Download or read book Robotic Mobile Manipulation Experiments at the U S Army Maneuver Support Center written by and published by . This book was released on 2002 with total page 24 pages. Available in PDF, EPUB and Kindle. Book excerpt: This activity brought two robotic mobile manipulation systems developed by Sandia National Laboratories to the Maneuver Support Center (MANSCEN) at Ft. Leonard Wood for the following purposes: Demonstrate advanced manipulation and control capabilities; Apply manipulation to hazardous activities within MANSCEN mission space; Stimulate thought and identify potential applications for future mobile manipulation applications; and Provide introductory knowledge of manipulation to better understand how to specify capability and write requirements.
Download or read book Applied Technologies written by Miguel Botto-Tobar and published by Springer Nature. This book was released on 2020-03-02 with total page 496 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thirs volume of the three-volume set (CCIS 1193, 1194, 1195) constitutes the refereed proceedings of the First International Conference on Applied Technologies, ICAT 2019, held in Quito, Ecuador, in December 2019. The 124 full papers were carefully reviewed and selected from 328 submissions. The papers are organized according to the following topics: technology trends; computing; intelligent systems; machine vision; security; communication; electronics; e-learning; e-government; e-participation.
Download or read book Developing a Mobile Manipulation System to Handle Unknown and Unstructured Objects written by Abdulrahman Al-Shanoon and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The exceptional human's ability to interact with unknown objects based on minimal prior experience is a permanent inspiration to the field of robotic manipulation. The recent revolution in industrial and service robots demands high-autonomy and intelligent mobile-manipulators. The goal of the thesis is to develop an autonomous mobile robotic manipulation system that can handle unknown and unstructured objects with the least training and human involvement. First, an end-to-end vision-based mobile manipulation architecture with minimal training using synthetic datasets is proposed in this thesis. The system includes: 1) effective training strategy of a perception network for object pose estimation, 2) the result is utilized as sensing feedback to integrate into a visual servoing system to achieve autonomous mobile manipulation. Experimental findings from simulations and real-world settings showed the efficiency of using computer-generated datasets, that can be generalized to the physical mobile-manipulator task. The model of the presented robot is experimentally verified and discussed. Second, a challenging robotic manipulation scenario of unknown-adjacent objects is addressed in this thesis by using a scalable self-supervised system that can learn grasping control strategies for unknown objects based on limited knowledge and simple sample objects. The developed learning scheme can be beneficial to both generalization and transferability without requiring any additional training or prior object awareness. Finally, an end-to-end self-learning framework is proposed to learn manipulating policies for challenging scenarios based on minimal training time and raw experience. The proposed model learns from scratch, from visual observations to sequential decision-making, manipulating actions and generalizes to unknown scenarios. The agent comprehends a sequence of manipulations that purposely lead to successful grasps. Results of the experiments demonstrated the effectiveness of the learning between manipulating actions, in which the grasping success rate has dramatically increased. The proposed system is successfully experimented and validated in simulations and real-world settings.
