ Workshop February 12-13, 2014 Human Research Program Space Human Factors Habitability Space Human Factors Engineering HUMAN-ROBOT INTERACTION DIRECTED RESEACH PROJECT Aniko Sándor, Ph.D.1 Ernest V. Cross II, Ph.D.1 Mai Lee Chang2 1Lockheed Martin, [email protected] 1Lockheed Martin, [email protected] 2NASA Johnson Space Center, [email protected] Relevance to the HRP Risks and Gaps • The goal of this research project is to contribute to the closure of Human Research Program (HRP) gaps relevant to the “Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI)”, by providing information on how display and control characteristics affect operator performance: – Gap SHFE-HARI-01: What guidelines and tools can we develop to enable system designers and mission planners to conduct systematic task/needs analyses at the appropriate level of detail to allocate work among appropriate agents (human and automation)? – Gap SHFE-HARI-02: How can performance, efficiency, and safety guidelines be developed for effective information sharing between humans and automation, such that appropriate trust and situation awareness is maintained? Human-Robot Interaction • Multi-year research project investigating three areas CEV(L1 applicable to NASA robot systems: 1) The effects of video overlays on teleoperation of a robot arm and a mobile robot 2) The effect of camera locations on a mobile vehicle for teleoperation 3) The types of gestures and verbal commands applicable to human-robot interaction Slide 3 CEV(L1 I would not necessarily call these three areas. Areas would be broader such as co-located and remote operation in which these three fit under Cross, Ernest V. -
From a Theoretical Model to Pragmatic Robotics Arnaud Revel, Pierre Andry
Emergence of structured interactions: from a theoretical model to pragmatic robotics Arnaud Revel, Pierre Andry To cite this version: Arnaud Revel, Pierre Andry. Emergence of structured interactions: from a theoretical model to pragmatic robotics. Neural Networks, Elsevier, 2009, 22 (2), pp.116-125. hal-00426214 HAL Id: hal-00426214 https://hal.archives-ouvertes.fr/hal-00426214 Submitted on 2 Dec 2009 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Emergence of structured interactions: from a theoretical model to pragmatic robotics A.Revel ETIS Lab, CNRS UMR 8051, ENSEA P.Andry ETIS Lab, CNRS UMR 8051, Univ Cergy-Pontoise Abstract In this article, we present two neural architectures for the control of socially interacting robots. Beginning with a theoretical model of interaction inspired by developmental psychology, biology and physics, we present two sub- cases of the model that can be interpreted as “turn-taking” and “synchrony” at the behavioral level. These neural architectures are both detailed and tested in simulation. A robotic experiment is even presented for the “turn-taking” case. We then discuss the interest of such behaviors for the development of further social abilities in robots. -
Meeting Notes from 2006
Monthly Meeting of the Seattle Robotics Society Saturday, January 21, 2006 at Renton Technical College Room K201-202 Introduction Jim Wright is still out of town so Cathy Saxton (SRS VP) ran the show. About 55 people showed up on a rather wet Saturday morning. Next month on Saturday, February 18, after the SRS meeting, there will be a practice event for F.I.R.S.T. robots at Highland Middle School in Bellevue. See http://www.issaquahrobotics.org for more details. The regular February SRS meeting will NOT be moved to coincide with a FIRST practice event. However, everyone is invited to come in the afternoon to watch and cheer the teams on. Mapquest link to Highland Middle School: http://www.mapquest.com/maps/map.adp?latlongtype=internal&addtohistory=&latitude=GWSRCFtHGH8%3d&lo ngitude=hEaaSY4LMY%2fpedwvJvx5gQ%3d%3d&name=Highland%20Middle%20School&country=US&address =15027%20Bel%20Red%20Rd&city=Bellevue&state=WA&zipcode=98007&phone=425%2d456%2d6400&spurl= 0&&q=highland%20middle%20school&qc=Schools%20%28K%2d12%29 The F.I.R.S.T. Regional competition will be in Portland, OR at the Memorial Coliseum in the Rose Garden March 2-4. See http://www.usfirst.org for more information about FIRST events and activities. The Robothon Committee is investigating doing a practice contest (warm-up event) in Portland sometime in the spring. More information will be forthcoming on the SRS website and the Yahoo Group listserver. Also, see http://www.seattlerobotics.org/contact.php for more information. Cathy started the meeting out with going around the room and everyone introducing themselves. -
Supplement to Hortscience
