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In this work, we introduce dynamic 2D GUI designs that leverage psychophysics principles to align with human perception and decision-making. These designs seamlessly integrate depth information, force feedback, and system status by overlaying real-time task-relevant data onto either 2D or 3D views. To assess their effectiveness, we compare them with HMD displays. The results indicate superior user task performance, marked by fewer “control mode” switches, reduced errors and collisions, and a 100% task completion rate. Furthermore, users reported heightened task confidence levels and improved situational awareness when using the dynamic 2D GUI designs.\",\"urldate\":\"2024-06-18\",\"booktitle\":\"Proceedings of the 2024 International Symposium on Technological Advances in Human-Robot Interaction\",\"publisher\":\"Association for Computing Machinery\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Akita\"],\"firstnames\":[\"Emmanuel\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Zaidner\"],\"firstnames\":[\"Guy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2024\",\"keywords\":\"Mobile Manipulator, Situational Awareness, Teleoperation\",\"pages\":\"65–73\",\"bibtex\":\"@inproceedings{akita_improved_2024,\\n\\taddress = {New York, NY, USA},\\n\\tseries = {{TAHRI} '24},\\n\\ttitle = {Improved {Situational} {Awareness} and {Performance} with {Dynamic} {Task}-{Based} {Overlays} for {Teleoperation}},\\n\\tisbn = {9798400716614},\\n\\turl = {https://dl.acm.org/doi/10.1145/3648536.3648544},\\n\\tdoi = {10.1145/3648536.3648544},\\n\\tabstract = {Teleoperation remains an essential mode of robot control, especially in hazardous, uncertain environments. However, it presents multiple challenges such as latency, limited depth perception and constrained field of view. In this work, we introduce dynamic 2D GUI designs that leverage psychophysics principles to align with human perception and decision-making. These designs seamlessly integrate depth information, force feedback, and system status by overlaying real-time task-relevant data onto either 2D or 3D views. To assess their effectiveness, we compare them with HMD displays. The results indicate superior user task performance, marked by fewer “control mode” switches, reduced errors and collisions, and a 100\\\\% task completion rate. 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of Computing and Information Science in Engineering},\\n\\tauthor = {Andrew, Sharp and Pryor, Mitch},\\n\\tmonth = dec,\\n\\tyear = {2020},\\n\\tpages = {1--16},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Andrew, S.\",\"Pryor, M.\"],\"key\":\"andrew_virtual_2020\",\"id\":\"andrew_virtual_2020\",\"bibbaseid\":\"andrew-pryor-virtualfixturegenerationfortaskplanningwithgeometries-2020\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":9,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Mobile Robotic Radiation Surveying with Recursive Bayesian Estimation and Attenuation Modelling\",\"doi\":\"10.1109/TASE.2020.3036808\",\"journal\":\"IEEE Transactions on Automation Science and Engineering\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Anderson\"],\"firstnames\":[\"Blake\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Abeyta\"],\"firstnames\":[\"Adrian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2020\",\"note\":\"Print ISSN: 1545-5955 Electronic ISSN: 1558-3783\",\"pages\":\"1–15\",\"bibtex\":\"@article{anderson_mobile_2020,\\n\\ttitle = {Mobile {Robotic} {Radiation} {Surveying} with {Recursive} {Bayesian} {Estimation} and {Attenuation} {Modelling}},\\n\\tdoi = {10.1109/TASE.2020.3036808},\\n\\tjournal = {IEEE Transactions on Automation Science and Engineering},\\n\\tauthor = {Anderson, Blake and Pryor, Mitch and Abeyta, Adrian and Landsberger, Sheldon},\\n\\tmonth = nov,\\n\\tyear = {2020},\\n\\tnote = {Print ISSN: 1545-5955\\nElectronic ISSN: 1558-3783},\\n\\tpages = {1--15},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Anderson, B.\",\"Pryor, M.\",\"Abeyta, A.\",\"Landsberger, S.\"],\"key\":\"anderson_mobile_2020\",\"id\":\"anderson_mobile_2020\",\"bibbaseid\":\"anderson-pryor-abeyta-landsberger-mobileroboticradiationsurveyingwithrecursivebayesianestimationandattenuationmodelling-2020\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":18,\"html\":\"\"},{\"bibtype\":\"mastersthesis\",\"type\":\"mastersthesis\",\"title\":\"A 3D obstacle detection system for a complex mobile robot in a hazardous underground tunnel environment\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/77434\",\"abstract\":\"This thesis presents a 3D obstacle detection system developed for use in the H-Canyon Air Exhaust (HCAEX) tunnel project. The HCAEX tunnel is a harsh environment with positive, negative, and hanging obstacles along with a muddy uneven floor. The mobile platform developed to explore this tunnel is highly complex and requires advanced knowledge of its state relative to the environment. A LiDAR sensor was identified and a Robot Operating System (ROS) package was developed to detect obstacles in 3D while accounting for the challenges presented by the project. Tests were performed in two outdoor environments and an HCAEX mock tunnel environment. Results showed that the obstacle detection system correctly identified obstacles in the environments at both roll and pitch states up to 45°, though further refinement and implementation can be performed.\",\"language\":\"en\",\"urldate\":\"2020-05-08\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Suarez\"],\"firstnames\":[\"Christopher\",\"William\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2019\",\"doi\":\"http://dx.doi.org/10.26153/tsw/4523\",\"note\":\"Accepted: 2019-10-25T14:56:12Z\",\"bibtex\":\"@mastersthesis{suarez_3d_2019,\\n\\ttitle = {A {3D} obstacle detection system for a complex mobile robot in a hazardous underground tunnel environment},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/77434},\\n\\tabstract = {This thesis presents a 3D obstacle detection system developed for use in the H-Canyon Air Exhaust (HCAEX) tunnel project.  The HCAEX tunnel is a harsh environment with positive, negative, and hanging obstacles along with a muddy uneven floor.  The mobile platform developed to explore this tunnel is highly complex and requires advanced knowledge of its state relative to the environment.  A LiDAR sensor was identified and a Robot Operating System (ROS) package was developed to detect obstacles in 3D while accounting for the challenges presented by the project.  Tests were performed in two outdoor environments and an HCAEX mock tunnel environment.  Results showed that the obstacle detection system correctly identified obstacles in the environments at both roll and pitch states up to 45°, though further refinement and implementation can be performed.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-08},\\n\\tauthor = {Suarez, Christopher William},\\n\\tmonth = may,\\n\\tyear = {2019},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/4523},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/4523},\\n\\tnote = {Accepted: 2019-10-25T14:56:12Z},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Suarez, C. W.\"],\"key\":\"suarez_3d_2019\",\"id\":\"suarez_3d_2019\",\"bibbaseid\":\"suarez-a3dobstacledetectionsystemforacomplexmobilerobotinahazardousundergroundtunnelenvironment-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/77434\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":26,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"Development of Mobile Platform for Inventory and Inspection Applications in Nuclear Environments\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Anderson\"],\"firstnames\":[\"R.\",\"Blake\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2020\",\"bibtex\":\"@phdthesis{anderson_development_2020,\\n\\ttype = {Dissertation},\\n\\ttitle = {Development of {Mobile} {Platform} for {Inventory} and {Inspection} {Applications} in {Nuclear} {Environments}},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Anderson, R. Blake},\\n\\tmonth = may,\\n\\tyear = {2020},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Anderson, R. B.\"],\"key\":\"anderson_development_2020\",\"id\":\"anderson_development_2020\",\"bibbaseid\":\"anderson-developmentofmobileplatformforinventoryandinspectionapplicationsinnuclearenvironments-2020\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Mobile Robotic Radiation Surveying Using Recursive Bayesian Estimation\",\"doi\":\"http://doi.org/10.1109/COASE.2019.8843064\",\"abstract\":\"Nuclear facilities require wide-area surveys and remote response to the detection of abnormal radiation levels. These typically require a large number of measurement locations using fixed search patterns. Such approaches are time-consuming, require extended radiation exposure, and are difficult to routinely replicate by technicians. This paper presents an automated method of detecting and locating single or multiple small gamma-ray sources in an unstructured environment, requiring significantly fewer measurements than traditional methods and without a need for post-processing. A mobile robot can collect higher-precision data than practically possible by a human and removes the technician from the radiation area. This is enabled by addressing complexities that previously made automation difficult including supervisory control, obstacle avoidance, sensor positioning over a large height range, recognizing environmental complexities (shielding, etc and modifying survey parameters based on aberrant readings. The developed solution uses a mobile platform with a height-adjustable (up to 2.44 meters) radiation detector. Recursive Bayesian Estimation (RBE) is used to update a probability distribution of the location and intensity of source(s) after each measurement. The likelihood function is determined using radiation transport and detector models. Isotopic identification via a gamma library search aids data analysis by distinguishing counts from different sources. Computation considerations are discussed including predicting and localizing multiple sources.\",\"booktitle\":\"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Anderson\"],\"firstnames\":[\"Blake\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2019\",\"note\":\"ISSN: 2161-8089\",\"keywords\":\"Bayes methods, Detectors, Estimation, Hardware, Probability and Statistical Methods, Robot sensing systems, Robotics in Hazardous Fields, Uncertainty, abnormal radiation levels, automated method, collision avoidance, data analysis, detector models, environmental complexities, fixed search patterns, gamma library search, gamma-ray sources, height range, height-adjustable, higher-precision data, measurement locations, mobile platform, mobile robot, mobile robotic radiation surveying, mobile robots, nuclear facilities, probability, radiation area, radiation detection, radiation exposure, radiation transport, recursive Bayesian Estimation, recursive Bayesian estimation, remote response, search problems, supervisory control, survey parameters, wide-area surveys\",\"pages\":\"1187–1192\",\"bibtex\":\"@inproceedings{anderson_mobile_2019,\\n\\ttitle = {Mobile {Robotic} {Radiation} {Surveying} {Using} {Recursive} {Bayesian} {Estimation}},\\n\\tdoi = {http://doi.org/10.1109/COASE.2019.8843064},\\n\\tabstract = {Nuclear facilities require wide-area surveys and remote response to the detection of abnormal radiation levels. These typically require a large number of measurement locations using fixed search patterns. Such approaches are time-consuming, require extended radiation exposure, and are difficult to routinely replicate by technicians. This paper presents an automated method of detecting and locating single or multiple small gamma-ray sources in an unstructured environment, requiring significantly fewer measurements than traditional methods and without a need for post-processing. A mobile robot can collect higher-precision data than practically possible by a human and removes the technician from the radiation area. This is enabled by addressing complexities that previously made automation difficult including supervisory control, obstacle avoidance, sensor positioning over a large height range, recognizing environmental complexities (shielding, etc and modifying survey parameters based on aberrant readings. The developed solution uses a mobile platform with a height-adjustable (up to 2.44 meters) radiation detector. Recursive Bayesian Estimation (RBE) is used to update a probability distribution of the location and intensity of source(s) after each measurement. The likelihood function is determined using radiation transport and detector models. Isotopic identification via a gamma library search aids data analysis by distinguishing counts from different sources. Computation considerations are discussed including predicting and localizing multiple sources.},\\n\\tbooktitle = {2019 {IEEE} 15th {International} {Conference} on {Automation} {Science} and {Engineering} ({CASE})},\\n\\tauthor = {Anderson, Blake and Pryor, Mitch and Landsberger, Sheldon},\\n\\tmonth = aug,\\n\\tyear = {2019},\\n\\tnote = {ISSN: 2161-8089},\\n\\tkeywords = {Bayes methods, Detectors, Estimation, Hardware, Probability and Statistical Methods, Robot sensing systems, Robotics in Hazardous Fields, Uncertainty, abnormal radiation levels, automated method, collision avoidance, data analysis, detector models, environmental complexities, fixed search patterns, gamma library search, gamma-ray sources, height range, height-adjustable, higher-precision data, measurement locations, mobile platform, mobile robot, mobile robotic radiation surveying, mobile robots, nuclear facilities, probability, radiation area, radiation detection, radiation exposure, radiation transport, recursive Bayesian Estimation, recursive Bayesian estimation, remote response, search problems, supervisory control, survey parameters, wide-area surveys},\\n\\tpages = {1187--1192},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Anderson, B.\",\"Pryor, M.\",\"Landsberger, S.\"],\"key\":\"anderson_mobile_2019\",\"id\":\"anderson_mobile_2019\",\"bibbaseid\":\"anderson-pryor-landsberger-mobileroboticradiationsurveyingusingrecursivebayesianestimation-2019\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Bayes methods\",\"Detectors\",\"Estimation\",\"Hardware\",\"Probability and Statistical Methods\",\"Robot sensing systems\",\"Robotics in Hazardous Fields\",\"Uncertainty\",\"abnormal radiation levels\",\"automated method\",\"collision avoidance\",\"data analysis\",\"detector models\",\"environmental complexities\",\"fixed search patterns\",\"gamma library search\",\"gamma-ray sources\",\"height range\",\"height-adjustable\",\"higher-precision data\",\"measurement locations\",\"mobile platform\",\"mobile robot\",\"mobile robotic radiation surveying\",\"mobile robots\",\"nuclear facilities\",\"probability\",\"radiation area\",\"radiation detection\",\"radiation exposure\",\"radiation transport\",\"recursive Bayesian Estimation\",\"recursive Bayesian estimation\",\"remote response\",\"search problems\",\"supervisory control\",\"survey parameters\",\"wide-area surveys\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":10,\"html\":\"\"},{\"bibtype\":\"mastersthesis\",\"type\":\"mastersthesis\",\"title\":\"Development of an Elastic and Compliant Manipulator to Perform Contact Tasks in Hazardous and Uncertain Environments\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pettinger\"],\"firstnames\":[\"Adam\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2019\",\"bibtex\":\"@mastersthesis{pettinger_development_2019,\\n\\ttitle = {Development of an {Elastic} and {Compliant} {Manipulator} to {Perform} {Contact} {Tasks} in {Hazardous} and {Uncertain} {Environments}},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Pettinger, Adam},\\n\\tmonth = may,\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pettinger, A.\"],\"key\":\"pettinger_development_2019\",\"id\":\"pettinger_development_2019\",\"bibbaseid\":\"pettinger-developmentofanelasticandcompliantmanipulatortoperformcontacttasksinhazardousanduncertainenvironments-2019\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Development and Validation of a Scenario-Based Drilling Simulator for Training and Evaluating Human Factors\",\"volume\":\"50\",\"doi\":\"10.1109/THMS.2020.2969014\",\"number\":\"4\",\"journal\":\"EEE Transactions on Human-Machine Systems\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Chan\"],\"firstnames\":[\"Hong-Chih\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lee\"],\"firstnames\":[\"Melissa\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Saini\"],\"firstnames\":[\"Gurtej\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Van\",\"Oort\"],\"firstnames\":[\"Eric\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2020\",\"pages\":\"327–336\",\"bibtex\":\"@article{chan_development_2020,\\n\\ttitle = {Development and {Validation} of a {Scenario}-{Based} {Drilling} {Simulator} for {Training} and {Evaluating} {Human} {Factors}},\\n\\tvolume = {50},\\n\\tdoi = {10.1109/THMS.2020.2969014},\\n\\tnumber = {4},\\n\\tjournal = {EEE Transactions on Human-Machine Systems},\\n\\tauthor = {Chan, Hong-Chih and Lee, Melissa and Saini, Gurtej and Pryor, Mitch and Van Oort, Eric},\\n\\tmonth = aug,\\n\\tyear = {2020},\\n\\tpages = {327--336},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Chan, H.\",\"Lee, M.\",\"Saini, G.\",\"Pryor, M.\",\"Van Oort, E.\"],\"key\":\"chan_development_2020\",\"id\":\"chan_development_2020\",\"bibbaseid\":\"chan-lee-saini-pryor-vanoort-developmentandvalidationofascenariobaseddrillingsimulatorfortrainingandevaluatinghumanfactors-2020\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Unified Meaning Representation Format (UMRF) - A Task Description and Execution Formalism for HRI\",\"journal\":\"Transactions on Human Robot Interactions\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Valner\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Wanna\"],\"firstnames\":[\"Selma\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kruusamae\"],\"firstnames\":[\"Karl\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2020\",\"bibtex\":\"@article{valner_unified_2020,\\n\\ttitle = {Unified {Meaning} {Representation} {Format} ({UMRF}) - {A} {Task} {Description} and {Execution} {Formalism} for {HRI}},\\n\\tjournal = {Transactions on Human Robot Interactions},\\n\\tauthor = {Valner, Robert and Wanna, Selma and Pryor, Mitch and Kruusamae, Karl},\\n\\tmonth = oct,\\n\\tyear = {2020},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Valner, R.\",\"Wanna, S.\",\"Pryor, M.\",\"Kruusamae, K.\"],\"key\":\"valner_unified_2020\",\"id\":\"valner_unified_2020\",\"bibbaseid\":\"valner-wanna-pryor-kruusamae-unifiedmeaningrepresentationformatumrfataskdescriptionandexecutionformalismforhri-2020\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Operator training for preferred manipulator trajectories in a glovebox\",\"doi\":\"10.1109/ARSO.2017.8025193\",\"abstract\":\"We consider the problem of operator comfort levels with manipulator trajectories in heavily constrained, co-robotic environments. To reduce anxiety and improve user comfort, a trajectory learning system is trained using a set of specified environmental features associated with a waste sorting task. A Trajectory Preference Perceptron was used to learn desired operator feature weights via iterative suboptimal but improved trainer feedback thus relieving the operator of the burden of providing optimal feedback. The object feature weights are stored and updated to handle a fluid environmental scene. A pool of robotics students spanning a range of experience from novice undergraduates to doctoral candidates provided qualitative results to evaluate the method's effectiveness.\",\"booktitle\":\"2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sharp\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Horn\"],\"firstnames\":[\"Matthew\",\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2017\",\"note\":\"ISSN: 2162-7576\",\"keywords\":\"Collision avoidance, Grippers, Hardware, Manipulators, Training, Trajectory, anxiety reduction, control engineering education, data gloves, environmental features, feedback, fluid environmental scene, glovebox, heavily constrained corobotic environment, iterative learning control, iterative suboptimal, learning systems, manipulator trajectories, manipulators, operator comfort level, operator feature weights, operator training, optimal feedback, robotics students, suboptimal control, telerobotics, trainer feedback, training, trajectory control, trajectory learning system training, trajectory preference perceptron, user comfort, waste sorting task\",\"pages\":\"1–6\",\"bibtex\":\"@inproceedings{sharp_operator_2017,\\n\\ttitle = {Operator training for preferred manipulator trajectories in a glovebox},\\n\\tdoi = {10.1109/ARSO.2017.8025193},\\n\\tabstract = {We consider the problem of operator comfort levels with manipulator trajectories in heavily constrained, co-robotic environments. To reduce anxiety and improve user comfort, a trajectory learning system is trained using a set of specified environmental features associated with a waste sorting task. A Trajectory Preference Perceptron was used to learn desired operator feature weights via iterative suboptimal but improved trainer feedback thus relieving the operator of the burden of providing optimal feedback. The object feature weights are stored and updated to handle a fluid environmental scene. A pool of robotics students spanning a range of experience from novice undergraduates to doctoral candidates provided qualitative results to evaluate the method's effectiveness.},\\n\\tbooktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},\\n\\tauthor = {Sharp, Andrew and Horn, Matthew W. and Pryor, Mitch},\\n\\tmonth = mar,\\n\\tyear = {2017},\\n\\tnote = {ISSN: 2162-7576},\\n\\tkeywords = {Collision avoidance, Grippers, Hardware, Manipulators, Training, Trajectory, anxiety reduction, control engineering education, data gloves, environmental features, feedback, fluid environmental scene, glovebox, heavily constrained corobotic environment, iterative learning control, iterative suboptimal, learning systems, manipulator trajectories, manipulators, operator comfort level, operator feature weights, operator training, optimal feedback, robotics students, suboptimal control, telerobotics, trainer feedback, training, trajectory control, trajectory learning system training, trajectory preference perceptron, user comfort, waste sorting task},\\n\\tpages = {1--6},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Sharp, A.\",\"Horn, M. W.\",\"Pryor, M.\"],\"key\":\"sharp_operator_2017\",\"id\":\"sharp_operator_2017\",\"bibbaseid\":\"sharp-horn-pryor-operatortrainingforpreferredmanipulatortrajectoriesinaglovebox-2017\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Collision avoidance\",\"Grippers\",\"Hardware\",\"Manipulators\",\"Training\",\"Trajectory\",\"anxiety reduction\",\"control engineering education\",\"data gloves\",\"environmental features\",\"feedback\",\"fluid environmental scene\",\"glovebox\",\"heavily constrained corobotic environment\",\"iterative learning control\",\"iterative suboptimal\",\"learning systems\",\"manipulator trajectories\",\"manipulators\",\"operator comfort level\",\"operator feature weights\",\"operator training\",\"optimal feedback\",\"robotics students\",\"suboptimal control\",\"telerobotics\",\"trainer feedback\",\"training\",\"trajectory control\",\"trajectory learning system training\",\"trajectory preference perceptron\",\"user comfort\",\"waste sorting task\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":8,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Phoenix, AZ\",\"title\":\"TeMoto2: Source Agnostic Command-to-Task Architecture Enabling Increased Autonomy in Remote Systems\",\"url\":\"https://www.xcdsystem.com/wmsym/2018/015.html#18370\",\"booktitle\":\"Proceeding of the 2018 Waste Management Symposium\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Vunder\"],\"firstnames\":[\"Veiko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Valner\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kruusamäe\"],\"firstnames\":[\"Karl\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andy\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2018\",\"note\":\"Conference Superior Paper\",\"bibtex\":\"@inproceedings{vunder_temoto2_2018,\\n\\taddress = {Phoenix, AZ},\\n\\ttitle = {{TeMoto2}: {Source} {Agnostic} {Command}-to-{Task} {Architecture} {Enabling} {Increased} {Autonomy} in {Remote} {Systems}},\\n\\turl = {https://www.xcdsystem.com/wmsym/2018/015.html#18370},\\n\\tbooktitle = {Proceeding of the 2018 {Waste} {Management} {Symposium}},\\n\\tauthor = {Vunder, Veiko and Valner, Robert and Pryor, Mitch and Kruusamäe, Karl and Zelenak, Andy},\\n\\tmonth = mar,\\n\\tyear = {2018},\\n\\tnote = {Conference Superior Paper},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Vunder, V.