Download or read book Autonomous Robotic Weapons written by U. S. Military and published by . This book was released on 2017-03-04 with total page 77 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph analyzes three case studies and compares them to determine some of the critical factors behind models of successful and unsuccessful innovation. These case studies include the German and French Armies and their mechanized doctrine development 1919-1939 and the U.S. Army's autonomous robotic doctrine development 2005 - 2025. The twenty-first century provides a challenging, complex, and dynamic operational environment for US military planners to effectively link tactical ways and means to achieve strategic ends and to ultimately enforce US national policy. The US Army's current Unified Action doctrine states that Unified Land Operations must be executed through decisive action, and by means of the two core competencies of combined arms maneuver and wide area security.4 This doctrine outlines a wide-ranging mission set for land component forces, and therefore maneuver officers will need to develop innovative solutions to effectively train and prepare Soldiers to rapidly respond to a variety of these world-wide contingencies. The recent US troop withdrawals from Iraq and Afghanistan, in conjunction with subsequent reductions in national defense budgets, and lower force levels are congruent with a lack of overall popular support for the mass deployment of US combat Soldiers abroad. In the recent post-war environment, US military planners increasingly strive to develop innovative ways to achieve greater capabilities with fewer resources. Concurrently, many civilian applications and developments of both digital and robotic technology continue to advance at an unprecedented pace. The proliferation of this technology has rendered unmanned, remote controlled, and even autonomous robotic systems accessible to both state and non-state organizations alike. The potential applications for these robotic systems are continually expanding and their capabilities may be exploited for both benevolent and malevolent designs. Though many of these early robotic innovations manifested in Iraq and Afghanistan, the vast capabilities and growing implications of these armed robotic weapon systems have not yet been fully realized. It is useful to consider and compare the insights of genius-inventor Nikola Tesla who predicted extraordinary advancements in robotic capabilities for our near-term future, with the observations of former Secretary of Defense Robert Gates who cautioned against the stalwart resistance to change inherent within powerful military-industrial bureaucracies. . Contemporary operational planners, much like their predecessors in the inter-war period, must be attuned to the changing characteristics of warfare. These changes in the contemporary operational environment will likely incorporate autonomous robotic capabilities at an unprecedented pace. This project seeks to determine if maneuver officers in the US Army are fully anticipating the requirement to field and develop autonomous robotic ground weapon systems, and create a comprehensive doctrine to effectively integrate these systems with other emergent technologies. It further determines whether powerful institutional norms, rooted in decades of battlefield dominance throughout the twentieth century, have formed a cognitive resistance to such innovative doctrinal development or to paradigm shifts that may be required to prepare the US Army to dominate ground combat operations in the 21st century. The twenty-first century provides a challenging, complex, and dynamic operational environment for US military planners to effectively link tactical ways and means to achieve strategic ends and to ultimately enforce US national policy. The US Army's current Unified Action doctrine states that Unified Land Operations must be executed through decisive action, and by means of the two core competencies of combined arms maneuver and wide area security.
Download or read book Mobile Manipulation in Unstructured Environments with Haptic Sensing and Compliant Joints written by Advait Jain and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: We make two main contributions in this thesis. First, we present our approach to robot manipulation, which emphasizes the benefits of making contact with the world across all the surfaces of a manipulator with whole-arm tactile sensing and compliant actuation at the joints. In contrast, many current approaches to mobile manipulation assume most contact is a failure of the system, restrict contact to only occur at well modeled end effectors, and use stiff, precise control to avoid contact.\r : \r : We develop a controller that enables robots with whole-arm tactile sensing and compliant actuation at the joints to reach to locations in high clutter while regulating contact forces. We assume\r : that low contact forces are benign and our controller does not place any penalty on contact forces below a threshold. Our controller only requires haptic sensing, handles multiple contacts across the surface of the manipulator, and does not need an explicit model of the environment prior to contact. It uses model predictive control with a time horizon of length one, and a linear quasi-static mechanical model that it constructs at each time step.\r : \r : We show that our controller enables both a real and simulated robots to reach goal locations in high clutter with low contact forces. While doing so, the robots bend, compress, slide, and pivot around objects. To enable experiments on real robots, we also developed an inexpensive, flexible, and stretchable tactile sensor and covered large surfaces of two robot arms with these sensors. With an informal experiment, we show that our controller and sensor have the potential to enable robots to manipulate in close proximity to, and in contact with humans while keeping the contact forces low.\r : \r : Second, we present an approach to give robots common sense about everyday forces in the form of probabilistic data-driven object-centric models of haptic interactions. These models can be shared by different robots for improved manipulation performance. We use pulling open doors, an important task for service robots, as an example to demonstrate our approach.\r : \r : Specifically, we capture and model the statistics of forces while pulling open doors and drawers. Using a portable custom force and motion capture system, we create a database of forces as human operators pull open doors and drawers in six homes and one office. We then build data-driven\r : models of the expected forces while opening a mechanism, given knowledge of either its class (e.g, refrigerator) or the mechanism identity (e.g, a particular cabinet in Advait's kitchen). We demonstrate that these models can enable robots to detect anomalous conditions such as a locked door, or collisions between the door and the environment faster and with lower excess force applied to the door compared to methods that do not use a database of forces.
