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Title: HERMIES-I: a mobile robot for navigation and manipulation experiments

Abstract

The purpose of this paper is to report the current status of investigations ongoing at the Center for Engineering Systems Advanced Research (CESAR) in the areas of navigation and manipulation in unstructured environments. The HERMIES-I mobile robot, a prototype of a series which contains many of the major features needed for remote work in hazardous environments is discussed. Initial experimental work at CESAR has begun in the area of navigation. It briefly reviews some of the ongoing research in autonomous navigation and describes initial research with HERMIES-I and associated graphic simulation. Since the HERMIES robots will generally be composed of a variety of asynchronously controlled hardware components (such as manipulator arms, digital image sensors, sonars, etc.) it seems appropriate to consider future development of the HERMIES brain as a hypercube ensemble machine with concurrent computation and associated message passing. The basic properties of such a hypercube architecture are presented. Decision-making under uncertainty eventually permeates all of our work. Following a survey of existing analytical approaches, it was decided that a stronger theoretical basis is required. As such, this paper presents the framework for a recently developed hybrid uncertainty theory. 21 refs., 2 figs.

Authors:
; ; ; ; ; ; ;
Publication Date:
Research Org.:
Oak Ridge National Lab., TN (USA)
OSTI Identifier:
5911167
Report Number(s):
CONF-8506106-1
ON: DE85008652
DOE Contract Number:  
AC05-84OR21400
Resource Type:
Conference
Resource Relation:
Conference: Robots 9 conference, Detroit, MI, USA, 2 Jun 1985
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; ROBOTS; RESEARCH PROGRAMS; COMPUTERIZED SIMULATION; ELECTRONIC GUIDANCE; MANIPULATORS; NAVIGATIONAL INSTRUMENTS; REAL TIME SYSTEMS; REMOTE HANDLING EQUIPMENT; REMOTE VIEWING EQUIPMENT; SONAR; CONTROL SYSTEMS; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; MEASURING INSTRUMENTS; RANGE FINDERS; SIMULATION; 420203* - Engineering- Handling Equipment & Procedures

Citation Formats

Weisbin, C R, Barhen, J, de Saussure, G, Hamel, W R, Jorgensen, C, Lucius, J L, Oblow, E M, and Swift, T. HERMIES-I: a mobile robot for navigation and manipulation experiments. United States: N. p., 1985. Web.
Weisbin, C R, Barhen, J, de Saussure, G, Hamel, W R, Jorgensen, C, Lucius, J L, Oblow, E M, & Swift, T. HERMIES-I: a mobile robot for navigation and manipulation experiments. United States.
Weisbin, C R, Barhen, J, de Saussure, G, Hamel, W R, Jorgensen, C, Lucius, J L, Oblow, E M, and Swift, T. 1985. "HERMIES-I: a mobile robot for navigation and manipulation experiments". United States.
@article{osti_5911167,
title = {HERMIES-I: a mobile robot for navigation and manipulation experiments},
author = {Weisbin, C R and Barhen, J and de Saussure, G and Hamel, W R and Jorgensen, C and Lucius, J L and Oblow, E M and Swift, T},
abstractNote = {The purpose of this paper is to report the current status of investigations ongoing at the Center for Engineering Systems Advanced Research (CESAR) in the areas of navigation and manipulation in unstructured environments. The HERMIES-I mobile robot, a prototype of a series which contains many of the major features needed for remote work in hazardous environments is discussed. Initial experimental work at CESAR has begun in the area of navigation. It briefly reviews some of the ongoing research in autonomous navigation and describes initial research with HERMIES-I and associated graphic simulation. Since the HERMIES robots will generally be composed of a variety of asynchronously controlled hardware components (such as manipulator arms, digital image sensors, sonars, etc.) it seems appropriate to consider future development of the HERMIES brain as a hypercube ensemble machine with concurrent computation and associated message passing. The basic properties of such a hypercube architecture are presented. Decision-making under uncertainty eventually permeates all of our work. Following a survey of existing analytical approaches, it was decided that a stronger theoretical basis is required. As such, this paper presents the framework for a recently developed hybrid uncertainty theory. 21 refs., 2 figs.},
doi = {},
url = {https://www.osti.gov/biblio/5911167}, journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Jan 01 00:00:00 EST 1985},
month = {Tue Jan 01 00:00:00 EST 1985}
}

Conference:
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