\",\"Valner, R.\",\"Pryor, M.\",\"Kruusamäe, K.\",\"Zelenak, A.\"],\"key\":\"vunder_temoto2_2018\",\"id\":\"vunder_temoto2_2018\",\"bibbaseid\":\"vunder-valner-pryor-kruusame-zelenak-temoto2sourceagnosticcommandtotaskarchitectureenablingincreasedautonomyinremotesystems-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.xcdsystem.com/wmsym/2018/015.html#18370\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":15,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Phoenix, AZ\",\"title\":\"Self-navigating robotic assistant for long-term wide area floor contamination monitoring\",\"url\":\"https://www.xcdsystem.com/wmsym/2018/015.html#18370\",\"doi\":\"https://www.xcdsystem.com/wmsym/2018/126.html#18213\",\"booktitle\":\"Proceeding of the 2018 Waste Management Symposium\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pitsch\"],\"firstnames\":[\"Meredith\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Anderson\"],\"firstnames\":[\"Blake\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Dewey\"],\"firstnames\":[\"Zachary\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2018\",\"bibtex\":\"@inproceedings{pitsch_self-navigating_2018,\\n\\taddress = {Phoenix, AZ},\\n\\ttitle = {Self-navigating robotic assistant for long-term wide area floor contamination monitoring},\\n\\turl = {https://www.xcdsystem.com/wmsym/2018/015.html#18370},\\n\\tdoi = {https://www.xcdsystem.com/wmsym/2018/126.html#18213},\\n\\tbooktitle = {Proceeding of the 2018 {Waste} {Management} {Symposium}},\\n\\tauthor = {Pitsch, Meredith and Anderson, Blake and Dewey, Zachary and Pryor, Mitch},\\n\\tmonth = mar,\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pitsch, M.\",\"Anderson, B.\",\"Dewey, Z.\",\"Pryor, M.\"],\"key\":\"pitsch_self-navigating_2018\",\"id\":\"pitsch_self-navigating_2018\",\"bibbaseid\":\"pitsch-anderson-dewey-pryor-selfnavigatingroboticassistantforlongtermwideareafloorcontaminationmonitoring-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.xcdsystem.com/wmsym/2018/015.html#18370\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":26,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Galveston, TX\",\"title\":\"Dual-arm manipulation using TeMoto interface utilized for remote completion of tasks in hazardous environments\",\"url\":\"https://www.sprintrobotics.org/list-of-conference-presentations/\",\"publisher\":\"Sprint Robotics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Barnes\"],\"firstnames\":[\"Allison\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Potapinski\"],\"firstnames\":[\"Russell\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2018\",\"bibtex\":\"@inproceedings{zelenak_dual-arm_2018,\\n\\taddress = {Galveston, TX},\\n\\ttitle = {Dual-arm manipulation using {TeMoto} interface utilized for remote completion of tasks in hazardous environments},\\n\\turl = {https://www.sprintrobotics.org/list-of-conference-presentations/},\\n\\tpublisher = {Sprint Robotics},\\n\\tauthor = {Zelenak, Andy and Pryor, Mitch and Barnes, Allison and Potapinski, Russell},\\n\\tmonth = nov,\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Zelenak, A.\",\"Pryor, M.\",\"Barnes, A.\",\"Potapinski, R.\"],\"key\":\"zelenak_dual-arm_2018\",\"id\":\"zelenak_dual-arm_2018\",\"bibbaseid\":\"zelenak-pryor-barnes-potapinski-dualarmmanipulationusingtemotointerfaceutilizedforremotecompletionoftasksinhazardousenvironments-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sprintrobotics.org/list-of-conference-presentations/\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":16,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Galveston, TX\",\"title\":\"Autonomous mobile sensor survey system for uncertain, changing environments\",\"url\":\"https://www.sprintrobotics.org/list-of-conference-presentations/\",\"publisher\":\"Sprint Robotics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pitsch\"],\"firstnames\":[\"Meredith\"],\"suffixes\":[]},{\"propositions\":[\"von\"],\"lastnames\":[\"Sternberg\"],\"firstnames\":[\"Alex\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2018\",\"bibtex\":\"@inproceedings{pitsch_autonomous_2018,\\n\\taddress = {Galveston, TX},\\n\\ttitle = {Autonomous mobile sensor survey system for uncertain, changing environments},\\n\\turl = {https://www.sprintrobotics.org/list-of-conference-presentations/},\\n\\tpublisher = {Sprint Robotics},\\n\\tauthor = {Pitsch, Meredith and von Sternberg, Alex and Pryor, Mitch},\\n\\tmonth = nov,\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pitsch, M.\",\"von Sternberg, A.\",\"Pryor, M.\"],\"key\":\"pitsch_autonomous_2018\",\"id\":\"pitsch_autonomous_2018\",\"bibbaseid\":\"pitsch-vonsternberg-pryor-autonomousmobilesensorsurveysystemforuncertainchangingenvironments-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.sprintrobotics.org/list-of-conference-presentations/\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":15,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Obstacle Persistent Adaptive Map Maintenance for Autonomous Mobile Robots using Spatio-temporal Reasoning\",\"doi\":\"10.1109/COASE.2019.8843095\",\"abstract\":\"Mobile robotic systems operate in increasingly realistic scenarios even as users have increased expectations for the duration of autonomous tasks. Mobile robots face unique challenges when operating in environments that change over time, where systems must maintain an accurate representation of the environment with respect to both spatial and temporal dimensions. This paper describes a spatio-temporal technique for extending the autonomy of a mobile robot in a changing environment. This new technique called Obstacle Persistent Adaptive Map Maintenance (OPAMM) uses navigation data collected during normal operations to perform periodic self-maintenance of its environment model. OPAMM implements a probabilistic feature persistence model to predict the survival state of obstacles and update the world model. Maintaining an accurate world model is necessary for extending the long-term autonomy of robots in realistic scenarios. Results show that robots using OPAMM had localizations scores higher than other methods, thus reducing long-term localization degradation.\",\"booktitle\":\"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pitsch\"],\"firstnames\":[\"Meredith\",\"L.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitchell\",\"W.\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2019\",\"note\":\"ISSN: 2161-8089\",\"keywords\":\"Automation, Computer aided software engineering, Conferences, OPAMM, autonomous mobile robots, autonomous tasks, changing environment, environment model, long-term localization degradation, mobile robotic systems, mobile robots, obstacle persistent adaptive map maintenance, periodic self-maintenance, probabilistic feature persistence model, spatial dimensions, spatio-temporal reasoning, spatio-temporal technique, temporal dimensions, temporal reasoning\",\"pages\":\"1023–1028\",\"bibtex\":\"@inproceedings{pitsch_obstacle_2019,\\n\\ttitle = {Obstacle {Persistent} {Adaptive} {Map} {Maintenance} for {Autonomous} {Mobile} {Robots} using {Spatio}-temporal {Reasoning}},\\n\\tdoi = {10.1109/COASE.2019.8843095},\\n\\tabstract = {Mobile robotic systems operate in increasingly realistic scenarios even as users have increased expectations for the duration of autonomous tasks. Mobile robots face unique challenges when operating in environments that change over time, where systems must maintain an accurate representation of the environment with respect to both spatial and temporal dimensions. This paper describes a spatio-temporal technique for extending the autonomy of a mobile robot in a changing environment. This new technique called Obstacle Persistent Adaptive Map Maintenance (OPAMM) uses navigation data collected during normal operations to perform periodic self-maintenance of its environment model. OPAMM implements a probabilistic feature persistence model to predict the survival state of obstacles and update the world model. Maintaining an accurate world model is necessary for extending the long-term autonomy of robots in realistic scenarios. Results show that robots using OPAMM had localizations scores higher than other methods, thus reducing long-term localization degradation.},\\n\\tbooktitle = {2019 {IEEE} 15th {International} {Conference} on {Automation} {Science} and {Engineering} ({CASE})},\\n\\tauthor = {Pitsch, Meredith L. and Pryor, Mitchell W.},\\n\\tmonth = aug,\\n\\tyear = {2019},\\n\\tnote = {ISSN: 2161-8089},\\n\\tkeywords = {Automation, Computer aided software engineering, Conferences, OPAMM, autonomous mobile robots, autonomous tasks, changing environment, environment model, long-term localization degradation, mobile robotic systems, mobile robots, obstacle persistent adaptive map maintenance, periodic self-maintenance, probabilistic feature persistence model, spatial dimensions, spatio-temporal reasoning, spatio-temporal technique, temporal dimensions, temporal reasoning},\\n\\tpages = {1023--1028},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pitsch, M. L.\",\"Pryor, M. W.\"],\"key\":\"pitsch_obstacle_2019\",\"id\":\"pitsch_obstacle_2019\",\"bibbaseid\":\"pitsch-pryor-obstaclepersistentadaptivemapmaintenanceforautonomousmobilerobotsusingspatiotemporalreasoning-2019\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Automation\",\"Computer aided software engineering\",\"Conferences\",\"OPAMM\",\"autonomous mobile robots\",\"autonomous tasks\",\"changing environment\",\"environment model\",\"long-term localization degradation\",\"mobile robotic systems\",\"mobile robots\",\"obstacle persistent adaptive map maintenance\",\"periodic self-maintenance\",\"probabilistic feature persistence model\",\"spatial dimensions\",\"spatio-temporal reasoning\",\"spatio-temporal technique\",\"temporal dimensions\",\"temporal reasoning\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":9,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Perception pipeline for remote tunnel inspection rover\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/78529\",\"abstract\":\"Architectural structures require routine structural inspections, and these checks are increasingly performed by remote robotic systems. Inspections often meet all of the traditional \\\"three D's\\\" of robotics - Dull, Dirty, and Dangerous - and may be highly suited to automation. Underground tunnel systems present a particularly important opportunity for robots because these systems may have environmental hazards which make human deployment untenable. Unfortunately, tunnels are also a challenging environment for robots because they feature high self-similarity which makes localization along the tunnel axis difficult, in particular for cases where rough terrain renders odometry information unreliable. Here a platform-agnostic pipeline is presented for tunnel mapping and inspection. This system features tools to automatically segment the various concrete surfaces of the tunnel and individually analyze them for damage. A novel feature-based registration routine is also presented to overcome the localization challenges inherent in tunnels. The pipeline was validated using a LiDAR-based sensor tree and its performance in terms of registration and depth mapping accuracy was extensively tested. The registration methods utilized here do not depend on odometry or the use of registration targets and were shown to outperform contemporary approaches which are standard in industry.\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"McMahon\"],\"firstnames\":[\"Conor\",\"Alexander\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2019\",\"doi\":\"http://dx.doi.org/10.26153/tsw/5585\",\"note\":\"Accepted: 2019-11-21T16:49:02Z\",\"bibtex\":\"@phdthesis{mcmahon_perception_2019,\\n\\ttype = {Thesis},\\n\\ttitle = {Perception pipeline for remote tunnel inspection rover},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/78529},\\n\\tabstract = {Architectural structures require routine structural inspections, and these checks are increasingly performed by remote robotic systems. Inspections often meet all of the traditional \\\"three D's\\\" of robotics - Dull, Dirty, and Dangerous - and may be highly suited to automation. Underground tunnel systems present a particularly important opportunity for robots because these systems may have environmental hazards which make human deployment untenable. Unfortunately, tunnels are also a challenging environment for robots because they feature high self-similarity which makes localization along the tunnel axis difficult, in particular for cases where rough terrain renders odometry information unreliable. \\n \\nHere a platform-agnostic pipeline is presented for tunnel mapping and inspection. This system features tools to automatically segment the various concrete surfaces of the tunnel and individually analyze them for damage. A novel feature-based registration routine is also presented to overcome the localization challenges inherent in tunnels. The pipeline was validated using a LiDAR-based sensor tree and its performance in terms of registration and depth mapping accuracy was extensively tested. The registration methods utilized here do not depend on odometry or the use of registration targets and were shown to outperform contemporary approaches which are standard in industry.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tauthor = {McMahon, Conor Alexander},\\n\\tmonth = may,\\n\\tyear = {2019},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/5585},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/5585},\\n\\tnote = {Accepted: 2019-11-21T16:49:02Z},\\n}\\n\\n\\n\\n\",\"author_short\":[\"McMahon, C. A.\"],\"key\":\"mcmahon_perception_2019\",\"id\":\"mcmahon_perception_2019\",\"bibbaseid\":\"mcmahon-perceptionpipelineforremotetunnelinspectionrover-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/78529\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":26,\"html\":\"\"},{\"bibtype\":\"misc\",\"type\":\"Invited Talk\",\"address\":\"Austin, TX\",\"title\":\"Improving the strength of additively manufactured concrete structures via intra and inter-layer fiber reinforcement\",\"abstract\":\"Additive manufacturing of concrete structures (via an extrusion-based process) enables the construction of structures with more complex geometries than a traditional (casting) process would allow. Engineers and designers can take advantage of this possibility to design structures with more appealing aesthetics or better optimized for strength, thermal insulation and other desired properties while minimizing material use and weight. However, this process poses a number of challenges due to layering effects. One such challenge is the compromise in strength of structures due to insufficient reinforcement and inter-layer adhesion. This research seeks to minimize this effect by exploring the use of fibers as inclusions in the concrete mix and as reinforcement between layers. Reinforced walls are tested using a four-point bending test and the results show a significant increase in strength compared to walls without reinforcement.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Oridate\"],\"firstnames\":[\"Ademola\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Uitz\"],\"firstnames\":[\"Oliver\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Aleem\"],\"firstnames\":[\"Ali\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Seepersad\"],\"firstnames\":[\"Carolyn\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Clayton\"],\"firstnames\":[\"Patricia\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2019\",\"bibtex\":\"@misc{oridate_improving_2019,\\n\\taddress = {Austin, TX},\\n\\ttype = {Invited {Talk}},\\n\\ttitle = {Improving the strength of additively manufactured concrete structures via intra and inter-layer fiber reinforcement},\\n\\tabstract = {Additive manufacturing of concrete structures (via an extrusion-based process) enables the construction of structures with more complex geometries than a traditional (casting) process would allow. Engineers and designers can take advantage of this possibility to design structures with more appealing aesthetics or better optimized for strength, thermal insulation and other desired properties while minimizing material use and weight. However, this process poses a number of challenges due to layering effects. One such challenge is the compromise in strength of structures due to insufficient reinforcement and inter-layer adhesion. This research seeks to minimize this effect by exploring the use of fibers as inclusions in the concrete mix and as reinforcement between layers. Reinforced walls are tested using a four-point bending test and the results show a significant increase in strength compared to walls without reinforcement.},\\n\\tauthor = {Oridate, Ademola and Uitz, Oliver and Aleem, Ali and Seepersad, Carolyn and Pryor, Mitch and Clayton, Patricia},\\n\\tmonth = aug,\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Oridate, A.\",\"Uitz, O.\",\"Aleem, A.\",\"Seepersad, C.\",\"Pryor, M.\",\"Clayton, P.\"],\"key\":\"oridate_improving_2019\",\"id\":\"oridate_improving_2019\",\"bibbaseid\":\"oridate-uitz-aleem-seepersad-pryor-clayton-improvingthestrengthofadditivelymanufacturedconcretestructuresviaintraandinterlayerfiberreinforcement-2019\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"misc\",\"type\":\"Presentation\",\"address\":\"Detroit, MI\",\"title\":\"Add new SAE title\",\"abstract\":\"Add abstract here\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2020\",\"bibtex\":\"@misc{pryor_add_2020,\\n\\taddress = {Detroit, MI},\\n\\ttype = {Presentation},\\n\\ttitle = {Add new {SAE} title},\\n\\tabstract = {Add abstract here},\\n\\tauthor = {Pryor, Mitch},\\n\\tmonth = jun,\\n\\tyear = {2020},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pryor, M.\"],\"key\":\"pryor_add_2020\",\"id\":\"pryor_add_2020\",\"bibbaseid\":\"pryor-addnewsaetitle-2020\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"misc\",\"type\":\"Poster\",\"address\":\"Seattle, WA\",\"title\":\"Sensor fusion for autonomous remote inventory validation\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Anderson\"],\"firstnames\":[\"Blake\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Allevato\"],\"firstnames\":[\"Adam\"],\"suffixes\":[]},{\"propositions\":[\"von\"],\"lastnames\":[\"Sternberg\"],\"firstnames\":[\"Alex\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Thompson\"],\"firstnames\":[\"Jack\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2015\",\"bibtex\":\"@misc{anderson_sensor_2015,\\n\\taddress = {Seattle, WA},\\n\\ttype = {Poster},\\n\\ttitle = {Sensor fusion for autonomous remote inventory validation},\\n\\tauthor = {Anderson, Blake and Allevato, Adam and von Sternberg, Alex and Thompson, Jack and Pryor, Mitch},\\n\\tmonth = may,\\n\\tyear = {2015},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Anderson, B.\",\"Allevato, A.\",\"von Sternberg, A.\",\"Thompson, J.\",\"Pryor, M.\"],\"key\":\"anderson_sensor_2015\",\"id\":\"anderson_sensor_2015\",\"bibbaseid\":\"anderson-allevato-vonsternberg-thompson-pryor-sensorfusionforautonomousremoteinventoryvalidation-2015\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"misc\",\"type\":\"Invited Talk\",\"address\":\"Austin, TX\",\"title\":\"Robotics: Transformational Tools for Industry, Mobility, and More\",\"url\":\"https://www.austinforum.org/events.html\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Jared\"],\"firstnames\":[\"Carl\"],\"suffixes\":[]}],\"month\":\"July\",\"year\":\"2019\",\"bibtex\":\"@misc{pryor_robotics_2019,\\n\\taddress = {Austin, TX},\\n\\ttype = {Invited {Talk}},\\n\\ttitle = {Robotics: {Transformational} {Tools} for {Industry}, {Mobility}, and {More}},\\n\\turl = {https://www.austinforum.org/events.html},\\n\\tauthor = {Pryor, Mitch and Jared, Carl},\\n\\tmonth = jul,\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pryor, M.\",\"Jared, C.\"],\"key\":\"pryor_robotics_2019\",\"id\":\"pryor_robotics_2019\",\"bibbaseid\":\"pryor-jared-roboticstransformationaltoolsforindustrymobilityandmore-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.austinforum.org/events.html\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":15,\"html\":\"\"},{\"bibtype\":\"misc\",\"type\":\"Poster\",\"address\":\"Freiburg, Germay\",\"title\":\"Learning A Human-Centered Representation of Robot Affordance Models\",\"url\":\"https://sites.google.com/view/rss19-learning-and-reasoning\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Allevato\"],\"firstnames\":[\"Adam\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Short\"],\"firstnames\":[\"Elaine\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Thomaz\"],\"firstnames\":[\"Andrea\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2019\",\"bibtex\":\"@misc{allevato_learning_2019,\\n\\taddress = {Freiburg, Germay},\\n\\ttype = {Poster},\\n\\ttitle = {Learning {A} {Human}-{Centered} {Representation} of {Robot} {Affordance} {Models}},\\n\\turl = {https://sites.google.com/view/rss19-learning-and-reasoning},\\n\\tauthor = {Allevato, Adam and Short, Elaine and Pryor, Mitch and Thomaz, Andrea},\\n\\tmonth = jun,\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Allevato, A.\",\"Short, E.\",\"Pryor, M.\",\"Thomaz, A.\"],\"key\":\"allevato_learning_2019\",\"id\":\"allevato_learning_2019\",\"bibbaseid\":\"allevato-short-pryor-thomaz-learningahumancenteredrepresentationofrobotaffordancemodels-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://sites.google.com/view/rss19-learning-and-reasoning\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":16,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Semiautonomous dual-arm mobile manipulator system with intuitive supervisory user interfaces\",\"copyright\":\"All rights reserved\",\"doi\":\"10.1109/ARSO.2017.8025195\",\"abstract\":\"This paper presents the VaultBot dual-arm mobile manipulator and its integration with Robot Operating System, MoveIt!, and RViz, and thus demonstrate how two chronic issues with similar systems were addressed: overly complex integration and user control. Multiple levels of semi-autonomous control were developed for the base, manipulator(s), and coordinated motions involving both. Lower levels of autonomy are always available to increase operator comfort. In order to combat cognitive load increases from context switching the control methods take a human-centered approach by automatically adjusting perspective to keep tasks visualized relative to the operator. Sensor data is fused into a single window alongside the current robot state. These approaches are considered highly intuitive and can be used as effectively as socially well-established mouse-based interactive markers for teleoperation in even high-precision tasks.\",\"booktitle\":\"2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sharp\"],\"firstnames\":[\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kruusamäe\"],\"firstnames\":[\"K.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ebersole\"],\"firstnames\":[\"B.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"M.\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2017\",\"keywords\":\"Hardware, Levels of autonomy, Manipulators, Mobile communication, MoveIt!, ROS, ROS-I, RViz, Robot kinematics, Robot sensing systems, Service robots, VaultBot dual-arm mobile manipulator, high-precision, human-centered approach, human-robot interaction, industrial manipulators, intuitive supervisory user interfaces, manipulators, mobile robots, motion coordination, mouse-based interactive markers, overly complex integration, robot operating system, robot programming, scalable, semi-autonomous behavoirs, semiautonomous dual-arm mobile manipulator system, sensor data fusion, sensor fusion, teleoperation, telerobotics, user control, user interfaces\",\"pages\":\"1–6\",\"bibtex\":\"@inproceedings{sharp_semiautonomous_2017,\\n\\ttitle = {Semiautonomous dual-arm mobile manipulator system with intuitive supervisory user interfaces},\\n\\tcopyright = {All rights reserved},\\n\\tdoi = {10.1109/ARSO.2017.8025195},\\n\\tabstract = {This paper presents the VaultBot dual-arm mobile manipulator and its integration with Robot Operating System, MoveIt!, and RViz, and thus demonstrate how two chronic issues with similar systems were addressed: overly complex integration and user control. Multiple levels of semi-autonomous control were developed for the base, manipulator(s), and coordinated motions involving both. Lower levels of autonomy are always available to increase operator comfort. In order to combat cognitive load increases from context switching the control methods take a human-centered approach by automatically adjusting perspective to keep tasks visualized relative to the operator. Sensor data is fused into a single window alongside the current robot state. These approaches are considered highly intuitive and can be used as effectively as socially well-established mouse-based interactive markers for teleoperation in even high-precision tasks.