skip to main content
OSTI.GOV title logo U.S. Department of Energy
Office of Scientific and Technical Information

Title: Merging Local and Global Perception for Robotic Grasping and Manipulation.

Abstract

Abstract not provided.

Authors:
;
Publication Date:
Research Org.:
Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
Sponsoring Org.:
USDOE National Nuclear Security Administration (NNSA)
OSTI Identifier:
1367435
Report Number(s):
SAND2017-5440T
653533
DOE Contract Number:
AC04-94AL85000
Resource Type:
Thesis/Dissertation
Country of Publication:
United States
Language:
English

Citation Formats

Cox, Rebecca E., and Correll, Nikolaus. Merging Local and Global Perception for Robotic Grasping and Manipulation.. United States: N. p., 2017. Web.
Cox, Rebecca E., & Correll, Nikolaus. Merging Local and Global Perception for Robotic Grasping and Manipulation.. United States.
Cox, Rebecca E., and Correll, Nikolaus. Mon . "Merging Local and Global Perception for Robotic Grasping and Manipulation.". United States. doi:.
@article{osti_1367435,
title = {Merging Local and Global Perception for Robotic Grasping and Manipulation.},
author = {Cox, Rebecca E. and Correll, Nikolaus},
abstractNote = {Abstract not provided.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Mon May 01 00:00:00 EDT 2017},
month = {Mon May 01 00:00:00 EDT 2017}
}

Thesis/Dissertation:
Other availability
Please see Document Availability for additional information on obtaining the full-text document. Library patrons may search WorldCat to identify libraries that hold this thesis or dissertation.

Save / Share:
  • Textile composites are known to have improved out-of-plane properties and impact resistance. However, detailed analysis of textile composites is very difficult to perform due to the geometric complexity. In the present study, a practical computational procedure based on a global/local finite element method was developed for detailed analysis of textile composites. This procedure utilizes two problem levels: global and local levels. At the global level, an initial solution was obtained using a coarse global mesh. At the local level, a small portion of the textile composite was refined in a local mesh and analyzed in a great detail. In thismore » study, single-field and multi-field macro elements were used in the global analysis. The macro elements are defined herein to be elements with microstructure within each element. Both the conventional finite element method and the global/local finite element method with macro elements were used to study the variation of effective properties and failure behavior of plain weave and satin weave textile composites. Results indicated that the global/local procedure was very efficient for the detailed analysis of the textile composites. The use of macro elements in the global mesh predicted the global response well and the detailed local stress distribution was obtained by the refined local mesh with discrete material modeling. With a small loss of accuracy, the global/local procedure was able to provide a reasonable solution where the conventional finite element analysis was not possible due to huge computer resource requirements. The effective properties of plain weave and satin weave textile composites were dependent on waviness. The effective properties also showed strong dependency on the number of layers. Quick convergence was obtained, however, as the number of layers increased. The stress and failure index distribution of thin plain weave textile composites were different from that of thick plain weave textile composites.« less
  • In order to investigate the star formation process controlling the evolutionary histories of noninteracting irregular galaxies, optical and radio data were obtained on global and local scales for a sample of 26 irregulars with high star formation rates (SFR) and 17 comparison objects. Global properties of the systems were explored through the stellar and gaseous contents and abundances obtained from intermediate band filter photometry, large aperture spectrophotometry, small aperture spectrophotometry of individual H II regions, and HI21-cm observations. The gas and abundance parameters, combined with other derived quantities such as the SFR, the fraction of a galaxy involved in themore » current star forming activity, and the time scale to exhaust the gas, were compared to predictions of global models of galaxy evolution: the closed system, stochastic star induced star formation, and gas infall models. In addition, large-aperture spectra of a sample of low-luminosity irregulars were obtained which provided a comparison to dwarf systems with low rates of star formation. The investigation of the emission regions was based on measurements of local ionized gas kinematics through high dispersion spectra and on explorations of the spatial structure and distributions of star forming regions from direct imaging with a video camera through b,y,l, and H..cap alpha.. passbands. These data were used to estimate the mechanical energy that is being returned to the interstellar medium from massive stars in the form of motions of ionized gas, diameters of distinct star forming regions, distances between H II regions, and the presence of dark clouds.« less
  • This experiment was conducted in order to extend the knowledge provided by earlier research concerning the effects of imposed electromagnetic fields on human behavior. In particular, the difference between field effects of various frequencies was of interest. It was felt that perhaps field effects might be predictable in terms of their resonance with the alpha rhythm. In order to test those effects, 60 male college students between the ages of 18 and 26 were exposed to electric fields of four different frequencies (7, 14, 10 and 20 Hz) at 10 v/m. Each subject was exposed to a field and amore » no-field condition at a single frequency. Duration of exposure was approximately 25 minutes in each condition.« less
  • Policy makers and decision analysts have been limited somewhat in their ability to predict public reactions to regulatory decisions about hazardous substances or technologies. Most studies of the nonexpert's evaluation of environmental risks have relied on survey data and correlational analyses which preclude the determination of interactive effects, effects that could explain apparent inconsistencies. Three experimental studies were designed to test empirically the effect of six dimensions of environmental risk on judgments of (1) perceived risk, (2) acceptability of risk, (3) subjective probability of negative outcomes due to exposure, and (4) perceived severity of consequences. Factors examined included: (a) familiaritymore » with the terms used to describe a hazard, (b) environmental persistence of a chemical, (c) personal relevance of data used to evaluate cancer-causing potential, (d) personal relevance of possible adverse consequences, (e) perceived control over exposure, and (f) vividness of the exposure pathway. The findings were discussed in terms of their implications for the nonexpert's formulation of risk perceptions, and public policy in the domain of environmental risks.« less
  • Economic theory predicts that a well-informed consumer facing multiple prices responds to marginal price rather than to average price because he equates benefits with costs at the margin. The marginal price postulate, however, may not be true if information regarding marginal price is costly. Residential consumption of electricity is an example of a good for which it is costly to determine marginal price since the price changes with quantity purchased according to a declining-block schedule. If the cost of determining marginal price exceeds its expected benefits, the consumer will base his consumption on simpler information rather than on marginal price.more » The most obvious candidate is the monthly bill. Since electricity expenditures are greater than they would be if priced at marginal price, perceived price is anticipated to be higher than marginal price. The model includes a price perception variable that depends on the complexity of the rate structure as measured by the ratio of average to marginal price. Pooled annual data from 1960 to 1980 on the seven Ohio electric utilities are used for estimation. The evidence supports the hypothesis that the residential consumer responds to average price. Further, the expected increase in consumer's surplus, if marginal price were correctly perceived, is calculated at the sample mean and found to be negligible compared to any possible cost of determining marginal price.« less