Supplement to HortScience Volume 54(9) September 2019 This supplement contains the abstracts of presentations from the National Conference of the American Society for Horticultural Science ASHS Annual Conference 22 July–25 July 2019, Las Vegas, Nevada ........................S1 American Society for Horticultural Science 1018 Duke Street, Alexandria, VA 22314 phone: 703.836.4606 • fax: 703.836.2024 • ashs.org • [email protected] Abstracts of Presentations from the Annual Conference of the American Society for Horticultural Science 22 July–25 July 2019, Las Vegas, Nevada Supplement to HortScience Volume 54(9), September 2019 Part 1: Special Sessions and Workshops.......................................S2 Part 2: Oral Presentations...........................................................S34 Part 3: Poster Presentations.......................................................S187 Part 4: Index of Authors............................................................S340 For citation purposes, abstracts should be cited as shown in the following example: Torres Quezada, E., Chase, Carlene A. 2019. Off-Season Cover Crops for Organic Strawberry Production in Florida. HortScience 54(9) S247. (Abstr.) American Society for Horticultural Science 1018 Duke Street, Alexandria, VA 22314 phone: 703.836.4606 • fax: 703.836.2024 • ashs.org • [email protected] —Workshops— Part 1: Workshops/Special Sessions Part 1: Special Sessions and Workshops SPECIAL SESSIONS AND WORKSHOPS commonly originating from sub-tropical and tropical cli- mates. As the names imply, orangeries and limonaias were constructed to protect tender fruits, as well as ornamental plants, requiring protection in temperate European climates Monday, July 22, 2019 during winter upon being brought back. In addition the influx of exotic plant materials requiring modified environ- History of Controlled Environment Hor- ments to survive and flourish, technological advancements ticulture *CEU Approved* in glass manufacturing allowed for glass panes of substan- Coordinator: Jules Janick tial size to be produced. -
The Employment Consequences of Robots: Firm-Level Evidence
The Employment Consequences of Robots: Firm-level Evidence Jay Dixon Statistics Canada Bryan Hong New York University Lynn Wu Wharton School of Management University of Pennsylvania Abstract As a new general-purpose technology, robots have the potential to radically transform industries and affect employment. Preliminary empirical studies using industry and geographic region-level data have shown that robots differ from prior general-purpose technologies and predict substantial negative effects on employment. Using novel firm-level data, we show that investments in robotics are associated with increased employee turnover, but also an increase in total employment within the firm. Examining changes in labor composition, we find that manager headcount has decreased but non-managerial employee headcount has increased, suggesting that robots displace managerial work that in prior waves of technology adoption was considered more difficult to replace. However, we also find that firms are more likely to hire managers from outside the firm and invest in additional training, suggesting that firms require different employee skills as the nature of work changes with robot investment. We also provide additional evidence that robot investments are not generally motivated by the desire to reduce labor costs but are instead related to an increased focus on improving product and service quality. With respect to changes in the way work is organized within the firm, we find that robot adoption predicts organizational changes in ways that differ from prior technologies. While information technology has generally been found to decentralize decision-making authority within organizational hierarchies, we find that robots can either centralize or decentralize decision-making, depending on the task. -
Droni Somigliano a Insetti Cibernetici
Capitolo 1 Da dove iniziare Breve storia del drone In questo capitolo Il termine “drone” ha assunto in inglese vari signifi- • Breve storia del drone cati in vari periodi storici: da “rimbombo” a “fuco” • Tipi di drone (il maschio dell’ape), da “bordone” (il suono conti- nuo delle cornamuse scozzesi) a una specie cyborg • I giorni nostri dell’universo fantascientifico di Star Trek (chi non • Cosa offre il mercato ricorda lo stupendo drone Borg, Sette di Nove?). Da circa un centinaio d’anni, il concetto di drone è abbinato a un veicolo aereo senza pilota ovvero, un UAV (Unmanned Aerial Vehicle) o, in italiano, APR (Aeromobile a Pilotaggio Remoto). Probabilmente, il nome dato a questi oggetti volanti senza pilota viene associato al “ronzio” prodotto durante il volo, che assomiglia a quello di un fuco, oppure al fatto che i droni somigliano a insetti cibernetici. È strano notare come oggi il termine sia associato solo al volo. In realtà lo stesso termine può venire usato anche per mezzi di terra e di acqua (si veda il paragrafo “Tipi di drone” in questo capitolo). I primi UAV Sembra che il primo uso documentato di un veicolo aereo da guerra senza equipaggio risalga al 1849, quando gli austriaci attaccarono Venezia con palloni senza pilota carichi di esplosivo. Probabilmente ci saranno stati altri casi simili non documentati, ma questo rimane il primo esempio storico di guerra a pilotaggio remoto. LibroDroni.indb 1 13/04/15 12:12 2 Capitolo 1 Un concetto più vicino all’immaginario collettivo di UAV moderno si può far risalire al periodo della Prima guerra mondiale (1915-1918).