},\\n\\tbooktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},\\n\\tauthor = {Sharp, A. and Kruusamäe, K. and Ebersole, B. and Pryor, M.},\\n\\tmonth = mar,\\n\\tyear = {2017},\\n\\tkeywords = {Hardware, Levels of autonomy, Manipulators, Mobile communication, MoveIt!, ROS, ROS-I, RViz, Robot kinematics, Robot sensing systems, Service robots, VaultBot dual-arm mobile manipulator, high-precision, human-centered approach, human-robot interaction, industrial manipulators, intuitive supervisory user interfaces, manipulators, mobile robots, motion coordination, mouse-based interactive markers, overly complex integration, robot operating system, robot programming, scalable, semi-autonomous behavoirs, semiautonomous dual-arm mobile manipulator system, sensor data fusion, sensor fusion, teleoperation, telerobotics, user control, user interfaces},\\n\\tpages = {1--6},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Sharp, A.\",\"Kruusamäe, K.\",\"Ebersole, B.\",\"Pryor, M.\"],\"key\":\"sharp_semiautonomous_2017\",\"id\":\"sharp_semiautonomous_2017\",\"bibbaseid\":\"sharp-kruusame-ebersole-pryor-semiautonomousdualarmmobilemanipulatorsystemwithintuitivesupervisoryuserinterfaces-2017\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Hardware\",\"Levels of autonomy\",\"Manipulators\",\"Mobile communication\",\"MoveIt!\",\"ROS\",\"ROS-I\",\"RViz\",\"Robot kinematics\",\"Robot sensing systems\",\"Service robots\",\"VaultBot dual-arm mobile manipulator\",\"high-precision\",\"human-centered approach\",\"human-robot interaction\",\"industrial manipulators\",\"intuitive supervisory user interfaces\",\"manipulators\",\"mobile robots\",\"motion coordination\",\"mouse-based interactive markers\",\"overly complex integration\",\"robot operating system\",\"robot programming\",\"scalable\",\"semi-autonomous behavoirs\",\"semiautonomous dual-arm mobile manipulator system\",\"sensor data fusion\",\"sensor fusion\",\"teleoperation\",\"telerobotics\",\"user control\",\"user interfaces\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":9,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Pittsburgh, PA\",\"title\":\"Demonstrating autonomous and robust sorting in a glovebox environment\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hashem\"],\"firstnames\":[\"Joseph\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2016\",\"bibtex\":\"@inproceedings{hashem_demonstrating_2016,\\n\\taddress = {Pittsburgh, PA},\\n\\ttitle = {Demonstrating autonomous and robust sorting in a glovebox environment},\\n\\tpublisher = {ANS},\\n\\tauthor = {Hashem, Joseph and Landsberger, Sheldon and Pryor, Mitch},\\n\\tmonth = aug,\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hashem, J.\",\"Landsberger, S.\",\"Pryor, M.\"],\"key\":\"hashem_demonstrating_2016\",\"id\":\"hashem_demonstrating_2016\",\"bibbaseid\":\"hashem-landsberger-pryor-demonstratingautonomousandrobustsortinginagloveboxenvironment-2016\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Complex task completion with redundant serial manipulators\",\"copyright\":\"Copyright is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.\",\"language\":\"eng\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitchell\",\"Wayne\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"1999\",\"bibtex\":\"@phdthesis{pryor_complex_1999,\\n\\ttype = {Thesis},\\n\\ttitle = {Complex task completion with redundant serial manipulators},\\n\\tcopyright = {Copyright is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.},\\n\\tlanguage = {eng},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Pryor, Mitchell Wayne},\\n\\tmonth = dec,\\n\\tyear = {1999},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pryor, M. W.\"],\"key\":\"pryor_complex_1999\",\"id\":\"pryor_complex_1999\",\"bibbaseid\":\"pryor-complextaskcompletionwithredundantserialmanipulators-1999\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"Task-based resource allocation for improving the reusability of redundant manipulators\",\"copyright\":\"Copyright is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/11118\",\"abstract\":\"Because of its increased range of resources, a redundant/reconfigurable robot has the potential to be deployed for a variety of applications saving time and money. This work provides decision tools which increase the utility of deployed manipulators by operating them intuitively and economically in terms of a broader set of tasks while maximizing performance. System utility is expanded by developing a general decision making strategy that decreases the burden on operators who have little or no robotics expertise yet must operate the system. This utility function is a Redundancy Resolution Strategy. (RRS) The RRS uses a generalized, parametric system manipulator model and a large set of criteria to compare the capabilities of the infinite number of joint configurations available. The RRS then selects and prioritizes a subset of criteria that are appropriate in a given situation by evaluating critical boundaries associated with manipulator constraints and/or task description. The RRS is paired with a Redundancy Resolution Technique (RRT) which determines, in real- vii time, the best configuration in terms of the selected criteria. Together, the criteria and these components are the Decision Making System (DMS). Most DMS components have received attention at the University of Texas and elsewhere, but the RRS and component integration has been largely dismissed as implementation detail. This ‘detail’ is largely responsible for the lack of success in deploying redundant/reconfigurable systems. If the advantages of these systems are to be realized, we must apply physically meaningful criteria to determine the best allocation of redundant resources by creating a procedure to select a subset of appropriate criteria. The selected criteria must improve performance so that a larger number of tasks are possible. The burden on the operator, task completion time, and time required to prepare for a new task all must be reduced. The life of the manipulator is also increased by using resources efficiently. By managing resource allocation correctly, the RRS can also remove the need for intervention by an expensive ‘robotics expert.’ The selected RRT, reviewed performance criteria, and proposed RRS are implemented using existing operational software and used to complete several complex simulated tasks.\",\"language\":\"eng\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitchell\",\"Wayne\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2002\",\"note\":\"Accepted: 2011-05-05T19:36:07Z Artwork Medium: electronic Interview Medium: electronic\",\"bibtex\":\"@phdthesis{pryor_task-based_2002,\\n\\ttype = {Dissertation},\\n\\ttitle = {Task-based resource allocation for improving the reusability of redundant manipulators},\\n\\tcopyright = {Copyright is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/11118},\\n\\tabstract = {Because of its increased range of resources, a redundant/reconfigurable \\nrobot has the potential to be deployed for a variety of applications saving time and \\nmoney. This work provides decision tools which increase the utility of deployed \\nmanipulators by operating them intuitively and economically in terms of a \\nbroader set of tasks while maximizing performance. System utility is expanded \\nby developing a general decision making strategy that decreases the burden on \\noperators who have little or no robotics expertise yet must operate the system. \\nThis utility function is a Redundancy Resolution Strategy. (RRS) \\nThe RRS uses a generalized, parametric system manipulator model and a \\nlarge set of criteria to compare the capabilities of the infinite number of joint \\nconfigurations available. The RRS then selects and prioritizes a subset of criteria \\nthat are appropriate in a given situation by evaluating critical boundaries \\nassociated with manipulator constraints and/or task description. The RRS is \\npaired with a Redundancy Resolution Technique (RRT) which determines, in real- \\n vii \\ntime, the best configuration in terms of the selected criteria. Together, the criteria \\nand these components are the Decision Making System (DMS). \\nMost DMS components have received attention at the University of Texas \\nand elsewhere, but the RRS and component integration has been largely dismissed \\nas implementation detail. This ‘detail’ is largely responsible for the lack of \\nsuccess in deploying redundant/reconfigurable systems. If the advantages of \\nthese systems are to be realized, we must apply physically meaningful criteria to \\ndetermine the best allocation of redundant resources by creating a procedure to \\nselect a subset of appropriate criteria. The selected criteria must improve \\nperformance so that a larger number of tasks are possible. The burden on the \\noperator, task completion time, and time required to prepare for a new task all \\nmust be reduced. The life of the manipulator is also increased by using resources \\nefficiently. By managing resource allocation correctly, the RRS can also remove \\nthe need for intervention by an expensive ‘robotics expert.’ The selected RRT, \\nreviewed performance criteria, and proposed RRS are implemented using existing \\noperational software and used to complete several complex simulated tasks.},\\n\\tlanguage = {eng},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Pryor, Mitchell Wayne},\\n\\tmonth = may,\\n\\tyear = {2002},\\n\\tnote = {Accepted: 2011-05-05T19:36:07Z\\nArtwork Medium: electronic\\nInterview Medium: electronic},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pryor, M. W.\"],\"key\":\"pryor_task-based_2002\",\"id\":\"pryor_task-based_2002\",\"bibbaseid\":\"pryor-taskbasedresourceallocationforimprovingthereusabilityofredundantmanipulators-2002\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/11118\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Criteria based evaluation of stopping trajectories in serial manipulators\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2009-12-397\",\"abstract\":\"In the past few years, there has been a large push towards adapting traditional industrial manipulators to other, more consumer-centric applications [1]. These include not only house and elderly care, but also towards medical applications that manipulators may be especially suited for, such as rehabilitation of patients who have suffered neurological trauma [2]. Impeding this push are the strict safety requirements necessary to certify a manipulator for use. These requirements include low speed operation and preventing humans from entering the manipulator workspace [3]. These restrictions effectively prevent a manipulator from being used in many of these applications. Previous work done in manipulator safety research has focused on improving the system’s knowledge of its environment and controlling the manipulator’s motion to keep away from potential hazards. These methods are extremely important in terms of avoiding potential collisions but provide little insight into the situation that occurs once a hazard occurs and the manipulator is forced to react. In order to improve upon the ability to evaluate a manipulator’s overall safety, this report establishes a framework to evaluate the capacity of a manipulator to safely “halt” itself. Two sets of criteria are presented in this report. The first set seeks to quantify both the potential of the manipulator to avoid a collision during the stopping motion and the potential severity of the collision. The second set of criteria quantifies the effect of the stopping motion at the actuator level, allowing the operator to identify potential hardware faults and the capacity to which the actuators are performing. A framework for mapping the manipulator’s actuator parameters for the gear reduction ratio and the motor torque to the potential safety criteria performance is formulated to allow the manipulator designer to match task requirements to the manipulator design. Finally, an examination of the effects on operating parameters such as manipulator configuration, end-effector load, and operating speed is presented with a 6DOF industrial manipulator. This analysis showed that the operating speed of the manipulator is the most important determinant of the safety performance, with the distance traveled by the manipulator increasing by a factor of 15 for all configurations when the speed is increased only by a factor of four. Recommendations for the application of these criteria are presented to the reader as well.\",\"language\":\"eng\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Steinfeld\"],\"firstnames\":[\"Bryan\",\"Christopher\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2009\",\"note\":\"(reader)\",\"bibtex\":\"@phdthesis{steinfeld_criteria_2009,\\n\\ttype = {Thesis},\\n\\ttitle = {Criteria based evaluation of stopping trajectories in serial manipulators},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2009-12-397},\\n\\tabstract = {In the past few years, there has been a large push towards adapting traditional industrial manipulators to other, more consumer-centric applications [1]. These include not only house and elderly care, but also towards medical applications that manipulators may be especially suited for, such as rehabilitation of patients who have suffered neurological trauma [2]. Impeding this push are the strict safety requirements necessary to certify a manipulator for use. These requirements include low speed operation and preventing humans from entering the manipulator workspace [3]. These restrictions effectively prevent a manipulator from being used in many of these applications. Previous work done in manipulator safety research has focused on improving the system’s knowledge of its environment and controlling the manipulator’s motion to keep away from potential hazards. These methods are extremely important in terms of avoiding potential collisions but provide little insight into the situation that occurs once a hazard occurs and the manipulator is forced to react. In order to improve upon the ability to evaluate a manipulator’s overall safety, this report establishes a framework to evaluate the capacity of a manipulator to safely “halt” itself. Two sets of criteria are presented in this report. The first set seeks to\\nquantify both the potential of the manipulator to avoid a collision during the stopping motion and the potential severity of the collision. The second set of criteria quantifies the effect of the stopping motion at the actuator level, allowing the operator to identify potential hardware faults and the capacity to which the actuators are performing. A framework for mapping the manipulator’s actuator parameters for the gear reduction ratio and the motor torque to the potential safety criteria performance is formulated to allow the manipulator designer to match task requirements to the manipulator design. Finally, an examination of the effects on operating parameters such as manipulator configuration, end-effector load, and operating speed is presented with a 6DOF industrial manipulator. This analysis showed that the operating speed of the manipulator is the most important determinant of the safety performance, with the distance traveled by the manipulator increasing by a factor of 15 for all configurations when the speed is increased only by a factor of four. Recommendations for the application of these criteria are presented to the reader as well.},\\n\\tlanguage = {eng},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Steinfeld, Bryan Christopher},\\n\\tmonth = dec,\\n\\tyear = {2009},\\n\\tnote = {(reader)},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Steinfeld, B. C.\"],\"key\":\"steinfeld_criteria_2009\",\"id\":\"steinfeld_criteria_2009\",\"bibbaseid\":\"steinfeld-criteriabasedevaluationofstoppingtrajectoriesinserialmanipulators-2009\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2009-12-397\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Case-based drilling curricula using integrated HIL simulator and remote collaboration center\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/44625\",\"abstract\":\"The university educational system has raised many concerns in recent years regarding the effectiveness of its curricula and implementation. The focus on course-based training in engineering programs does not provide students sufficient opportunities to apply the attained knowledge and skills to demonstrate their competency. To address this deficiency of academia, industry spends millions of dollars building development programs and on-the-job training. This creates an opportunity for the universities to address this deficiency and increase their students’ marketability, while also addressing problem solving in their curricula. Inspired by a successful program developed and offered at Harvard Business School, the advantages and disadvantages of the case-based method was investigated. It was concluded that the students can benefit the most from a combination of existing educational and case-based curricula elements. Further research expressed the engineering students’ interest and positive feedbacks towards utilization of this method supported by statistical analysis. The aviation industry experienced a great training cost reduction and eliminated the on-the-training accidents after adopting simulators to train their workforce. This encouraged the Drilling & Automation team at University of Texas at Austin to develop the existing surface simulator further and utilize it as a tool to train the next generation of engineers to carry out the appropriate performance at the time of failure and emergencies. By considering various effective skills development methods such as Triadic method and Kolb’s Four-Stage Learning Cycle, ten case-based laboratories were designed and proposed. These open-ended student-led laboratories provide the opportunity for students to experience life-like challenges associated with drilling operations using a realistic up-to-date virtual drilling simulator. Students are divided in teams and assigned to different roles (drilling engineer, remote supervising engineer, etc.) where they are required to make decisions and communicate with one another. This creates a realistic work environment where depending on difficulty of each case, different amounts of stress are experienced. To implement the proposed laboratories, down-hole physics models were identified and developed. These mathematical models were then simulated in MATLAB programing language and integrated with one another to form the down-hole simulator. An Application Program Interface, API, was developed to access the surface simulator data and to connect the surface and the down-hole simulators. The integrated developed simulator has potential for future research including automated rig design.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hoss\"],\"firstnames\":[\"Ashton\",\"Ashkan\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2016\",\"bibtex\":\"@phdthesis{hoss_case-based_2016,\\n\\ttype = {Thesis},\\n\\ttitle = {Case-based drilling curricula using integrated {HIL} simulator and remote collaboration center},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/44625},\\n\\tabstract = {The university educational system has raised many concerns in recent years regarding the effectiveness of its curricula and implementation. The focus on course-based training in engineering programs does not provide students sufficient opportunities to apply the attained knowledge and skills to demonstrate their competency. To address this deficiency of academia, industry spends millions of dollars building development programs and on-the-job training. This creates an opportunity for the universities to address this deficiency and increase their students’ marketability, while also addressing problem solving in their curricula. Inspired by a successful program developed and offered at Harvard Business School, the advantages and disadvantages of the case-based method was investigated. It was concluded that the students can benefit the most from a combination of existing educational and case-based curricula elements. Further research expressed the engineering students’ interest and positive feedbacks towards utilization of this method supported by statistical analysis. The aviation industry experienced a great training cost reduction and eliminated the on-the-training accidents after adopting simulators to train their workforce. This encouraged the Drilling \\\\& Automation team at University of Texas at Austin to develop the existing surface simulator further and utilize it as a tool to train the next generation of engineers to carry out the appropriate performance at the time of failure and emergencies. By considering various effective skills development methods such as Triadic method and Kolb’s Four-Stage Learning Cycle, ten case-based laboratories were designed and proposed. These open-ended student-led laboratories provide the opportunity for students to experience life-like challenges associated with drilling operations using a realistic up-to-date virtual drilling simulator. Students are divided in teams and assigned to different roles (drilling engineer, remote supervising engineer, etc.) where they are required to make decisions and communicate with one another. This creates a realistic work environment where depending on difficulty of each case, different amounts of stress are experienced. To implement the proposed laboratories, down-hole physics models were identified and developed. These mathematical models were then simulated in MATLAB programing language and integrated with one another to form the down-hole simulator. An Application Program Interface, API, was developed to access the surface simulator data and to connect the surface and the down-hole simulators. The integrated developed simulator has potential for future research including automated rig design.},\\n\\tauthor = {Hoss, Ashton Ashkan},\\n\\tmonth = dec,\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hoss, A. A.\"],\"key\":\"hoss_case-based_2016\",\"id\":\"hoss_case-based_2016\",\"bibbaseid\":\"hoss-casebaseddrillingcurriculausingintegratedhilsimulatorandremotecollaborationcenter-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/44625\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"A first-principles directional drilling simulator for control design\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/33523\",\"abstract\":\"A directional drilling simulator was constructed using a re-formulation of first-principles classical mechanics in order to serve as a platform for advanced control design. Dedicated focus was placed on building a modular solution that would interface with an existing Supervisory Control And Data Acquisition (SCADA) architecture. Model complexity was restricted to include only the features required to make an immediate step change in tool face control performance through more accurate determination of torsional dead time and time constant values. Development of this simulator advanced the art of drilling automation by building a foundation upon which developers may design novel control schemes using big data gathered in the modern oilfield. This first-principles model is supported by theoretical formulation of equations of motion that capture fundamental behavior of the drill string during both rotary and slide drilling operations. Wellbore trajectory was interpolated between survey points using the Minimum Curvature Method, and a semi-soft-string drill string model was assumed. Equations of motion were derived using energy methods captured in both Hamiltonian and Lagrangian mechanics and solved using the finite-element method. Transient dynamic solutions were obtained using Newmark integration methods. A sensitivity analysis was conducted to determine which parameters played the most influential roles in dynamic drill string behavior for various operational scenarios and to what extent those parameters influenced torsional dead time and time constant calculations. The torsional time constant was chosen as a measure of correlation between case studies, due to the significant role this value plays in state-of-the-art tool face control algorithms. Simulation results were validated using field data collected from rigs using a SCADA system to operate in various shale plays in North America. Results from field tests were used to compare torsional time constant values calculated using manually-determined, simulation-based, and analytical methods and investigate directional drilling performance over a range of operational scenarios. Simulation-based time constant calculation results were consistently more accurate than analytically-determined values when compared to manually-tuned values. The first-principles directional drilling simulator developed for this study will be adopted by the existing SCADA system in order to standardize and improve slide drilling performance.