Robotics Commons^™

Self Consistent Bathymetric Mapping Using Sub-Maps: Survey Results From The Tag Hydrothermal Structure, C. Roman, R. Reves-Sohn, H. Singh, S. Humphris

Christopher N. Roman

The spatial resolution of microbathymetry maps created using robotic vehicles such as ROVs, AUVs and manned submersibles in the deep ocean is currently limited by the accuracy of the vehicle navigation data. Errors in the vehicle position estimate commonly exceed the ranging errors of the acoustic mapping sensor itself, which creates inconsistency in the map making process and produces artifacts that lower resolution and distort map integrity. We present a methodology for producing self-consistent maps and improving vehicle position estimation by exploiting accurate local navigation and utilizing terrain relative measurements. The complete map is broken down into individual "sub-maps'', which …

Analysis Of Gaits For A Rotating Tripedal Robot, Damian M. Lyons, Kiran Pamnany

Faculty Publications

A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism, the rotopod, designed to integrate these two useful approaches to locomotion. In this paper, we present an analysis of the variety of gaits that can be exhibited by the rotopod. We present examples of many of these gaits and discuss their potential use. A trajectory generation algorithm is presented that can be used to generate point to point trajectories using one of three different styles …

High-Resolution Sonar Surveying: Techniques And Strategies For Improved Micro-Bathymetic Mapping, Vicki Ferrini, D. Fornari, T. Shank, D. Kelley, M. Tivey, S. Carbotte, D. Glickson, C. Roman, A. Sterling

Christopher N. Roman

No abstract provided.

Improved Vehicle Based Multibeam Bathymetry Using Sub-Maps And Slam, Christopher Roman, Hanumant Singh

Christopher N. Roman

This paper presents an algorithm to improve sub-sea acoustic multibeam bottom mapping based on the simultaneous mapping and localization (SLAM) methodology. Multibeam bathymetry from underwater water vehicles can yield valuable large scale terrain maps of the sea door, but the overall accuracy of these maps is typically limited by the accuracy of the vehicle position estimates. The solution presented here uses small bathymetric patches created over short time scales in a sub-mapping context. These patches are registered with respect to one another and assembled in a single coordinate frame to produce a more accurate terrain estimate and provide improved renavigation …

Rotational Legged Locomotion, Damian M. Lyons, Kiran Pamnany

Faculty Publications

In this paper we presented a novel, agile robot mechanism, which we call a rotopod, which combines aspects of wheeled and legged locomotion. A general description of how a tripedal rotopod can be made to step, rotating the mechanism about one leg, and moving the center of the mechanism, is presented. The concept of a gait for this mechanism is defined, and is used to show how extremely agile the mechanism can be. Specific resistance is employed as a way to explore the relative efficiency of this mechanism versus a wheel. Finally, we describe our first prototype rotopod and report …

Rank-Based Multisensory Fusion In Multitarget Video Tracking, Damian M. Lyons, D. Frank Hsu

Faculty Publications

An attractive approach to improve tracking performance for visual surveillance is to use information from multiple visual sensory cues such as position, color, shape, etc. Previous work in fusion for tracking has tended to focus on fusion by numerically combining the scores assigned by each cue. We argue that for video scenes with many targets in a crowded situation, the splitting and merging of regions associated with targets, and the subsequent dramatic changes in cue values and reliabilities, renders this form of fusion less effective. In this paper we present experimental results showing that use of cue rank information in …

A Dynamic Pruning And Feature Selection Strategy For Real-Time Tracking, D. Frank Hsu, Damian M. Lyons

Faculty Publications

Automated video tracking is useful in a number of applications such as surveillance, multisensor networks, robotics and virtual reality. In this paper we investigate an approach to tracking based on fusing the output of a collection of video trackers, each attending to a different feature or cue on the target. We show both theoretically and experimentally that the method used to prune the growth of target hypotheses can have a great impact on the trackers performance, and indirectly, change the benefit of using linear score combination as opposed to a non-linear rank combination for fusion. We also show that the …

Design Concepts And Process Analysis For Transmuter Fuel Manufacturing: Quarterly Progress Report #1, Jamil M. Renno, Georg F. Mauer

Fuels Campaign (TRP)

A Hot Cell robotic assembly: Pick and place dynamic simulation, including feedback control with Matlab, was developed for dispersion fuel manufacture.

The deployment of remote manufacturing of transmuter fuel is a necessity for the transmutation applications. In the reporting period, a virtual hot cell for the manufacturing of dispersion fuel was designed using MSC.visualNastran^©, ProEngineer^© and MATLAB^©. Atypical events were successfully simulated. Relevant physical quantities arising during such events were monitored as well.

Physical Intelligent Sensors, Pavan Bandhil, Sanjeevi Chitikeshi, Ajay Mohan Mahajan, Fernando Figueroa

Mechanical Engineering Faculty Research

This paper proposes the development of intelligent sensors as part of an integrated systems approach, i.e. one treats the sensors as a complete system with its own sensing hardware (the traditional sensor), A/D converters, processing and storage capabilities, software drivers, self-assessment algorithms, communication protocols and evolutionary methodologies that allow them to get better with time. Under a project being undertaken at the NASA s Stennis Space Center, an integrated framework is being developed for the intelligent monitoring of smart elements. These smart elements can be sensors, actuators or other devices. The immediate application is the monitoring of the rocket test …

Design And Evaluation Of Processes For Fuel Fabrication, Georg F. Mauer

Fuels Campaign (TRP)

The goal of this research project was to provide technical support to process designers working on the development of the fuel cycles for transmutation applications. Detailed process models were developed to better define the impact of fuel choice on the transmuter fuel cycle, including relative process losses, waste generation, and plant capital cost. These process models provide insight regarding required plant size and number of plants needed to mesh with the fuel recycling line. They also determine requirements for automation.

Manufacturing models for large-scale production in a hot cell environment were also developed. Combined, these two models allow the assessment …

Advances In High Resolution Imaging From Underwater Vehicles, Hanumant Singh, Christopher Roman, Oscar Pizarro, Ryan Eustice

Christopher N. Roman

Large area mapping at high resolution underwater continues to be constrained by the mismatch between available navigation as compared to sensor accuracy. In this paper we present advances that exploit consistency and redundancy within local sensor measurements to build high resolution optical and acoustic maps that are a consistent representation of the environment.

We present our work in the context of real world data acquired using Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) working in diverse applications including shallow water coral reef surveys with the Seabed AUV, a forensic survey of the RMS Titanic in the North Atlantic …