Download or read book Introduction to Autonomous Mobile Robots second edition written by Roland Siegwart and published by MIT Press. This book was released on 2011-02-18 with total page 473 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.
Download or read book The Whirlwind War written by Frank N. Schubert and published by Government Printing Office. This book was released on 1995 with total page 330 pages. Available in PDF, EPUB and Kindle. Book excerpt: CMH Publication 70-30. Edited by Frank N. Schubert and TheresaL. Kraus. Discusses the United States Army's role in the Persian Gulf War from August 1990 to February 1991. Shows the various strands that came together to produce the army of the 1990s and how that army in turn performed under fire and in the glare of world attention. Retains a sense of immediacy in its approach. Contains maps which were carefully researched and compiled as original documents in their own right. Includes an index.
Download or read book Weapon Systems Handbook written by and published by . This book was released on 2020-05-03 with total page 440 pages. Available in PDF, EPUB and Kindle. Book excerpt: July 2019 Printed in BLACK AND WHITE The Army's Weapon Systems Handbook was updated in July 2019, but is still titled "Weapon Systems Handbook 2018." We are printing this in black and white to keep the price low. It presents many of the acquisition programs currently fielded or in development. The U.S. Army Acquisition Corps, with its 36,000 professionals, bears a unique responsibility for the oversight and systems management of the Army's acquisition lifecycle. With responsibility for hundreds of acquisition programs, civilian and military professionals collectively oversee research, development and acquisition activities totaling more than $20 billion in Fiscal Year 2016 alone. Why buy a book you can download for free? We print this so you don't have to. We at 4th Watch Publishing are former government employees, so we know how government employees actually use the standards. When a new standard is released, somebody has to print it, punch holes and put it in a 3-ring binder. While this is not a big deal for a 5 or 10-page document, many DoD documents are over 400 pages and printing a large document is a time- consuming effort. So, a person that's paid $25 an hour is spending hours simply printing out the tools needed to do the job. That's time that could be better spent doing mission. We publish these documents so you can focus on what you are there for. It's much more cost-effective to just order the latest version from Amazon.com. SDVOSB If there is a standard you would like published, let us know. Our web site is usgovpub.com
Download or read book Virtual Reality written by National Research Council and published by National Academies Press. This book was released on 1995-01-13 with total page 557 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.
Download or read book Robots on the Battlefield written by Ronan Doaré and published by Combat Studies Institute Press. This book was released on 2014 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Surgical Robotics written by Jacob Rosen and published by Springer Science & Business Media. This book was released on 2011-01-15 with total page 827 pages. Available in PDF, EPUB and Kindle. Book excerpt: Surgical robotics is a rapidly evolving field. With roots in academic research, surgical robotic systems are now clinically used across a wide spectrum of surgical procedures. Surgical Robotics: Systems Applications and Visions provides a comprehensive view of the field both from the research and clinical perspectives. This volume takes a look at surgical robotics from four different perspectives, addressing vision, systems, engineering development and clinical applications of these technologies. The book also: -Discusses specific surgical applications of robotics that have already been deployed in operating rooms -Covers specific engineering breakthroughs that have occurred in surgical robotics -Details surgical robotic applications in specific disciplines of surgery including orthopedics, urology, cardiac surgery, neurosurgery, ophthalmology, pediatric surgery and general surgery Surgical Robotics: Systems Applications and Visions is an ideal volume for researchers and engineers working in biomedical engineering.