\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Leonard\"],\"firstnames\":[\"Rebecca\",\"Leigh\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2014\",\"doi\":\"10.15781/T23424\",\"note\":\"Accepted: 2016-03-04T18:44:49Z\",\"bibtex\":\"@phdthesis{leonard_first-principles_2014,\\n\\ttype = {Thesis},\\n\\ttitle = {A first-principles directional drilling simulator for control design},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/33523},\\n\\tabstract = {A directional drilling simulator was constructed using a re-formulation of first-principles classical mechanics in order to serve as a platform for advanced control design. Dedicated focus was placed on building a modular solution that would interface with an existing Supervisory Control And Data Acquisition (SCADA) architecture. Model complexity was restricted to include only the features required to make an immediate step change in tool face control performance through more accurate determination of torsional dead time and time constant values. Development of this simulator advanced the art of drilling automation by building a foundation upon which developers may design novel control schemes using big data gathered in the modern oilfield. \\nThis first-principles model is supported by theoretical formulation of equations of motion that capture fundamental behavior of the drill string during both rotary and slide drilling operations. Wellbore trajectory was interpolated between survey points using the Minimum Curvature Method, and a semi-soft-string drill string model was assumed. Equations of motion were derived using energy methods captured in both Hamiltonian and Lagrangian mechanics and solved using the finite-element method. Transient dynamic solutions were obtained using Newmark integration methods.  \\nA sensitivity analysis was conducted to determine which parameters played the most influential roles in dynamic drill string behavior for various operational scenarios and to what extent those parameters influenced torsional dead time and time constant calculations. The torsional time constant was chosen as a measure of correlation between case studies, due to the significant role this value plays in state-of-the-art tool face control algorithms. Simulation results were validated using field data collected from rigs using a SCADA system to operate in various shale plays in North America. Results from field tests were used to compare torsional time constant values calculated using manually-determined, simulation-based, and analytical methods and investigate directional drilling performance over a range of operational scenarios.  \\nSimulation-based time constant calculation results were consistently more accurate than analytically-determined values when compared to manually-tuned values. The first-principles directional drilling simulator developed for this study will be adopted by the existing SCADA system in order to standardize and improve slide drilling performance.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Leonard, Rebecca Leigh},\\n\\tmonth = dec,\\n\\tyear = {2014},\\n\\tdoi = {10.15781/T23424},\\n\\tnote = {Accepted: 2016-03-04T18:44:49Z},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Leonard, R. L.\"],\"key\":\"leonard_first-principles_2014\",\"id\":\"leonard_first-principles_2014\",\"bibbaseid\":\"leonard-afirstprinciplesdirectionaldrillingsimulatorforcontroldesign-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/33523\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Redundancy resolution for mobile manipulation\",\"copyright\":\"Copyright © is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/46331\",\"abstract\":\"Mobile manipulation provides avenues to deploy dexterous, precise manipulators into environments that are not suited for fixed-base manipulators. To do this, complex decision making and control methods need to be implemented to properly allocate system resources to the task requirements and environmental constraints. This report presents a foundation from which complex decision making and control can be implemented on mobile manipulation systems. Currently, mobile manipulator modeling techniques vary widely and often contain a loss of generality. A readily deployable modeling technique that can incorporate multiple mobile platform and manipulator types is needed. The proposed modeling method combines the rate kinematic formulations of mobile platforms with rate kinematic formulations of manipulators in order to create a single kinematic model for the combined system. This modeling technique allows for preexisting Redundancy Resolution Techniques (RRTs) and performance criteria developed for manipulators to be used on mobile manipulation systems. The combined kinematic model is also useful for new performance criteria generation and inverse kinematics. Existing inverse kinematics techniques such as Resolved Rate can be implemented on the unified kinematic model to find input solutions to a given output. Mobile manipulation systems are redundant with respect to the end effector leading to the need for a decision making structure in order to properly allocate its resources. Currently, outside of UTRRRG mobile manipulation redundancy resolution is limited to incorporating small numbers of performance criteria. Gradient Projection (GP) is typically used to resolve the redundancy of these systems limiting the criteria selection to be smooth and continuous. This research provides a modeling technique and two new mobile manipulation specific RRTs that can be directly implemented with the Direct Search (DS) RRT to better generate appropriate solutions for given requirements. When implemented with DS, Mobile Manipulation Generate Options (MMGO) provides improved solutions for mobile manipulators over the existing Simple perturbation strategy without a computational performance hit. Mobile Manipulation Configuration Control (MMCC) is a method of separately prescribing a mobile platform path from the manipulator end effector path. It is often beneficial to be able to incorporate mobile robot path planners with mobile manipulation systems to avoid constraints while maintaining the task requirements of the end effector. This work also develops three new performance criteria which are specific to mobile manipulation. The proposed performance criteria include Wheel Slip Avoidance (WSA), Tip Over Avoidance (TOA), and Static Stability Availability (SSA). These criteria are checks to ensure a solution generated by a DS technique does not cause the mobile manipulator to slip on the ground or tip over. Combining existing RRTs and performance criteria with these new mobile manipulation specific RRTs and performance criteria provides a strong basis for developing complex Decision Making Strategies for mobile manipulation systems.\",\"language\":\"eng\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hulse\"],\"firstnames\":[\"Aaron\",\"Michael\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2007\",\"note\":\"(reader)\",\"bibtex\":\"@phdthesis{hulse_redundancy_2007,\\n\\ttype = {Thesis},\\n\\ttitle = {Redundancy resolution for mobile manipulation},\\n\\tcopyright = {Copyright © is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/46331},\\n\\tabstract = {Mobile manipulation provides avenues to deploy dexterous, precise manipulators into environments that are not suited for fixed-base manipulators. To do this, complex decision making and control methods need to be implemented to properly allocate system resources to the task requirements and environmental constraints. This report presents a foundation from which complex decision making and control can be implemented on mobile manipulation systems. Currently, mobile manipulator modeling techniques vary widely and often contain a loss of generality. A readily deployable modeling technique that can incorporate multiple mobile platform and manipulator types is needed. The proposed modeling method combines the rate kinematic formulations of mobile platforms with rate kinematic formulations of manipulators in order to create a single kinematic model for the combined system. This modeling technique allows for preexisting Redundancy Resolution Techniques (RRTs) and performance criteria developed for manipulators to be used on mobile manipulation systems. The combined kinematic model is also useful for new performance criteria generation and inverse kinematics. Existing inverse kinematics techniques such as Resolved Rate can be implemented on the unified kinematic model to find input solutions to a given output. Mobile manipulation systems are redundant with respect to the end effector leading to the need for a decision making structure in order to properly allocate its resources. Currently, outside of UTRRRG mobile manipulation redundancy resolution is limited to incorporating small numbers of performance criteria. Gradient Projection (GP) is typically used to resolve the redundancy of these systems limiting the criteria selection to be smooth and continuous. This research provides a modeling technique and two new mobile manipulation specific RRTs that can be directly implemented with the Direct Search (DS) RRT to better generate appropriate solutions for given requirements. When implemented with DS, Mobile Manipulation Generate Options (MMGO) provides improved solutions for mobile manipulators over the existing Simple perturbation strategy without a computational performance hit. Mobile Manipulation Configuration Control (MMCC) is a method of separately prescribing a mobile platform path from the manipulator end effector path. It is often beneficial to be able to incorporate mobile robot path planners with mobile manipulation systems to avoid constraints while maintaining the task requirements of the end effector. This work also develops three new performance criteria which are specific to mobile manipulation. The proposed performance criteria include Wheel Slip Avoidance (WSA), Tip Over Avoidance (TOA), and Static Stability Availability (SSA). These criteria are checks to ensure a solution generated by a DS technique does not cause the mobile manipulator to slip on the ground or tip over. Combining existing RRTs and performance criteria with these new mobile manipulation specific RRTs and performance criteria provides a strong basis for developing complex Decision Making Strategies for mobile manipulation systems.},\\n\\tlanguage = {eng},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Hulse, Aaron Michael},\\n\\tmonth = dec,\\n\\tyear = {2007},\\n\\tnote = {(reader)},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Hulse, A. M.\"],\"key\":\"hulse_redundancy_2007\",\"id\":\"hulse_redundancy_2007\",\"bibbaseid\":\"hulse-redundancyresolutionformobilemanipulation-2007\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/46331\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":13,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Gaussian-based adaptive fuzzy control\",\"doi\":\"10.1109/NORBERT.2014.6893857\",\"abstract\":\"Fuzzy logic controllers are well known for robustness and performance, and it has been proven that fuzzy logic controllers can approximate an optimal controller with arbitrary accuracy. However, adapting fuzzy rule bases towards an optimal solution has proven challenging. This paper describes a new adaptive algorithm for a fuzzy logic controller. Previously studied adaptive algorithms such as Lyapunov methods and neural-network methods effectively reduce error, but they are complex and potentially distort the rule base so that it loses robustness. The proposed method “shapes” the fuzzy rule base as a normal distribution to maintain robustness. The algorithm is tested on a robotic clamping operation; in three experiments, it reduced the error variance by 35%, 44%, and 53%.\",\"booktitle\":\"2014 IEEE Conference on Norbert Wiener in the 21st Century (21CW)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"M.\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2014\",\"keywords\":\"Controls\",\"pages\":\"1–8\",\"bibtex\":\"@inproceedings{zelenak_gaussian-based_2014,\\n\\ttitle = {Gaussian-based adaptive fuzzy control},\\n\\tdoi = {10.1109/NORBERT.2014.6893857},\\n\\tabstract = {Fuzzy logic controllers are well known for robustness and performance, and it has been proven that fuzzy logic controllers can approximate an optimal controller with arbitrary accuracy. However, adapting fuzzy rule bases towards an optimal solution has proven challenging. This paper describes a new adaptive algorithm for a fuzzy logic controller. Previously studied adaptive algorithms such as Lyapunov methods and neural-network methods effectively reduce error, but they are complex and potentially distort the rule base so that it loses robustness. The proposed method “shapes” the fuzzy rule base as a normal distribution to maintain robustness. The algorithm is tested on a robotic clamping operation; in three experiments, it reduced the error variance by 35\\\\%, 44\\\\%, and 53\\\\%.},\\n\\tbooktitle = {2014 {IEEE} {Conference} on {Norbert} {Wiener} in the 21st {Century} ({21CW})},\\n\\tauthor = {Zelenak, A. and Pryor, M.},\\n\\tmonth = jun,\\n\\tyear = {2014},\\n\\tkeywords = {Controls},\\n\\tpages = {1--8},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Zelenak, A.\",\"Pryor, M.\"],\"key\":\"zelenak_gaussian-based_2014\",\"id\":\"zelenak_gaussian-based_2014\",\"bibbaseid\":\"zelenak-pryor-gaussianbasedadaptivefuzzycontrol-2014\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Controls\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":8,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Pittsburgh, PA\",\"title\":\"Integrated Teleoperation and Automation for Remote Operations\",\"abstract\":\"This paper presents a demonstration of a novel approach to human-machine interface that seamlessly combines user-controlled teleoperation and software automation in varying degrees. This combination allows increased productivity in complex and uncertain environments. Additionally, a new software architecture was implemented to free the development of the human-machine interface components from that of the hardware control components\",\"booktitle\":\"Proceedings of the 2004 ANS Annual Meeting\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Swint\"],\"firstnames\":[\"Ethan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kapoor\"],\"firstnames\":[\"Chetan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Taylor\"],\"firstnames\":[\"Ross\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chang\"],\"firstnames\":[\"Kyogun\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pholsiri\"],\"firstnames\":[\"Josh\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rabindran\"],\"firstnames\":[\"Dinesh\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"Delbert\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2004\",\"keywords\":\"Teleoperation\",\"pages\":\"1–7\",\"bibtex\":\"@inproceedings{swint_integrated_2004,\\n\\taddress = {Pittsburgh, PA},\\n\\ttitle = {Integrated {Teleoperation} and {Automation} for {Remote} {Operations}},\\n\\tabstract = {This paper presents a demonstration of a novel approach to human-machine interface that seamlessly combines user-controlled teleoperation and software automation in varying degrees. This combination allows increased productivity in complex and uncertain environments. Additionally, a new software architecture was implemented to free the development of the human-machine interface components from that of the hardware control components},\\n\\tbooktitle = {Proceedings of the 2004 {ANS} {Annual} {Meeting}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Swint, Ethan and Kapoor, Chetan and Taylor, Ross and Chang, Kyogun and Pholsiri, Josh and Rabindran, Dinesh and Pryor, Mitch and Tesar, Delbert},\\n\\tmonth = jun,\\n\\tyear = {2004},\\n\\tkeywords = {Teleoperation},\\n\\tpages = {1--7},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Swint, E.\",\"Kapoor, C.\",\"Taylor, R.\",\"Chang, K.\",\"Pholsiri, J.\",\"Rabindran, D.\",\"Pryor, M.\",\"Tesar, D.\"],\"key\":\"swint_integrated_2004\",\"id\":\"swint_integrated_2004\",\"bibbaseid\":\"swint-kapoor-taylor-chang-pholsiri-rabindran-pryor-tesar-integratedteleoperationandautomationforremoteoperations-2004\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Teleoperation\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Gaithersburg, MD\",\"title\":\"A Software Architecture for Multi-criteria Decision Making for Sdvanced Robotics\",\"doi\":\"10.1109/ISIC.1998.713718\",\"abstract\":\"Presents a framework that facilitates the development of multi-criteria decision-making software for redundant manipulator control. This software architecture is based on object-oriented design and it meets the requirements of generality, extensibility, computational efficiency, and reduction in program development time. Analysis, design, and implementation were the three steps in the development of this architecture. Analysis involved the study of the multi-criteria decision-making domain. This included the information flow between different criteria and also their fusion. The design phase involved extracting the commonalties of various criteria and the specification of abstractions that could best model these criteria. The application of this philosophy led to the development of an architecture that is robot independent, scaleable, supports standardized interfaces, and is applicable to real-time control and simulation. This architecture is demonstrated using a sample application for controlling a 10 DOF manipulator.\",\"booktitle\":\"Proceedings of the 1998 IEEE International Symposium on Intelligent Control (ISIC) held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) Intell\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Kapoor\"],\"firstnames\":[\"C.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cetin\"],\"firstnames\":[\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cocca\"],\"firstnames\":[\"C.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Harden\"],\"firstnames\":[\"T.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"D.\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"1998\",\"keywords\":\"Kinematics, Manipulators, OSCAR, Redundancy, Software architecture\",\"pages\":\"525–530\",\"bibtex\":\"@inproceedings{kapoor_software_1998,\\n\\taddress = {Gaithersburg, MD},\\n\\ttitle = {A {Software} {Architecture} for {Multi}-criteria {Decision} {Making} for {Sdvanced} {Robotics}},\\n\\tdoi = {10.1109/ISIC.1998.713718},\\n\\tabstract = {Presents a framework that facilitates the development of multi-criteria decision-making software for redundant manipulator control. This software architecture is based on object-oriented design and it meets the requirements of generality, extensibility, computational efficiency, and reduction in program development time. Analysis, design, and implementation were the three steps in the development of this architecture. Analysis involved the study of the multi-criteria decision-making domain. This included the information flow between different criteria and also their fusion. The design phase involved extracting the commonalties of various criteria and the specification of abstractions that could best model these criteria. The application of this philosophy led to the development of an architecture that is robot independent, scaleable, supports standardized interfaces, and is applicable to real-time control and simulation. This architecture is demonstrated using a sample application for controlling a 10 DOF manipulator.},\\n\\tbooktitle = {Proceedings of the 1998 {IEEE} {International} {Symposium} on {Intelligent} {Control} ({ISIC}) held jointly with {IEEE} {International} {Symposium} on {Computational} {Intelligence} in {Robotics} and {Automation} ({CIRA}) {Intell}},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Kapoor, C. and Cetin, M. and Pryor, M. and Cocca, C. and Harden, T. and Tesar, D.},\\n\\tmonth = sep,\\n\\tyear = {1998},\\n\\tkeywords = {Kinematics, Manipulators, OSCAR, Redundancy, Software architecture},\\n\\tpages = {525--530},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Kapoor, C.\",\"Cetin, M.\",\"Pryor, M.\",\"Cocca, C.\",\"Harden, T.\",\"Tesar, D.\"],\"key\":\"kapoor_software_1998\",\"id\":\"kapoor_software_1998\",\"bibbaseid\":\"kapoor-cetin-pryor-cocca-harden-tesar-asoftwarearchitectureformulticriteriadecisionmakingforsdvancedrobotics-1998\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Kinematics\",\"Manipulators\",\"OSCAR\",\"Redundancy\",\"Software architecture\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":8,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Albuquerqie, NM\",\"title\":\"A Reusable Software Architecture for Manual Controller Integration\",\"volume\":\"4\",\"url\":\"https://ieeexplore.ieee.org/document/606890\",\"doi\":\"10.1109/ROBOT.1997.606890\",\"abstract\":\"This paper examines the commonalities of manual controllers used in robotics for teleoperation. These include devices ranging from simple joysticks to force-reflecting controllers. The similarities in functionality and behaviour of these controllers is further exploited to develop a reusable software architecture for manual controller interfacing. The development of this architecture is based on object-oriented design. The application of this design philosophy led to the development of a hierarchy of software components that are manual controller independent and also have a standardized interface. Reusability of these components is supported through generality and extensibility. The key design requirements for this architecture were: open-system, reusable, application independent, extensive error-handling and safety checking, applicability to real-time control and simulation, and reduction in program development time. This paper discusses the software analysis and design issues that were faced to meet the architecture requirements. Further, this architecture is demonstrated using four different manual controllers and a teleoperated dual-arm robotic manipulator.\",\"booktitle\":\"Proceedings of International Conference on Robotics and Automation\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kapoor\"],\"firstnames\":[\"C.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hooper\"],\"firstnames\":[\"R.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"D.\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"1997\",\"keywords\":\"Manual Controllers, OSCAR, Software Architecture, Telerobotics\",\"pages\":\"3583–3588 vol.4\",\"bibtex\":\"@inproceedings{pryor_reusable_1997,\\n\\taddress = {Albuquerqie, NM},\\n\\ttitle = {A {Reusable} {Software} {Architecture} for {Manual} {Controller} {Integration}},\\n\\tvolume = {4},\\n\\turl = {https://ieeexplore.ieee.org/document/606890},\\n\\tdoi = {10.1109/ROBOT.1997.606890},\\n\\tabstract = {This paper examines the commonalities of manual controllers used in robotics for teleoperation. These include devices ranging from simple joysticks to force-reflecting controllers. The similarities in functionality and behaviour of these controllers is further exploited to develop a reusable software architecture for manual controller interfacing. The development of this architecture is based on object-oriented design. The application of this design philosophy led to the development of a hierarchy of software components that are manual controller independent and also have a standardized interface. Reusability of these components is supported through generality and extensibility. The key design requirements for this architecture were: open-system, reusable, application independent, extensive error-handling and safety checking, applicability to real-time control and simulation, and reduction in program development time. This paper discusses the software analysis and design issues that were faced to meet the architecture requirements. Further, this architecture is demonstrated using four different manual controllers and a teleoperated dual-arm robotic manipulator.