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

Conference · Tue Jan 01 00:00:00 EST 1985

OSTI ID:5911167

Weisbin, C R; Barhen, J; de Saussure, G; Hamel, W R; Jorgensen, C; Lucius, J L; Oblow, E M; Swift, T

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.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 5911167
• Report Number(s): CONF-8506106-1; ON: DE85008652
• Resource Relation: Conference: Robots 9 conference, Detroit, MI, USA, 2 Jun 1985
• Country of Publication: United States
• Language: English

Related Subjects

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