Download or read book The DARPA Robotics Challenge Finals Humanoid Robots To The Rescue written by Matthew Spenko and published by Springer. This book was released on 2018-04-09 with total page 692 pages. Available in PDF, EPUB and Kindle. Book excerpt: The DARPA Robotics Challenge was a robotics competition that took place in Pomona, California USA in June 2015. The competition was the culmination of 33 months of demanding work by 23 teams and required humanoid robots to perform challenging locomotion and manipulation tasks in a mock disaster site. The challenge was conceived as a response to the Japanese Fukushima nuclear disaster of March 2011. The Fukushima disaster was seen as an ideal candidate for robotic intervention since the risk of exposure to radiation prevented human responders from accessing the site. This volume, edited by Matthew Spenko, Stephen Buerger, and Karl Iagnemma, includes commentary by the organizers, overall analysis of the results, and documentation of the technical efforts of 15 competing teams. The book provides an important record of the successes and failures involved in the DARPA Robotics Challenge and provides guidance for future needs to be addressed by policy makers, funding agencies, and the robotics research community. Many of the papers in this volume were initially published in a series of special issues of the Journal of Field Robotics. We have proudly collected versions of those papers in this STAR volume.
Download or read book Armed Conflict in the 21st Century written by Steven Metz and published by . This book was released on 2000 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book The U S Army in the Iraq War written by Joel Rayburn and published by . This book was released on 2019 with total page 696 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Iraq War has been the costliest U.S. conflict since the Vietnam War. To date, few official studies have been conducted to review what happened, why it happened, and what lessons should be drawn. The U.S. Army in the Iraq War is the Army's initial operational level analysis of this conflict, written in narrative format, with assessments and lessons embedded throughout the work. This study reviews the conflict from a Landpower perspective and includes the contributions of coalition allies, the U.S. Marine Corps, and special operations forces. Presented principally from the point of view of the commanders in Baghdad, the narrative examines the interaction of the operational and strategic levels, as well as the creation of theater level strategy and its implementation at the tactical level. Volume 1 begins in the truce tent at Safwan Airfield in southern Iraq at the end of Operation DESERT STORM and briefly examines actions by U.S. and Iraqi forces during the interwar years. The narrative continues by examining the road to war, the initially successful invasion, and the rise of Iraqi insurgent groups before exploring the country's slide toward civil war. This volume concludes with a review of the decision by the George W. Bush administration to "surge" additional forces to Iraq, placing the conduct of the "surge" and its aftermath in the second volume.
Download or read book War in the Age of Intelligent Machines written by Manuel De Landa and published by . This book was released on 1991 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: The author aims to show how the emergence of intelligent and autonomous bombs and missiles equipped with artificial perception and decision-making capabilities represents a profound historical shift in the relation of human beings both to machines and to information.
Download or read book The Art of Darkness written by Scott Gerwehr and published by Rand Corporation. This book was released on 2000 with total page 89 pages. Available in PDF, EPUB and Kindle. Book excerpt: This research was undertaken to gain a better understanding of the relationship between deception and the urban environment, first to explore the power of deception when employed against U.S. forces in urban operations, and second to evaluate the potential value of deception when used by U.S. forces in urban operations.
Download or read book Autonomous Horizons written by Greg Zacharias and published by Independently Published. This book was released on 2019-04-05 with total page 420 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dr. Greg Zacharias, former Chief Scientist of the United States Air Force (2015-18), explores next steps in autonomous systems (AS) development, fielding, and training. Rapid advances in AS development and artificial intelligence (AI) research will change how we think about machines, whether they are individual vehicle platforms or networked enterprises. The payoff will be considerable, affording the US military significant protection for aviators, greater effectiveness in employment, and unlimited opportunities for novel and disruptive concepts of operations. Autonomous Horizons: The Way Forward identifies issues and makes recommendations for the Air Force to take full advantage of this transformational technology.