},\\n\\tbooktitle = {Proceedings of {International} {Conference} on {Robotics} and {Automation}},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Pryor, M. and Kapoor, C. and Hooper, R. and Tesar, D.},\\n\\tmonth = apr,\\n\\tyear = {1997},\\n\\tkeywords = {Manual Controllers, OSCAR, Software Architecture, Telerobotics},\\n\\tpages = {3583--3588 vol.4},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pryor, M.\",\"Kapoor, C.\",\"Hooper, R.\",\"Tesar, D.\"],\"key\":\"pryor_reusable_1997\",\"id\":\"pryor_reusable_1997\",\"bibbaseid\":\"pryor-kapoor-hooper-tesar-areusablesoftwarearchitectureformanualcontrollerintegration-1997\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://ieeexplore.ieee.org/document/606890\"},\"keyword\":[\"Manual Controllers\",\"OSCAR\",\"Software Architecture\",\"Telerobotics\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Generalized software components for reconfiguring hyper-redundant manipulators\",\"volume\":\"7\",\"issn\":\"1941-014X\",\"doi\":\"10.1109/TMECH.2002.806229\",\"abstract\":\"An application of Operational Software Components for Advanced Robotics (OSCAR) - a generalized robotic software framework - for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing, and criteria-based decision making. The developed application allows an operator to interactively reconfigure modular chains into parallel mechanisms, gait structures, and multiarm systems while maintaining full kinematic control of each chain. Examples using spatial systems with various geometries are presented with application pseudocode to illustrate high-level program development using OSCAR.\",\"number\":\"4\",\"journal\":\"IEEE/ASME Transactions on Mechatronics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Taylor\"],\"firstnames\":[\"Ross\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kapoor\"],\"firstnames\":[\"Chetan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"Delbert\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2002\",\"note\":\"Conference Name: IEEE/ASME Transactions on Mechatronics\",\"keywords\":\"Kinematics, Manipulators, OSCAR, Reduncancy, modular chains, self-reconfigurable robots\",\"pages\":\"475–478\",\"bibtex\":\"@article{pryor_generalized_2002,\\n\\ttitle = {Generalized software components for reconfiguring hyper-redundant manipulators},\\n\\tvolume = {7},\\n\\tissn = {1941-014X},\\n\\tdoi = {10.1109/TMECH.2002.806229},\\n\\tabstract = {An application of Operational Software Components for Advanced Robotics (OSCAR) - a generalized robotic software framework - for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing, and criteria-based decision making. The developed application allows an operator to interactively reconfigure modular chains into parallel mechanisms, gait structures, and multiarm systems while maintaining full kinematic control of each chain. Examples using spatial systems with various geometries are presented with application pseudocode to illustrate high-level program development using OSCAR.},\\n\\tnumber = {4},\\n\\tjournal = {IEEE/ASME Transactions on Mechatronics},\\n\\tauthor = {Pryor, Mitch and Taylor, Ross and Kapoor, Chetan and Tesar, Delbert},\\n\\tmonth = dec,\\n\\tyear = {2002},\\n\\tnote = {Conference Name: IEEE/ASME Transactions on Mechatronics},\\n\\tkeywords = {Kinematics, Manipulators, OSCAR, Reduncancy, modular chains, self-reconfigurable robots},\\n\\tpages = {475--478},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pryor, M.\",\"Taylor, R.\",\"Kapoor, C.\",\"Tesar, D.\"],\"key\":\"pryor_generalized_2002\",\"id\":\"pryor_generalized_2002\",\"bibbaseid\":\"pryor-taylor-kapoor-tesar-generalizedsoftwarecomponentsforreconfiguringhyperredundantmanipulators-2002\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Kinematics\",\"Manipulators\",\"OSCAR\",\"Reduncancy\",\"modular chains\",\"self-reconfigurable robots\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":7,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Development of mobile platform for inventory and inspection applications in nuclear environments\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/35317\",\"abstract\":\"The efforts made towards deploying a mobile robotic system at Los Alamos National Laboratory are detailed in this thesis. The platform application is non-contact tasks related to inspection, inventory, and radiation surveying. It is intended for a Special Nuclear Material storage facility featuring a high radiation environment and a variety of storage modes. New robotic capabilities have been developed using several mobile platforms to address the requirements of this application. Many of challenges are common to any warehouse application, such as autonomous task planning, vision, navigation, and inventory data management. Others are specific to a nuclear laboratory environment, such as radiation measurement and analysis, response to radioactive contamination, criticality safety, and restrictive security measures. This thesis describes the progress made towards meeting these challenges, outstanding issues, and future work that is necessary to complete the project. Nuclear facilities are under ever-increasing demands to reduce worker radiation exposure. Since the vault is a high radiation area, it is one of the first targets at Los Alamos for the application of novel solutions. The deployment of this system promises to enhance worker safety by reducing their presence inside the vault and therefore total occupational dose. As robotic systems become more trusted in the nuclear weapons complex, it also has the potential to reduce total operator labor by performing time-consuming tasks autonomously.\",\"language\":\"en\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Anderson\"],\"firstnames\":[\"Blake\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2015\",\"doi\":\"10.15781/T2MV7X\",\"bibtex\":\"@phdthesis{anderson_development_2015,\\n\\ttype = {Thesis},\\n\\ttitle = {Development of mobile platform for inventory and inspection applications in nuclear environments},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/35317},\\n\\tabstract = {The efforts made towards deploying a mobile robotic system at Los Alamos National Laboratory are detailed in this thesis. The platform application is non-contact tasks related to inspection, inventory, and radiation surveying. It is intended for a Special Nuclear Material storage facility featuring a high radiation environment and a variety of storage modes.\\nNew robotic capabilities have been developed using several mobile platforms to address the requirements of this application. Many of challenges are common to any warehouse application, such as autonomous task planning, vision, navigation, and inventory data management. Others are specific to a nuclear laboratory environment, such as radiation measurement and analysis, response to radioactive contamination, criticality safety, and restrictive security measures. This thesis describes the progress made towards meeting these challenges, outstanding issues, and future work that is necessary to complete the project.\\nNuclear facilities are under ever-increasing demands to reduce worker radiation exposure. Since the vault is a high radiation area, it is one of the first targets at Los Alamos for the application of novel solutions. The deployment of this system promises to enhance worker safety by reducing their presence inside the vault and therefore total occupational dose. As robotic systems become more trusted in the nuclear weapons complex, it also has the potential to reduce total operator labor by performing time-consuming tasks autonomously.},\\n\\tlanguage = {en},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Anderson, Blake},\\n\\tmonth = dec,\\n\\tyear = {2015},\\n\\tdoi = {10.15781/T2MV7X},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Anderson, B.\"],\"key\":\"anderson_development_2015\",\"id\":\"anderson_development_2015\",\"bibbaseid\":\"anderson-developmentofmobileplatformforinventoryandinspectionapplicationsinnuclearenvironments-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/35317\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":26,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"The design of a hingeline electro-mechanical actuator\",\"copyright\":\"Copyright © is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/30375\",\"abstract\":\"Aircraft control mechanisms, such as those that operate the flaps, ailerons, rudders, etc., are almost exclusively driven by hydraulic-based systems. Their popularity in flight control systems is not unfounded; hydraulic actuators are quite torque-dense and benefit from decades of development bringing operating performance to a high level. On the other hand the infrastructure to support this system increases weight, adds system development complexity, and reduces aircraft maintainability [Jensen et al, 2000]. Based on recent Electro-Mechanical Actuator (EMA) development and design efforts at the Robotics Research Group (RRG), a new opportunity exists to replace current hydraulic flight control systems with those powered by electricity through a national program [Tesar, 2005]. A literature review of the topic found a 30 year old effort by AiResearch to develop a similarly powered hingeline actuator with given traditional performance goals (torque capacity, redundancy, output speed, reliability). In this report,a thorough analysis is performed on each major component group to quantitatively evaluate this baseline device. Using component technologies developed at RRG, this report proposes a dual torque-summing electromechanical actuator, each with a star compound / hypocyclic combined gear train, designed to exceed the performance of the original (1976) AiResearch project. This preliminary design exercise includes a layout of the entire actuator along with an appropriate analysis of major components including bearings, gear train, motor, housing, and release mechanism. The performance of this gear train is critical to overall actuator success and fundamental analytics have already been developed in this area [Park and Tesar, 2005]. Finite Element Analysis on the gear train and housing provide early design feedback and verification of actuator performance characteristics. In particular, simulation results show the gear stiffness, load sharing, and torque capacities exceed analytical estimates. Finally, four different comparisons are presented that evaluate configuration variations of the two designs based on applicable performance criteria. Results show the RRG fault-tolerant actuator has a marked improvement over the baseline in average stiffness (14.2x), reflected inertia (3.2x) and nominal torque density (3.4x). The chapter next lists actuator test methods and aircraft qualification standards. Finally, a summary of future work is detailed in a ten step outline to bring this EMA technology to a level of early deployment in a large range of aircraft systems.\",\"language\":\"eng\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Kendrick\"],\"firstnames\":[\"Kevin\",\"Stuart\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2006\",\"note\":\"(reader)\",\"bibtex\":\"@phdthesis{kendrick_design_2006,\\n\\ttype = {Thesis},\\n\\ttitle = {The design of a hingeline electro-mechanical actuator},\\n\\tcopyright = {Copyright © is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/30375},\\n\\tabstract = {Aircraft control mechanisms, such as those that operate the flaps, ailerons, rudders, etc., are almost exclusively driven by hydraulic-based systems. Their popularity in flight control systems is not unfounded; hydraulic actuators are quite torque-dense and benefit from decades of development bringing operating performance to a high level. On the other hand the infrastructure to support this system increases weight, adds system development complexity, and reduces aircraft maintainability [Jensen et al, 2000]. Based on recent Electro-Mechanical Actuator (EMA) development and design efforts at the Robotics Research Group (RRG), a new opportunity exists to replace current hydraulic flight control systems with those powered by electricity through a national program [Tesar, 2005]. A literature review of the topic found a 30 year old effort by AiResearch to develop a similarly powered hingeline actuator with given traditional performance goals (torque capacity, redundancy, output speed, reliability). In this report,a thorough analysis is performed on each major component group to quantitatively evaluate this baseline device. Using component technologies developed at RRG, this report proposes a dual torque-summing electromechanical actuator, each with a star compound / hypocyclic combined gear train, designed to exceed the performance of the original (1976) AiResearch project. This preliminary design exercise includes a layout of the entire actuator along with an appropriate analysis of major components including bearings, gear train, motor, housing, and release mechanism. The performance of this gear train is critical to overall actuator success and fundamental analytics have already been developed in this area [Park and Tesar, 2005]. Finite Element Analysis on the gear train and housing provide early design feedback and verification of actuator performance characteristics. In particular, simulation results show the gear stiffness, load sharing, and torque capacities exceed analytical estimates. Finally, four different comparisons are presented that evaluate configuration variations of the two designs based on applicable performance criteria. Results show the RRG fault-tolerant actuator has a marked improvement over the baseline in average stiffness (14.2x), reflected inertia (3.2x) and nominal torque density (3.4x). The chapter next lists actuator test methods and aircraft qualification standards. Finally, a summary of future work is detailed in a ten step outline to bring this EMA technology to a level of early deployment in a large range of aircraft systems.},\\n\\tlanguage = {eng},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Kendrick, Kevin Stuart},\\n\\tmonth = may,\\n\\tyear = {2006},\\n\\tnote = {(reader)},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Kendrick, K. S.\"],\"key\":\"kendrick_design_2006\",\"id\":\"kendrick_design_2006\",\"bibbaseid\":\"kendrick-thedesignofahingelineelectromechanicalactuator-2006\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/30375\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":13,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Control of high precision roll-to-roll manufacturing systems\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/74302\",\"abstract\":\"The flexible electronic industry has been growing rapidly over the past decade. One of the barriers to commercialization is the high cost of manufacturing micro- and nano-scale printed electronics using traditional methods. Roll-to-roll manufacturing has been identified as a method of achieving low cost and high throughput. A dynamic model of a roll-to-roll system is presented. In all roll-to-roll applications, tension and velocity must be accurately controlled to desired reference trajectories to ensure a quality finished product. Additionally, a registration error model is presented for the control design. Minimization of the registration is the primary objective for flexible electronics, but web tension and velocity cannot be neglected. The model is needed in order to formulate a methodology that can simultaneously control tension, velocity, and registration error in the presence of disturbances. Micro and nano-scale features are susceptible to damage from friction between the web and the roller. Therefore, tension estimation techniques is highly desired to eliminate load cells from the system. The reduced order observer, extended Kalman filter, and an unknown input observer is presented. Development of tension and velocity control strategies have historically revolved around decentralized SISO control schemes. In order to achieve higher precision, a centralized MIMO strategy is proposed and compared to decentralized SISO. The advantage of the MIMO controller improved handling of the tension velocity coupling in roll-to-roll systems. The tension observer is introduced to the control design and evaluated for overall effectiveness. In simulation, the centralized MIMO control with the unknown input observer demonstrated superior tension and velocity tracking as well as minimal registration error. Development of the proposed MIMO control strategy can enable flexible electronic fabrication using roll-to-roll manufacturing.\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zheng\"],\"firstnames\":[\"Grant\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2018\",\"note\":\"(reader)\",\"bibtex\":\"@phdthesis{zheng_control_2018,\\n\\ttype = {Thesis},\\n\\ttitle = {Control of high precision roll-to-roll manufacturing systems},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/74302},\\n\\tabstract = {The flexible electronic industry has been growing rapidly over the past decade. One of the barriers to commercialization is the high cost of manufacturing micro- and nano-scale printed electronics using traditional methods. Roll-to-roll manufacturing has been identified as a method of achieving low cost and high throughput. \\n A dynamic model of a roll-to-roll system is presented. In all roll-to-roll applications, tension and velocity must be accurately controlled to desired reference trajectories to ensure a quality finished product. Additionally, a registration error model is presented for the control design. Minimization of the registration is the primary objective for flexible electronics, but web tension and velocity cannot be neglected. The model is needed in order to formulate a methodology that can simultaneously control tension, velocity, and registration error in the presence of disturbances.\\n Micro and nano-scale features are susceptible to damage from friction between the web and the roller. Therefore, tension estimation techniques is highly desired to eliminate load cells from the system. The reduced order observer, extended Kalman filter, and an unknown input observer is presented.\\n Development of tension and velocity control strategies have historically revolved around decentralized SISO control schemes. In order to achieve higher precision, a centralized MIMO strategy is proposed and compared to decentralized SISO. The advantage of the MIMO controller improved handling of the tension velocity coupling in roll-to-roll systems. The tension observer is introduced to the control design and evaluated for overall effectiveness.  \\n In simulation, the centralized MIMO control with the unknown input observer demonstrated superior tension and velocity tracking as well as minimal registration error. Development of the proposed MIMO control strategy can enable flexible electronic fabrication using roll-to-roll manufacturing.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Zheng, Grant},\\n\\tmonth = dec,\\n\\tyear = {2018},\\n\\tnote = {(reader)},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Zheng, G.\"],\"key\":\"zheng_control_2018\",\"id\":\"zheng_control_2018\",\"bibbaseid\":\"zheng-controlofhighprecisionrolltorollmanufacturingsystems-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/74302\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Spatio-temporal map maintenance for extending autonomy in long-term mobile robotic tasks\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/72719\",\"abstract\":\"Working in hazardous environments requires routine inspections in order to meet safety standards. Dangerous quantities of nuclear contamination can exist in infinitesimally small volumes. In order to confidently inspect a nuclear environment for radioactive sources, especially those which emit alpha radiation, technicians must carefully maintain detectors at a consistent velocity and distance from a source. Technicians must also take careful records of which areas have been surveyed or not are important so that no area is left unmonitored. This is a difficult, exhausting task when the coverage area is larger than an office space. An autonomous mobile robotic platform with Complete Coverage Path Planning (CCPP) can reduce dangerous exposure to humans and provide better information for Radiological Control Technicians (RCT). The developed robotic system - or RCTbot - is designed for long-term deployment with little human correction, intervention, or maintenance required. To do this, the RCTbot creates a map of the environment, continually updates it based on multiple sensor inputs, and searches its map for contamination. In nuclear environments, the areas of interest often remain spatially constant throughout the duration of an inspection and are considered temporally static. The RCTbot monitors temporally static environments but adapts to dynamic changes over time. It then uses its sensor data to update and maintain its map so no manual human intervention is necessary. The spatio-temporal map maintenance (STMM) is agnostic to the survey type, so the RCTbot system is viable for application domain other than nuclear.\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pitsch\"],\"firstnames\":[\"Meredith\",\"Leeann\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"2019\",\"doi\":\"10.15781/T2HD7PD3M\",\"note\":\"Accepted: 2019-02-01T20:40:23Z\",\"bibtex\":\"@phdthesis{pitsch_spatio-temporal_2019,\\n\\ttype = {Thesis},\\n\\ttitle = {Spatio-temporal map maintenance for extending autonomy in long-term mobile robotic tasks},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/72719},\\n\\tabstract = {Working in hazardous environments requires routine inspections in order to meet safety standards. Dangerous quantities of nuclear contamination can exist in infinitesimally small volumes. In order to confidently inspect a nuclear environment for radioactive sources, especially those which emit alpha radiation, technicians must carefully maintain detectors at a consistent velocity and distance from a source. Technicians must also take careful records of which areas have been surveyed or not are important so that no area is left unmonitored. This is a difficult, exhausting task when the coverage area is larger than an office space. An autonomous mobile robotic platform with Complete Coverage Path Planning (CCPP) can reduce dangerous exposure to humans and provide better information for Radiological Control Technicians (RCT). The developed robotic system - or RCTbot - is designed for long-term deployment with little human correction, intervention, or maintenance required. To do this, the RCTbot creates a map of the environment, continually updates it based on multiple sensor inputs, and searches its map for contamination. In nuclear environments, the areas of interest often remain spatially constant throughout the duration of an inspection and are considered temporally static. The RCTbot monitors temporally static environments but adapts to dynamic changes over time. It then uses its sensor data to update and maintain its map so no manual human intervention is necessary. The spatio-temporal map maintenance (STMM) is agnostic to the survey type, so the RCTbot system is viable for application domain other than nuclear.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Pitsch, Meredith Leeann},\\n\\tmonth = jan,\\n\\tyear = {2019},\\n\\tdoi = {10.15781/T2HD7PD3M},\\n\\tnote = {Accepted: 2019-02-01T20:40:23Z},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Pitsch, M. L.\"],\"key\":\"pitsch_spatio-temporal_2019\",\"id\":\"pitsch_spatio-temporal_2019\",\"bibbaseid\":\"pitsch-spatiotemporalmapmaintenanceforextendingautonomyinlongtermmobilerobotictasks-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/72719\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Modular supervisory controller for complex systems\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/73907\",\"abstract\":\"Automation for the oil and gas industry is driven by the need to improve efficiency, productivity, consistency, and personnel safety, while reducing cost. Fully automated systems alleviate the physical toll on human operators and allow them to focus on monitoring unsafe well events and machinery maintenance. Complex systems like drilling rigs and snubbing units require supervisory controllers that can safely coordinate equipment and processes, overcome interoperability challenges and allow for functional scalability without sacrificing safety, security, and consistency of operations. The primary objective of this report is to explore the feasibility of developing a modular supervisory controller architecture which addresses these concerns by modifying and extending existing architectures. Such modifications include the use of non-homogeneous models in sub-system modules, including discrete event models for control and physics-based models for collision avoidance, addition of a system compilation module (Meta Module) to identify simple design errors, and implementation of an algorithm for synthesis of modules and filters to replace missing sub-systems. This report discusses the implementation results of the modular supervisory control architecture (modMFSM) on a simplified two-machine drilling system for assessment of design practices. Simulations for three test cases were executed to assess the ability of the controller to correctly perform error-free operations, detect and react to possible collisions, and adapt to missing equipment. The report then discusses the possibilities of extending the modMFSM architecture to control large complex systems such as drilling rigs, using snubbing operations as an example.\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Lee\"],\"firstnames\":[\"Melissa\",\"Mei\",\"Yun\"],\"suffixes\":[]}],\"month\":\"February\",\"year\":\"2019\",\"doi\":\"http://dx.doi.org/10.26153/tsw/1039\",\"note\":\"Accepted: 2019-04-01T20:28:14Z\",\"bibtex\":\"@phdthesis{lee_modular_2019,\\n\\ttype = {Thesis},\\n\\ttitle = {Modular supervisory controller for complex systems},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/73907},\\n\\tabstract = {Automation for the oil and gas industry is driven by the need to improve efficiency, productivity, consistency, and personnel safety, while reducing cost. Fully automated systems alleviate the physical toll on human operators and allow them to focus on monitoring unsafe well events and machinery maintenance. Complex systems like drilling rigs and snubbing units require supervisory controllers that can safely coordinate equipment and processes, overcome interoperability challenges and allow for functional scalability without sacrificing safety, security, and consistency of operations. The primary objective of this report is to explore the feasibility of developing a modular supervisory controller architecture which addresses these concerns by modifying and extending existing architectures. Such modifications include the use of non-homogeneous models in sub-system modules, including discrete event models for control and physics-based models for collision avoidance, addition of a system compilation module (Meta Module) to identify simple design errors, and implementation of an algorithm for synthesis of modules and filters to replace missing sub-systems. This report discusses the implementation results of the modular supervisory control architecture (modMFSM) on a simplified two-machine drilling system for assessment of design practices. Simulations for three test cases were executed to assess the ability of the controller to correctly perform error-free operations, detect and react to possible collisions, and adapt to missing equipment. The report then discusses the possibilities of extending the modMFSM architecture to control large complex systems such as drilling rigs, using snubbing operations as an example.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Lee, Melissa Mei Yun},\\n\\tmonth = feb,\\n\\tyear = {2019},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/1039},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/1039},\\n\\tnote = {Accepted: 2019-04-01T20:28:14Z},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Lee, M. M. Y.\"],\"key\":\"lee_modular_2019\",\"id\":\"lee_modular_2019\",\"bibbaseid\":\"lee-modularsupervisorycontrollerforcomplexsystems-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/73907\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":23,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"Fundamental development of hypocycloidal gear transmissions\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/2334\",\"abstract\":\"text\",\"language\":\"eng\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Park\"],\"firstnames\":[\"Sang-Hyun\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2005\",\"note\":\"(committee member)\",\"keywords\":\"Dissertation\",\"bibtex\":\"@phdthesis{park_fundamental_2005,\\n\\ttype = {Dissertation},\\n\\ttitle = {Fundamental development of hypocycloidal gear transmissions},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/2334},\\n\\tabstract = {text},\\n\\tlanguage = {eng},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Park, Sang-Hyun},\\n\\tmonth = dec,\\n\\tyear = {2005},\\n\\tnote = {(committee member)},\\n\\tkeywords = {Dissertation},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Park, S.\"],\"key\":\"park_fundamental_2005\",\"id\":\"park_fundamental_2005\",\"bibbaseid\":\"park-fundamentaldevelopmentofhypocycloidalgeartransmissions-2005\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/2334\"},\"keyword\":[\"Dissertation\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":13,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"Robust metrology procedures for modular robotic systems using indoor GPS coordinate measuring system\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/1341\",\"abstract\":\"An OAS or a modular reconfigurable system is a collection of individual link and joint modules with standardized interfaces that can be reconfigured on demand into different geometries ranging from mobile platforms and 6 degrees of freedom (DOF) manipulator arms to 40 DOF manufacturing robotic cells. Such systems will allow flexible manufacturing, rapid repair, and upgrade, but these benefits have yet to be realized. A significant barrier is the presence of error between the ideal frame and the actual frame. While the repeatability of a typical robot can be 0.005\\\", its accuracy may not be better than 0.1\\\" due to configuration, load, model error, etc. Teaching or calibrating a robotic device is, therefore, required in industries to improve its accuracy for high-value added precision operations. The associated costs are extremely high. This fact trumps other modular technology benefits. Robot metrology is a solution to overcome these problems by increasing the absolute pose accuracy in the same order of magnitude as its repeatability. Despite the advancement of traditional metrology techniques, System Metrology for Monolithic Systems (SMMS) has proven to be too cumbersome, costly, and time-consuming for practical usage on modular systems. These obstacles suggest a strong need for a new look at robot metrology. Robust Metrology for Modular Systems (RMMS) (the metrology of robots that are composed of modules) is much more tractable, as a consequence of the reduced number of parameters in each module addressed by this metrology approach. In this dissertation, a highly advanced interface called ‘RRG Interface’ has been introduced. An advanced metrology system has been developed including a coordinate measuring system based on a state-of-the-art technology called “indoor GPS (Global Positioning System)” and a fully automatic loading mechanism with pure force generating capability. A hand-held probe called the ‘3D Probe’ has been developed. The impact of nonlinear compliance is examined. Based on the developed optimal measuring strategies, the metrology system has been applied to OAS metrologies and experimental results are presented. Kinematic modeling formulations are presented including geometric and compliance parameters. The performance of a 6 DOF modular system is predicted and a 22 time improvement over the best industrial practice has been made.\",\"language\":\"eng\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Kang\"],\"firstnames\":[\"Seong\",\"Ho\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2004\",\"note\":\"(committee member)\",\"keywords\":\"Dissertation\",\"bibtex\":\"@phdthesis{kang_robust_2004,\\n\\ttype = {Dissertation},\\n\\ttitle = {Robust metrology procedures for modular robotic systems using indoor {GPS} coordinate measuring system},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/1341},\\n\\tabstract = {An OAS or a modular reconfigurable system is a collection of individual link and \\njoint modules with standardized interfaces that can be reconfigured on demand into \\ndifferent geometries ranging from mobile platforms and 6 degrees of freedom (DOF) \\nmanipulator arms to 40 DOF manufacturing robotic cells. Such systems will allow \\nflexible manufacturing, rapid repair, and upgrade, but these benefits have yet to be \\nrealized. A significant barrier is the presence of error between the ideal frame and the \\nactual frame. While the repeatability of a typical robot can be 0.005\\\", its accuracy may \\nnot be better than 0.1\\\" due to configuration, load, model error, etc. Teaching or \\ncalibrating a robotic device is, therefore, required in industries to improve its accuracy for \\nhigh-value added precision operations. The associated costs are extremely high. This fact \\ntrumps other modular technology benefits. \\nRobot metrology is a solution to overcome these problems by increasing the \\nabsolute pose accuracy in the same order of magnitude as its repeatability. Despite the \\nadvancement of traditional metrology techniques, System Metrology for Monolithic  \\nSystems (SMMS) has proven to be too cumbersome, costly, and time-consuming for \\npractical usage on modular systems. These obstacles suggest a strong need for a new look \\nat robot metrology. Robust Metrology for Modular Systems (RMMS) (the metrology of \\nrobots that are composed of modules) is much more tractable, as a consequence of the \\nreduced number of parameters in each module addressed by this metrology approach. \\nIn this dissertation, a highly advanced interface called ‘RRG Interface’ has been \\nintroduced. An advanced metrology system has been developed including a coordinate \\nmeasuring system based on a state-of-the-art technology called “indoor GPS (Global \\nPositioning System)” and a fully automatic loading mechanism with pure force \\ngenerating capability. A hand-held probe called the ‘3D Probe’ has been developed. The \\nimpact of nonlinear compliance is examined. Based on the developed optimal measuring \\nstrategies, the metrology system has been applied to OAS metrologies and experimental \\nresults are presented. Kinematic modeling formulations are presented including \\ngeometric and compliance parameters. The performance of a 6 DOF modular system is \\npredicted and a 22 time improvement over the best industrial practice has been made.},\\n\\tlanguage = {eng},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Kang, Seong Ho},\\n\\tmonth = dec,\\n\\tyear = {2004},\\n\\tnote = {(committee member)},\\n\\tkeywords = {Dissertation},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Kang, S. H.\"],\"key\":\"kang_robust_2004\",\"id\":\"kang_robust_2004\",\"bibbaseid\":\"kang-robustmetrologyproceduresformodularroboticsystemsusingindoorgpscoordinatemeasuringsystem-2004\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/1341\"},\"keyword\":[\"Dissertation\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":13,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"Physical modeling of tools necessary for robot manipulation\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/2473\",\"abstract\":\"Previous research on modeling general processes has focused on physical and empirical modeling of dedicated process machines which have sufficient stiffness and accuracy. For example, machining centers have relatively high stiffness and exhibit negligible deflections. Robot manipulators have low stiffness which easily allows undesirable deflections under large reaction forces. Also, models for intuitive decision surfaces for users, decision making systems, or system controllers have not been embedded or otherwise deployed effectively. The objective of this research is to suggest graphical and parametric models of robotic processes suited for intuitive user friendly graphs and modeling nonlinear systems and to initiate a program which proves usefulness of performance maps. Performance maps are primitive surface representations which can be used to create decision surfaces. General robotic processes considered are robotic drilling, grinding, deburring, chiseling, sawing, peg insertion, force-fit insertion, forming for assembly, screw fastening, and riveting. To achieve the objective, a framework for in-depth parametric and analytic modeling of robotic processes is presented. First, relevant process parameters such as process operating variables, system condition parameters, and process performance criteria are defined. Process operating variables are the robot controller inputs. System condition parameters are process parameters which define system constraints and characteristics. Process performance criteria are critical parameters to define, anticipate, and evaluate product quality, system stability, economic performance, and system performance. Second, performance maps which describe the graphical relationship of the relevant process parameters are developed. A performance map is the surface representation of a process performance criterion as a function of process operating variable(s), system condition parameter(s), or other process performance criteria. Third, the application of performance maps of robotic drilling is simulated, to illustrate their advantages. Whether robot deflections generated during the process satisfy tolerance requirements or not is evaluated and suitable robot postures are recommended. Pertinent literature is extensively reviewed to recognize current research trends in modeling and parameterizing relevant process parameters. Approximately, 100 performance maps were created as graphical and parametric models based on process performance. Two performance envelopes were developed. Proper robot postures were suggested to drill a hole with constant feed-rate or bounded ranges of that feed-rate.\",\"language\":\"eng\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Chang\"],\"firstnames\":[\"Kyogun\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2006\",\"note\":\"(committee member)\",\"keywords\":\"Dissertation\",\"bibtex\":\"@phdthesis{chang_physical_2006,\\n\\ttype = {Dissertation},\\n\\ttitle = {Physical modeling of tools necessary for robot manipulation},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/2473},\\n\\tabstract = {Previous research on modeling general processes has focused on physical and \\nempirical modeling of dedicated process machines which have sufficient stiffness and \\naccuracy. For example, machining centers have relatively high stiffness and exhibit \\nnegligible deflections. Robot manipulators have low stiffness which easily allows \\nundesirable deflections under large reaction forces. Also, models for intuitive decision \\nsurfaces for users, decision making systems, or system controllers have not been \\nembedded or otherwise deployed effectively. \\nThe objective of this research is to suggest graphical and parametric models of \\nrobotic processes suited for intuitive user friendly graphs and modeling nonlinear systems \\nand to initiate a program which proves usefulness of performance maps. Performance \\nmaps are primitive surface representations which can be used to create decision surfaces. \\nGeneral robotic processes considered are robotic drilling, grinding, deburring, chiseling, \\nsawing, peg insertion, force-fit insertion, forming for assembly, screw fastening, and \\nriveting. \\nTo achieve the objective, a framework for in-depth parametric and analytic \\nmodeling of robotic processes is presented. First, relevant process parameters such as \\nprocess operating variables, system condition parameters, and process performance  \\ncriteria are defined. Process operating variables are the robot controller inputs. System \\ncondition parameters are process parameters which define system constraints and \\ncharacteristics. Process performance criteria are critical parameters to define, anticipate, \\nand evaluate product quality, system stability, economic performance, and system \\nperformance. \\nSecond, performance maps which describe the graphical relationship of the \\nrelevant process parameters are developed. A performance map is the surface \\nrepresentation of a process performance criterion as a function of process operating \\nvariable(s), system condition parameter(s), or other process performance criteria. Third, \\nthe application of performance maps of robotic drilling is simulated, to illustrate their \\nadvantages. Whether robot deflections generated during the process satisfy tolerance \\nrequirements or not is evaluated and suitable robot postures are recommended. \\nPertinent literature is extensively reviewed to recognize current research trends in \\nmodeling and parameterizing relevant process parameters. Approximately, 100 \\nperformance maps were created as graphical and parametric models based on process \\nperformance. Two performance envelopes were developed. Proper robot postures were \\nsuggested to drill a hole with constant feed-rate or bounded ranges of that feed-rate.},\\n\\tlanguage = {eng},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Chang, Kyogun},\\n\\tmonth = may,\\n\\tyear = {2006},\\n\\tnote = {(committee member)},\\n\\tkeywords = {Dissertation},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Chang, K.\"],\"key\":\"chang_physical_2006\",\"id\":\"chang_physical_2006\",\"bibbaseid\":\"chang-physicalmodelingoftoolsnecessaryforrobotmanipulation-2006\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/2473\"},\"keyword\":[\"Dissertation\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"A differential-based parallel force/velocity actuation concept : theory and experiments\",\"shorttitle\":\"A differential-based parallel force/velocity actuation concept\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/6899\",\"abstract\":\"Robots are now moving from their conventional confined habitats such as factory floors to human environments where they assist and physically interact with people. The requirement for inherent mechanical safety is overarching in such human-robot interaction systems. We propose a dual actuator called Parallel Force/Velocity Actuator (PFVA) that combines a Force Actuator (FA) (low velocity input) and a Velocity Actuator (VA) (high velocity input) using a differential gear train. In this arrangement mechanical safety can be achieved by limiting the torque on the FA and thus making it a backdriveable input. In addition, the kinematic redundancy in the drive can be used to control output velocity while satisfying secondary operational objectives. Our research focus was on three areas: (i) scalable parametric design of the PFVA, (ii) analytical modeling of the PFVA and experimental testing on a single-joint prototype, and (iii) generalized model formulation for PFVA-driven serial robot manipulators. In our analysis, the ratio of velocity ratios between the FA and the VA, called the relative scale factor, emerged as a purely geometric and dominant design parameter. Based on a dimensionless parametric design of PFVAs using power-flow and load distributions between the inputs, a prototype was designed and built using commercial-off-the-shelf components. Using controlled experiments, two performance-limiting phenomena in our prototype, friction and dynamic coupling between the two inputs, were identified. Two other experiments were conducted to characterize the operational performance of the actuator in velocity-mode and in what we call ‘torque-limited’ mode (i.e. when the FA input can be backdriven). Our theoretical and experimental results showed that the PFVA can be mechanical safe to both slow collisions and impacts due to the backdriveability of the FA. Also, we show that its kinematic redundancy can be effectively utilized to mitigate low-velocity friction and backlash in geared mechanisms. The implication at the system level of our actuator level analytical and experimental work was studied using a generalized dynamic modeling framework based on kinematic influence coefficients. Based on this dynamic model, three design case studies for a PFVA-driven serial planar 3R manipulator were presented. The major contributions of this research include (i) mathematical models and physical understanding for over six fundamental design and operational parameters of the PFVA, based on which approximately ten design and five operational guidelines were laid out, (ii) analytical and experimental proof-of-concept for the mechanical safety feature of the PFVA and the effective utilization of its kinematic redundancy, (iii) an experimental methodology to characterize the dynamic coupling between the inputs in a differential-summing mechanism, and (iv) a generalized dynamic model formulation for PFVA-driven serial robot manipulators with emphasis on distribution of output loads between the FA and VA input-sets.\",\"language\":\"eng\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Rabindran\"],\"firstnames\":[\"Dinesh\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2009\",\"note\":\"(committee member)\",\"keywords\":\"Dissertation\",\"bibtex\":\"@phdthesis{rabindran_differential-based_2009,\\n\\ttype = {Dissertation},\\n\\ttitle = {A differential-based parallel force/velocity actuation concept : theory and experiments},\\n\\tshorttitle = {A differential-based parallel force/velocity actuation concept},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/6899},\\n\\tabstract = {Robots are now moving from their conventional confined habitats such as factory floors to human environments where they assist and physically interact with people. The requirement for inherent mechanical safety is overarching in such human-robot interaction systems. We propose a dual actuator called Parallel Force/Velocity Actuator \\n(PFVA) that combines a Force Actuator (FA) (low velocity input) and a Velocity Actuator (VA) (high velocity input) using a differential gear train. In this arrangement mechanical safety can be achieved by limiting the torque on the FA and thus making it a backdriveable input. In addition, the kinematic redundancy in the drive can be used to control output velocity while satisfying secondary operational objectives. Our research focus was on three areas: (i) scalable parametric design of the PFVA, (ii) analytical modeling of the PFVA and experimental testing on a single-joint prototype, and (iii) generalized model formulation for PFVA-driven serial robot manipulators. In our analysis, the ratio of velocity ratios between the FA and the VA, called the relative scale factor, emerged as a purely geometric and dominant design parameter. Based on a dimensionless parametric design of PFVAs using power-flow and load distributions between the inputs, a prototype was designed and built using commercial-off-the-shelf components. Using controlled experiments, two performance-limiting phenomena in our prototype, friction and dynamic coupling between the two inputs, were identified. Two other experiments were conducted to characterize the operational performance of the actuator in velocity-mode and in what we call ‘torque-limited’ mode (i.e. when the FA input can be backdriven). Our theoretical and experimental results showed that the PFVA can be mechanical safe to both slow collisions and impacts due to the backdriveability of the FA. Also, we show that its kinematic redundancy can be effectively utilized to mitigate low-velocity friction and backlash in geared mechanisms. The implication at the system level of our actuator level analytical and experimental work was studied using a generalized dynamic modeling framework based on kinematic influence coefficients. Based on this dynamic model, three design case studies for a PFVA-driven serial planar 3R manipulator were presented. The major contributions of this research include (i) mathematical models and physical understanding for over six fundamental design and operational parameters of the PFVA, based on which approximately ten design and five operational guidelines were laid out, (ii) analytical and experimental proof-of-concept for the mechanical safety feature of the PFVA and the effective utilization of its kinematic redundancy, (iii) an experimental methodology to characterize the dynamic coupling between the inputs in a differential-summing mechanism, and (iv) a generalized dynamic model formulation for PFVA-driven serial robot manipulators with emphasis on distribution of output loads between the FA and VA input-sets.},\\n\\tlanguage = {eng},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Rabindran, Dinesh},\\n\\tmonth = may,\\n\\tyear = {2009},\\n\\tnote = {(committee member)},\\n\\tkeywords = {Dissertation},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Rabindran, D.\"],\"key\":\"rabindran_differential-based_2009\",\"id\":\"rabindran_differential-based_2009\",\"bibbaseid\":\"rabindran-adifferentialbasedparallelforcevelocityactuationconcepttheoryandexperiments-2009\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/6899\"},\"keyword\":[\"Dissertation\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Reactive synthesis of action planners\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/74526\",\"abstract\":\"An increase in the level of autonomy marks one of the fundamental focuses of current robotic systems. This involves the ability of a robot to reason about its environment and plan its motion in order to carry out assigned tasks. For all tasks, it generally involves abstractions into discrete, logical actions, where each discrete action defines a particular capability of the robot. The problem of synthesis of correct-by-construction action planners has been considered in this work. Action Description Language (ADL) is used to model the actions. These ADL definitions are then translated to Linear Temporal Logic (LTL). LTL based specifications are further used for the reactive synthesis of the strategy. This work largely focuses on expressiveness which consists of a definition of the actions and system/environment behavior. Classical ADL semantics cannot handle multiple agents or non-determinism. A natural extension of ADL (referred to as ADLnE in this document) has been proposed which can handle dynamic environments, non-determinism, and multiple agents. The proposed work can be seen as an extension to generic search based action planners. One such A* search-based method, Goal Oriented Action Planner (GOAP) has been considered which is based on ADL semantics and is limited by deterministic, single agent modeling. Through examples, it has been established that for deterministic, single agent and static (or at best quasi-static) systems, the proposed strategy matches that of GOAP. For dynamic and multi-agent situations, a reactive action plan is synthesized (if feasible) that is guaranteed to satisfy the formal specification, i.e. achieve the goal.\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sharma\"],\"firstnames\":[\"Nitish\"],\"suffixes\":[]}],\"month\":\"February\",\"year\":\"2019\",\"doi\":\"http://dx.doi.org/10.26153/tsw/1646\",\"note\":\"Accepted: 2019-05-09T18:36:39Z\",\"bibtex\":\"@phdthesis{sharma_reactive_2019,\\n\\ttype = {Thesis},\\n\\ttitle = {Reactive synthesis of action planners},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/74526},\\n\\tabstract = {An increase in the level of autonomy marks one of the fundamental focuses of current robotic systems. This involves the ability of a robot to reason about its environment and plan its motion in order to carry out assigned tasks. For all tasks, it generally involves abstractions into discrete, logical actions, where each discrete action defines a particular capability of the robot. \\n \\nThe problem of synthesis of correct-by-construction action planners has been considered in this work. Action Description Language (ADL) is used to model the actions. These ADL definitions are then translated to Linear Temporal Logic (LTL). LTL based specifications are further used for the reactive synthesis of the strategy.   \\n \\nThis work largely focuses on expressiveness which consists of a definition of the actions and system/environment behavior. Classical ADL semantics cannot handle multiple agents or non-determinism. A natural extension of ADL (referred to as ADLnE in this document) has been proposed which can handle dynamic environments, non-determinism, and multiple agents. \\n \\nThe proposed work can be seen as an extension to generic search based action planners. One such A* search-based method, Goal Oriented Action Planner (GOAP) has been considered which is based on ADL semantics and is limited by deterministic, single agent modeling. Through examples, it has been established that for deterministic, single agent and static (or at best quasi-static) systems, the proposed strategy matches that of GOAP. For dynamic and multi-agent situations, a reactive action plan is synthesized (if feasible) that is guaranteed to satisfy the formal specification, i.e. achieve the goal.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Sharma, Nitish},\\n\\tmonth = feb,\\n\\tyear = {2019},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/1646},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/1646},\\n\\tnote = {Accepted: 2019-05-09T18:36:39Z},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Sharma, N.\"],\"key\":\"sharma_reactive_2019\",\"id\":\"sharma_reactive_2019\",\"bibbaseid\":\"sharma-reactivesynthesisofactionplanners-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/74526\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":23,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Masters Report\",\"title\":\"Simplifying peripheral integration in ROS for manufacturing\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/67263\",\"abstract\":\"This report summarizes the design and implementation of software to reduce the effort spent integrating peripheral devices into robotic workcells. The motivating application is completion of multiple manufacturing tasks undertaken by Los Alamos National Laboratory (LANL) as part of the Plutonium Sustainment Program. Pit manufacturing in LANL is currently completed inside gloveboxes to protect technicians from radioative contamination. This causes ergonomic strain on operators who must move delicate, heavy objects with their arms fully extended. Furthermore, there is an interest in using the current research-oriented manufacturing capabilities to allow for production scale manufacturing while minimizing infrastructure investments. The project undertaken is a demonstration using modern technology to eliminate human handling of radioactive components and creating a quicker and safer automated manufacturing process. To accomplish this, a multi-use manufacturing glovebox was developed and demonstrated using a Yaskawa SIA5 7 Degree-of-Freedom (DoF) industrial manipulator, Robotiq [superscript TM] three finger gripper, five speed drill press, and three-jaw chuck. The goal is to perform multiple manufacturing tasks in a single glovebox to improve throughput while minimizing infrastructure, integration, and logistical complexity. Actions decisions for these devices include data from Force-Torque sensors, pressure sensors, a 3D depth camera, and sensors (encoders, etc.) on the robot. While the peripheral devices are implemented task agnostically, the manufacturing task demonstration utilizing these peripherals include - but are not limited to - drilling, press fitting, and polishing. Aluminum props were used due to their relatively low cost and because fcc [delta] -phase plutonium alloys exhibit some similar mechanical properties to aluminum [14]. To automate the drilling task a Moog Animatics Smartmotor was integrated with the drill press. The 3-jaw chuck was also automated using an Arduino mega 2560 board with a VNH5019 motor driver shield and the ability to measure the current drawn by the DC motor. Object information is relayed by the 3-D depth camera using an object detection algorithm developed at the University of Texas. A finite state machine ensures that operators are unable to perform tasks that would jeopardize plutonium castings and botch subsequent tasks. To achieve the necessary peripheral integration and reduce the burden on future developers responsible for executing related tasks, a software architecture is presented and was developed and written in C++ using the Robot Operating System (ROS) to control the manipulator, the peripherals above, and easily add additional peripherals in the future. A general approach was taken to developing a complete ROS peripheral architecture, and development focused on aspects of the framework suited for industrial devices such as actuators and sensors. Successful implementation into the glovebox manufacturing project validates the proposed software’s potential to minimize the learning curve and standardize implementation of peripherals thus reducing integration time and effort via re-use and extensibility.\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Paredes\"],\"firstnames\":[\"Edwin\",\"S.\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2018\",\"doi\":\"10.15781/T29C6SK02\",\"note\":\"Accepted: 2018-08-09T17:26:47Z\",\"bibtex\":\"@phdthesis{paredes_simplifying_2018,\\n\\ttype = {Masters {Report}},\\n\\ttitle = {Simplifying peripheral integration in {ROS} for manufacturing},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/67263},\\n\\tabstract = {This report summarizes the design and implementation of software to reduce the effort spent integrating peripheral devices into robotic workcells. The motivating application is completion of multiple manufacturing tasks undertaken by Los Alamos National Laboratory (LANL) as part of the Plutonium Sustainment Program. Pit manufacturing in LANL is currently completed inside gloveboxes to protect technicians from radioative contamination. This causes ergonomic strain on operators who must move delicate, heavy objects with their arms fully extended. Furthermore, there is an interest in using the current research-oriented manufacturing capabilities to allow for production scale manufacturing while minimizing infrastructure investments. The project undertaken is a demonstration using modern technology to eliminate human handling of radioactive components and creating a quicker and safer automated manufacturing process. To accomplish this, a multi-use manufacturing glovebox was developed and demonstrated using a Yaskawa SIA5 7 Degree-of-Freedom (DoF) industrial manipulator, Robotiq [superscript TM] three finger gripper, five speed drill press, and three-jaw chuck. The goal is to perform multiple manufacturing tasks in a single glovebox to improve throughput while minimizing infrastructure, integration, and logistical complexity. Actions decisions for these devices include data from Force-Torque sensors, pressure sensors, a 3D depth camera, and sensors (encoders, etc.) on the robot. While the peripheral devices are implemented task agnostically, the manufacturing task demonstration utilizing these peripherals include - but are not limited to - drilling, press fitting, and polishing. Aluminum props were used due to their relatively low cost and because fcc [delta] -phase plutonium alloys exhibit some similar mechanical properties to aluminum [14]. To automate the drilling task a Moog Animatics Smartmotor was integrated with the drill press. The 3-jaw chuck was also automated using an Arduino mega 2560 board with a VNH5019 motor driver shield and the ability to measure the current drawn by the DC motor. Object information is relayed by the 3-D depth camera using an object detection algorithm developed at the University of Texas. A finite state machine ensures that operators are unable to perform tasks that would jeopardize plutonium castings and botch subsequent tasks. To achieve the necessary peripheral integration and reduce the burden on future developers responsible for executing related tasks, a software architecture is presented and was developed and written in C++ using the Robot Operating System (ROS) to control the manipulator, the peripherals above, and easily add additional peripherals in the future. A general approach was taken to developing a complete ROS peripheral architecture, and development focused on aspects of the framework suited for industrial devices such as actuators and sensors. Successful implementation into the glovebox manufacturing project validates the proposed software’s potential to minimize the learning curve and standardize implementation of peripherals thus reducing integration time and effort via re-use and extensibility.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Paredes, Edwin S.},\\n\\tmonth = jun,\\n\\tyear = {2018},\\n\\tdoi = {10.15781/T29C6SK02},\\n\\tnote = {Accepted: 2018-08-09T17:26:47Z},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Paredes, E. S.\"],\"key\":\"paredes_simplifying_2018\",\"id\":\"paredes_simplifying_2018\",\"bibbaseid\":\"paredes-simplifyingperipheralintegrationinrosformanufacturing-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/67263\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Automated computer vision system for real-time drilling cuttings monitoring\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/72723\",\"abstract\":\"In rotary drilling operations, cuttings are continuously transported to the surface by drilling fluid. Real-time monitoring of cuttings and cavings is crucial for early detection and remediation of drilling problems such as stuck pipe, lost circulation, high torque and drag, reduction in rate of penetration, and other wellbore instability issues. These incidents are large contributors to drilling-related Non-Productive Time (NPT). At the current stage, a mud logger performs monitoring manually. This work proposes to use computer vision techniques to automate this procedure. To achieve this application, specific requirements should be established to design an automated machine vision system to maintain drilling safety and speed. Cuttings ramp has been identified as an ideal location to perform the measurement, where cuttings and caving are sliding down a slope at a steady speed. To accomplish this task, an intelligent image processing system must be able to track cuttings speed, measure volume, analyze size, and generate a surface model. Through a detailed review and testing of available 3D sensing techniques, a system consisting of a 2D high-resolution camera and 3D laser profile scanner was designed. By implementing image processing techniques, the cuttings speed on the ramp was estimated which was then synchronized to the 3D depth data from a laser scanner. Finally, the volume of moving cuttings was estimated and a 3D surface profile was reconstructed using point cloud data. Experimental results in the lab environment validated that such a system can be applied to quantify cuttings volume, size distribution, and reconstruct a 3D profile of cuttings and cavings. This measured result can be stored for further analysis. Overall, this work established a foundation for the design of a sophisticated real-time monitoring system for hole cleaning and wellbore risk reduction.\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Han\"],\"firstnames\":[\"Runqi\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2016\",\"doi\":\"10.15781/T20G3HJ9R\",\"note\":\"Accepted: 2019-02-01T23:51:29Z\",\"bibtex\":\"@phdthesis{han_automated_2016,\\n\\ttype = {Thesis},\\n\\ttitle = {Automated computer vision system for real-time drilling cuttings monitoring},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/72723},\\n\\tabstract = {In rotary drilling operations, cuttings are continuously transported to the surface by drilling fluid. Real-time monitoring of cuttings and cavings is crucial for early detection and remediation of drilling problems such as stuck pipe, lost circulation, high torque and drag, reduction in rate of penetration, and other wellbore instability issues. These incidents are large contributors to drilling-related Non-Productive Time (NPT). At the current stage, a mud logger performs monitoring manually. This work proposes to use computer vision techniques to automate this procedure. To achieve this application, specific requirements should be established to design an automated machine vision system to maintain drilling safety and speed.  Cuttings ramp has been identified as an ideal location to perform the measurement, where cuttings and caving are sliding down a slope at a steady speed. To accomplish this task, an intelligent image processing system must be able to track cuttings speed, measure volume, analyze size, and generate a surface model. Through a detailed review and testing of available 3D sensing techniques, a system consisting of a 2D high-resolution camera and 3D laser profile scanner was designed. By implementing image processing techniques, the cuttings speed on the ramp was estimated which was then synchronized to the 3D depth data from a laser scanner. Finally, the volume of moving cuttings was estimated and a 3D surface profile was reconstructed using point cloud data.  Experimental results in the lab environment validated that such a system can be applied to quantify cuttings volume, size distribution, and reconstruct a 3D profile of cuttings and cavings. This measured result can be stored for further analysis. Overall, this work established a foundation for the design of a sophisticated real-time monitoring system for hole cleaning and wellbore risk reduction.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Han, Runqi},\\n\\tmonth = aug,\\n\\tyear = {2016},\\n\\tdoi = {10.15781/T20G3HJ9R},\\n\\tnote = {Accepted: 2019-02-01T23:51:29Z},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Han, R.\"],\"key\":\"han_automated_2016\",\"id\":\"han_automated_2016\",\"bibbaseid\":\"han-automatedcomputervisionsystemforrealtimedrillingcuttingsmonitoring-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/72723\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":24,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"A demonstration and comparative analysis of haptic performance using a Gough-Stewart platform as a wearable haptic feedback device\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/75803\",\"abstract\":\"In many hazardous work environments, contact tasks ranging from manufacturing to disassembly to emergency response are performed by industrial manipulators. Due to the hazardous and complex nature of these environments, teleoperation is often employed. When such is the case, the operator is left to interpret a large amount of data during task completion due to the complexity of modern robotic systems and the possible complexity of the tasks. This information is usually processed visually but can lead to sensory overload. To mitigate this, the information processing can also be distributed through other modes of sensory such as auditory or haptic. The University of Texas at Austin's TeMoto hands-free interface reduces the burden on the operator of commanding remote systems by enabling the use of gestural and verbal commands to complete a range of tasks, but the removal of a mechanical interactive device from the operator interface complicates the inclusion of haptic feedback. In this work, a standalone Gough-Stewart platform previously configured as a wearable haptic feedback device for the Nuclear and Applied Robotics Group at the University of Texas at Austin provides real-time haptic feedback to the unconstrained hand(s) of the operator. In doing so, this haptic interface can be employed with the intent of enhancing situational awareness and minimizing operator stress by imparting forces and torques to the user based on those imparted on the end-effector of the industrial manipulator. While multiple technical issues and human factor issues must be addressed, this effort focuses on integrating the system and evaluating its performance for various industrial manipulator designs and sensor modalities. After testing various digital signal processing techniques, functionality was demonstrated among one series-elastic and two rigid industrial manipulators, each with different force/torque data acquisition characteristics and a comparative analysis in haptic performance was performed. Furthermore, it was demonstrated with the TeMoto hands-free teleoperation system. Overall, the demonstrations and experiments performed in this work prove the system to be a viable, hardware agnostic means of haptic feedback and a strong basis for future efforts\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Gallegos\"],\"firstnames\":[\"Lucas\",\"Eddie\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2019\",\"doi\":\"http://dx.doi.org/10.26153/tsw/2905\",\"note\":\"Accepted: 2019-09-10T21:58:40Z\",\"bibtex\":\"@phdthesis{gallegos_demonstration_2019,\\n\\ttype = {Thesis},\\n\\ttitle = {A demonstration and comparative analysis of haptic performance using a {Gough}-{Stewart} platform as a wearable haptic feedback device},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/75803},\\n\\tabstract = {In many hazardous work environments, contact tasks ranging from manufacturing to disassembly to emergency response are performed by industrial manipulators. Due to the hazardous and complex nature of these environments, teleoperation is often employed. When such is the case, the operator is left to interpret a large amount of data during task completion due to the complexity of modern robotic systems and the possible complexity of the tasks. This information is usually processed visually but can lead to sensory overload. To mitigate this, the information processing can also be distributed through other modes of sensory such as auditory or haptic. The University of Texas at Austin's TeMoto hands-free interface reduces the burden on the operator of commanding remote systems by enabling the use of gestural and verbal commands to complete a range of tasks, but the removal of a mechanical interactive device from the operator interface complicates the inclusion of haptic feedback. In this work, a standalone Gough-Stewart platform previously configured as a wearable haptic feedback device for the Nuclear and Applied Robotics Group at the University of Texas at Austin provides real-time haptic feedback to the unconstrained hand(s) of the operator. In doing so, this haptic interface can be employed with the intent of enhancing situational awareness and minimizing operator stress by imparting forces and torques to the user based on those imparted on the end-effector of the industrial manipulator. While multiple technical issues and human factor issues must be addressed, this effort focuses on integrating the system and evaluating its performance for various industrial manipulator designs and sensor modalities. After testing various digital signal processing techniques, functionality was demonstrated among one series-elastic and two rigid industrial manipulators, each with different force/torque data acquisition characteristics and a comparative analysis in haptic performance was performed. Furthermore, it was demonstrated with the TeMoto hands-free teleoperation system. Overall, the demonstrations and experiments performed in this work prove the system to be a viable, hardware agnostic means of haptic feedback and a strong basis for future efforts},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Gallegos, Lucas Eddie},\\n\\tmonth = apr,\\n\\tyear = {2019},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/2905},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/2905},\\n\\tnote = {Accepted: 2019-09-10T21:58:40Z},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Gallegos, L. E.\"],\"key\":\"gallegos_demonstration_2019\",\"id\":\"gallegos_demonstration_2019\",\"bibbaseid\":\"gallegos-ademonstrationandcomparativeanalysisofhapticperformanceusingagoughstewartplatformasawearablehapticfeedbackdevice-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/75803\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":24,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Task-Trajectory Analysis Package in the Robot Operating System\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/78518\",\"abstract\":\"For many manufacturing tasks, such as welding and cutting, the task trajectory, or path, is known a priori in the object's reference frame. What is not known is whether or not the robot can reach the entirety of the trajectory given the relative location of the object frame to the robot's base frame and its reachable and/or dexterous workspace. The problem increases in complexity with each additional object in the robot's workspace. Some robots need to perform tasks in cluttered or confined environments, such as a glovebox, and the ability to know if and where the manipulator can perform a certain task is crucial for both design and operation. This thesis describes the development, design, and implementation of a Task-Trajectory Analysis Package (T-TAP) within the Robot Operating System (ROS) framework. Reachability has been extensively discussed in the literature, but current reachability visualization tools do not account for task data, and instead describe the robot's global workspace and thus take a long time to compute. Such tools may be useful for designing robotic systems, but their value diminishes when analyzing a specific task and environment. T-TAP focuses on the task space and is capable of producing real-time or near real-time feedback about the validity of a path. The results are shown in an easy-to-interpret visualization of the path points and their relative quality as measured using selected performance metrics. T-TAP contains several capabilities. The first, and simplest, validates reachability for discrete points along the trajectory. An inverse kinematic (IK) solver is used to plan from one trajectory point to the next. The user can use standard ROS IK solvers or utilize their own IK solver. Next, T-TAP uses the Jacobian to analyze the system's performance as it completes the proposed trajectory. It ensures that joint and velocity limits are not violated, singularities are avoided, and is extensible to include additional user-defined performance metrics. T-TAP requires no prior computations, is hardware agnostic, and can be run entirely in simulation. It can reduce the time required to place and plan a trajectory by an order of magnitude. It is designed to work seamlessly with existing ROS path-planning packages. The operator needs only to send the path to T-TAP and T-TAP will analyze the trajectory. This information will allow the operator to intelligently adjust the path so that it is reachable and viable.\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Petlowany\"],\"firstnames\":[\"Christina\",\"Elisabeth\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2019\",\"doi\":\"http://dx.doi.org/10.26153/tsw/5579\",\"note\":\"Accepted: 2019-11-20T23:58:11Z\",\"bibtex\":\"@phdthesis{petlowany_task-trajectory_2019,\\n\\ttype = {Thesis},\\n\\ttitle = {Task-{Trajectory} {Analysis} {Package} in the {Robot} {Operating} {System}},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/78518},\\n\\tabstract = {For many manufacturing tasks, such as welding and cutting, the task trajectory, or path, is known a priori in the object's reference frame. What is\\nnot known is whether or not the robot can reach the entirety of the trajectory\\ngiven the relative location of the object frame to the robot's base frame and its\\nreachable and/or dexterous workspace. The problem increases in complexity with each additional object in the robot's workspace. Some robots need to perform tasks in cluttered or confined environments, such as a glovebox, and the ability to know if and where the manipulator can perform a certain task is crucial for both design and operation. This thesis describes the development, design, and implementation of a Task-Trajectory Analysis Package (T-TAP) within the Robot Operating System (ROS) framework.\\n\\nReachability has been extensively discussed in the literature, but current reachability visualization tools do not account for task data, and instead describe the robot's global workspace and thus take a long time to compute. Such tools may be useful for designing robotic systems, but their value diminishes when analyzing a specific task and environment. T-TAP focuses on the task space and is capable of producing real-time or near real-time feedback about the validity of a path. The results are shown in an easy-to-interpret visualization of the path points and their relative quality as measured using selected performance metrics.\\n\\nT-TAP contains several capabilities. The first, and simplest, validates\\nreachability for discrete points along the trajectory. An inverse kinematic\\n(IK) solver is used to plan from one trajectory point to the next. The user\\ncan use standard ROS IK solvers or utilize their own IK solver. Next, T-TAP\\nuses the Jacobian to analyze the system's performance as it completes the proposed trajectory. It ensures that joint and velocity limits are not violated, singularities are avoided, and is extensible to include additional user-defined performance metrics.\\n\\nT-TAP requires no prior computations, is hardware agnostic, and can\\nbe run entirely in simulation. It can reduce the time required to place and\\nplan a trajectory by an order of magnitude. It is designed to work seamlessly with existing ROS path-planning packages. The operator needs only to send the path to T-TAP and T-TAP will analyze the trajectory. This information will allow the operator to intelligently adjust the path so that it is reachable and viable.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tauthor = {Petlowany, Christina Elisabeth},\\n\\tmonth = may,\\n\\tyear = {2019},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/5579},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/5579},\\n\\tnote = {Accepted: 2019-11-20T23:58:11Z},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Petlowany, C. E.\"],\"key\":\"petlowany_task-trajectory_2019\",\"id\":\"petlowany_task-trajectory_2019\",\"bibbaseid\":\"petlowany-tasktrajectoryanalysispackageintherobotoperatingsystem-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/78518\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"Directional neutron surveys on a semiautonomous robot for a radiological vault\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Brabec\"],\"firstnames\":[\"Cheryl\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2020\",\"keywords\":\"Dissertation\",\"bibtex\":\"@phdthesis{brabec_directional_2020,\\n\\ttype = {Dissertation},\\n\\ttitle = {Directional neutron surveys on a semiautonomous robot for a radiological vault},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Brabec, Cheryl},\\n\\tmonth = may,\\n\\tyear = {2020},\\n\\tkeywords = {Dissertation},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Brabec, C.\"],\"key\":\"brabec_directional_2020\",\"id\":\"brabec_directional_2020\",\"bibbaseid\":\"brabec-directionalneutronsurveysonasemiautonomousrobotforaradiologicalvault-2020\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Dissertation\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"MeV photon imaging with robotic sample positioning at a research reactor\",\"volume\":\"318\",\"issn\":\"1588-2780\",\"url\":\"https://doi.org/10.1007/s10967-018-6151-3\",\"doi\":\"10.1007/s10967-018-6151-3\",\"abstract\":\"This paper summarizes the development and demonstration of an X-ray and gamma-ray radiography capability using a TRIGA MARK-II reactor. Photons are a combination of Bremsstrahlung X-rays and gamma rays from fission and radioactive decay. The energy spectrum of the facility was analyzed with a NaI(Tl) scintillator detector. A digital X-ray camera for use with MeV-range photons images a duplex wire-type penetrameter to analyze unsharpness and spatial resolution. An industrial manipulator precisely positions the sample, which allows objects to have larger dimensions than the detector’s field-of-view. Future work includes performing computed tomography to create 3-dimensional representations of objects.\",\"language\":\"en\",\"number\":\"1\",\"urldate\":\"2020-05-10\",\"journal\":\"Journal of Radioanalytical and Nuclear Chemistry\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hashem\"],\"firstnames\":[\"Nicholas\",\"R.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Haas\"],\"firstnames\":[\"Derek\",\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitchell\",\"W.\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2018\",\"pages\":\"599–604\",\"bibtex\":\"@article{hashem_mev_2018,\\n\\ttitle = {{MeV} photon imaging with robotic sample positioning at a research reactor},\\n\\tvolume = {318},\\n\\tissn = {1588-2780},\\n\\turl = {https://doi.org/10.1007/s10967-018-6151-3},\\n\\tdoi = {10.1007/s10967-018-6151-3},\\n\\tabstract = {This paper summarizes the development and demonstration of an X-ray and gamma-ray radiography capability using a TRIGA MARK-II reactor. Photons are a combination of Bremsstrahlung X-rays and gamma rays from fission and radioactive decay. The energy spectrum of the facility was analyzed with a NaI(Tl) scintillator detector. A digital X-ray camera for use with MeV-range photons images a duplex wire-type penetrameter to analyze unsharpness and spatial resolution. An industrial manipulator precisely positions the sample, which allows objects to have larger dimensions than the detector’s field-of-view. Future work includes performing computed tomography to create 3-dimensional representations of objects.},\\n\\tlanguage = {en},\\n\\tnumber = {1},\\n\\turldate = {2020-05-10},\\n\\tjournal = {Journal of Radioanalytical and Nuclear Chemistry},\\n\\tauthor = {Hashem, Nicholas R. and Haas, Derek A. and Pryor, Mitchell W.},\\n\\tmonth = oct,\\n\\tyear = {2018},\\n\\tpages = {599--604},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hashem, N. R.\",\"Haas, D. A.\",\"Pryor, M. W.\"],\"key\":\"hashem_mev_2018\",\"id\":\"hashem_mev_2018\",\"bibbaseid\":\"hashem-haas-pryor-mevphotonimagingwithroboticsamplepositioningataresearchreactor-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1007/s10967-018-6151-3\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":26,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Operator situation awareness and physiological states during offshore well control scenarios\",\"volume\":\"55\",\"issn\":\"0950-4230\",\"url\":\"http://www.sciencedirect.com/science/article/pii/S0950423018301840\",\"doi\":\"10.1016/j.jlp.2018.07.010\",\"abstract\":\"Incident reviews of oil spill events (both large and small) suggest that human error is a contributor to 50% of well control incidents (primarily kicks). The purpose of this study was to examine operator situation awareness (SA) and associated physiological load, using heart rate and heart rate variability (HRV), during different simulated offshore well control scenarios (drilling and tripping) and criticality levels (failure presented or not). Ten trained participants completed four scenarios (tripping non-failure, tripping failure, drilling non-failure, and drilling-failure) in an experimental session, lasting ∼6 h. Measures were obtained for each scenario, including speed and accuracy of the task performance, composite scores obtained from the Situational Awareness Rating Technique (SART), and operator heart rate and heart rate variability measures. Greater errors were found in kick-related failure events, and drilling scenarios were associated with longer reaction times. Participants perceived lower SA levels during drilling scenarios, and the was observed for lowest SA during drilling failure scenarios. Finally, while physiological responses did not differ significantly for any of the four scenarios, elevated heart rate was observed with drilling and failure-related scenarios. High variability in participant covert and overt responses may increase the challenges associated with classifying high-risk well control scenarios. It is critical that scenario planners understand and recognize the variability in driller situation awareness and associated physiological load when planning for alternative future scenarios.\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"journal\":\"Journal of Loss Prevention in the Process Industries\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Mehta\"],\"firstnames\":[\"Ranjana\",\"K.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Peres\"],\"firstnames\":[\"S.\",\"Camille\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Shortz\"],\"firstnames\":[\"Ashley\",\"E.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hoyle\"],\"firstnames\":[\"Wimberly\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lee\"],\"firstnames\":[\"Melissa\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Saini\"],\"firstnames\":[\"Gurtej\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chan\"],\"firstnames\":[\"Hong-Chih\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitchell\",\"W.\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2018\",\"keywords\":\"Drilling, Heart rate, Heart rate variability, Kick, Loss of circulation, Operator performance\",\"pages\":\"332–337\",\"bibtex\":\"@article{mehta_operator_2018,\\n\\ttitle = {Operator situation awareness and physiological states during offshore well control scenarios},\\n\\tvolume = {55},\\n\\tissn = {0950-4230},\\n\\turl = {http://www.sciencedirect.com/science/article/pii/S0950423018301840},\\n\\tdoi = {10.1016/j.jlp.2018.07.010},\\n\\tabstract = {Incident reviews of oil spill events (both large and small) suggest that human error is a contributor to 50\\\\% of well control incidents (primarily kicks). The purpose of this study was to examine operator situation awareness (SA) and associated physiological load, using heart rate and heart rate variability (HRV), during different simulated offshore well control scenarios (drilling and tripping) and criticality levels (failure presented or not). Ten trained participants completed four scenarios (tripping non-failure, tripping failure, drilling non-failure, and drilling-failure) in an experimental session, lasting ∼6 h. Measures were obtained for each scenario, including speed and accuracy of the task performance, composite scores obtained from the Situational Awareness Rating Technique (SART), and operator heart rate and heart rate variability measures. Greater errors were found in kick-related failure events, and drilling scenarios were associated with longer reaction times. Participants perceived lower SA levels during drilling scenarios, and the was observed for lowest SA during drilling failure scenarios. Finally, while physiological responses did not differ significantly for any of the four scenarios, elevated heart rate was observed with drilling and failure-related scenarios. High variability in participant covert and overt responses may increase the challenges associated with classifying high-risk well control scenarios. It is critical that scenario planners understand and recognize the variability in driller situation awareness and associated physiological load when planning for alternative future scenarios.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tjournal = {Journal of Loss Prevention in the Process Industries},\\n\\tauthor = {Mehta, Ranjana K. and Peres, S. Camille and Shortz, Ashley E. and Hoyle, Wimberly and Lee, Melissa and Saini, Gurtej and Chan, Hong-Chih and Pryor, Mitchell W.},\\n\\tmonth = sep,\\n\\tyear = {2018},\\n\\tkeywords = {Drilling, Heart rate, Heart rate variability, Kick, Loss of circulation, Operator performance},\\n\\tpages = {332--337},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Mehta, R. K.\",\"Peres, S. C.\",\"Shortz, A. E.\",\"Hoyle, W.\",\"Lee, M.\",\"Saini, G.\",\"Chan, H.\",\"Pryor, M. W.\"],\"key\":\"mehta_operator_2018\",\"id\":\"mehta_operator_2018\",\"bibbaseid\":\"mehta-peres-shortz-hoyle-lee-saini-chan-pryor-operatorsituationawarenessandphysiologicalstatesduringoffshorewellcontrolscenarios-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://www.sciencedirect.com/science/article/pii/S0950423018301840\"},\"keyword\":[\"Drilling\",\"Heart rate\",\"Heart rate variability\",\"Kick\",\"Loss of circulation\",\"Operator performance\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":26,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Automating High-Precision X-Ray and Neutron Imaging Applications With Robotics\",\"volume\":\"15\",\"issn\":\"1558-3783\",\"doi\":\"10.1109/TASE.2017.2675709\",\"abstract\":\"Los Alamos National Laboratory and the University of Texas at Austin recently implemented a robotically controlled nondestructive testing (NDT) system for X-ray and neutron imaging. This system is intended to address the need for accurate measurements for a variety of parts and, be able to track measurement geometry at every imaging location, and is designed for high-throughput applications. This system was deployed in a beam port at a nuclear research reactor and in an operational inspection X-ray bay. The nuclear research reactor system consisted of a precision industrial seven-axis robot, 1.1-MW TRIGA research reactor, and a scintillator-mirror-camera-based imaging system. The X-ray bay system incorporated the same robot, a 225-keV microfocus X-ray source, and a custom flat panel digital detector. The robotic positioning arm is programmable and allows imaging in multiple configurations, including planar, cylindrical, as well as other user defined geometries that provide enhanced engineering evaluation capability. The imaging acquisition device is coupled with the robot for automated image acquisition. The robot can achieve target positional repeatability within 17 μm in the 3-D space. Flexible automation with nondestructive imaging saves costs, reduces dosage, adds imaging techniques, and achieves better quality results in less time. Specifics regarding the robotic system and imaging acquisition and evaluation processes are presented. This paper reviews the comprehensive testing and system evaluation to affirm the feasibility of robotic NDT, presents the system configuration, and reviews results for both X-ray and neutron radiography imaging applications.\",\"number\":\"2\",\"journal\":\"IEEE Transactions on Automation Science and Engineering\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hashem\"],\"firstnames\":[\"Joseph\",\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hunter\"],\"firstnames\":[\"James\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Janecky\"],\"firstnames\":[\"David\",\"R.\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2018\",\"note\":\"Conference Name: IEEE Transactions on Automation Science and Engineering\",\"keywords\":\"Austin, Autonomous system, Collision avoidance, Inspection, Los Alamos National Laboratory, NDT, Radiography, Service robots, TRIGA research reactor, University of Texas, X-ray imaging, automated image acquisition, calibration, cameras, collision avoidance, computed tomography (CT), custom flat panel digital detector, electron volt energy 225 keV, flexible automation, helical scanning, high-precision X-ray automation, imaging acquisition device, industrial seven-axis robot, measurement geometry, microfocus X-ray imaging source, microfocus X-ray source, microsensors, mirrors, mobile robots, motion control, neutron detection, neutron imaging application, neutron radiography imaging applications, nondestructive imaging, nondestructive testing, nondestructive testing (NDT), nuclear research reactor system, operational inspection X-ray bay system, path planning, power 1.1 MW, precision movement, radiation damage, radiography, robotic positioning arm, robotically controlled nondestructive testing system, scintillation, scintillation counters, scintillator-mirror-camera-based imaging system, software communication\",\"pages\":\"663–674\",\"bibtex\":\"@article{hashem_automating_2018,\\n\\ttitle = {Automating {High}-{Precision} {X}-{Ray} and {Neutron} {Imaging} {Applications} {With} {Robotics}},\\n\\tvolume = {15},\\n\\tissn = {1558-3783},\\n\\tdoi = {10.1109/TASE.2017.2675709},\\n\\tabstract = {Los Alamos National Laboratory and the University of Texas at Austin recently implemented a robotically controlled nondestructive testing (NDT) system for X-ray and neutron imaging. This system is intended to address the need for accurate measurements for a variety of parts and, be able to track measurement geometry at every imaging location, and is designed for high-throughput applications. This system was deployed in a beam port at a nuclear research reactor and in an operational inspection X-ray bay. The nuclear research reactor system consisted of a precision industrial seven-axis robot, 1.1-MW TRIGA research reactor, and a scintillator-mirror-camera-based imaging system. The X-ray bay system incorporated the same robot, a 225-keV microfocus X-ray source, and a custom flat panel digital detector. The robotic positioning arm is programmable and allows imaging in multiple configurations, including planar, cylindrical, as well as other user defined geometries that provide enhanced engineering evaluation capability. The imaging acquisition device is coupled with the robot for automated image acquisition. The robot can achieve target positional repeatability within 17 μm in the 3-D space. Flexible automation with nondestructive imaging saves costs, reduces dosage, adds imaging techniques, and achieves better quality results in less time. Specifics regarding the robotic system and imaging acquisition and evaluation processes are presented. This paper reviews the comprehensive testing and system evaluation to affirm the feasibility of robotic NDT, presents the system configuration, and reviews results for both X-ray and neutron radiography imaging applications.},\\n\\tnumber = {2},\\n\\tjournal = {IEEE Transactions on Automation Science and Engineering},\\n\\tauthor = {Hashem, Joseph A. and Pryor, Mitch and Landsberger, Sheldon and Hunter, James and Janecky, David R.},\\n\\tmonth = apr,\\n\\tyear = {2018},\\n\\tnote = {Conference Name: IEEE Transactions on Automation Science and Engineering},\\n\\tkeywords = {Austin, Autonomous system, Collision avoidance, Inspection, Los Alamos National Laboratory, NDT, Radiography, Service robots, TRIGA research reactor, University of Texas, X-ray imaging, automated image acquisition, calibration, cameras, collision avoidance, computed tomography (CT), custom flat panel digital detector, electron volt energy 225 keV, flexible automation, helical scanning, high-precision X-ray automation, imaging acquisition device, industrial seven-axis robot, measurement geometry, microfocus X-ray imaging source, microfocus X-ray source, microsensors, mirrors, mobile robots, motion control, neutron detection, neutron imaging application, neutron radiography imaging applications, nondestructive imaging, nondestructive testing, nondestructive testing (NDT), nuclear research reactor system, operational inspection X-ray bay system, path planning, power 1.1 MW, precision movement, radiation damage, radiography, robotic positioning arm, robotically controlled nondestructive testing system, scintillation, scintillation counters, scintillator-mirror-camera-based imaging system, software communication},\\n\\tpages = {663--674},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hashem, J. A.\",\"Pryor, M.\",\"Landsberger, S.\",\"Hunter, J.\",\"Janecky, D. R.\"],\"key\":\"hashem_automating_2018\",\"id\":\"hashem_automating_2018\",\"bibbaseid\":\"hashem-pryor-landsberger-hunter-janecky-automatinghighprecisionxrayandneutronimagingapplicationswithrobotics-2018\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Austin\",\"Autonomous system\",\"Collision avoidance\",\"Inspection\",\"Los Alamos National Laboratory\",\"NDT\",\"Radiography\",\"Service robots\",\"TRIGA research reactor\",\"University of Texas\",\"X-ray imaging\",\"automated image acquisition\",\"calibration\",\"cameras\",\"collision avoidance\",\"computed tomography (CT)\",\"custom flat panel digital detector\",\"electron volt energy 225 keV\",\"flexible automation\",\"helical scanning\",\"high-precision X-ray automation\",\"imaging acquisition device\",\"industrial seven-axis robot\",\"measurement geometry\",\"microfocus X-ray imaging source\",\"microfocus X-ray source\",\"microsensors\",\"mirrors\",\"mobile robots\",\"motion control\",\"neutron detection\",\"neutron imaging application\",\"neutron radiography imaging applications\",\"nondestructive imaging\",\"nondestructive testing\",\"nondestructive testing (NDT)\",\"nuclear research reactor system\",\"operational inspection X-ray bay system\",\"path planning\",\"power 1.1 MW\",\"precision movement\",\"radiation damage\",\"radiography\",\"robotic positioning arm\",\"robotically controlled nondestructive testing system\",\"scintillation\",\"scintillation counters\",\"scintillator-mirror-camera-based imaging system\",\"software communication\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":8,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"TeMoto: Intuitive Multi-Range Telerobotic System with Natural Gestural and Verbal Instruction Interface\",\"volume\":\"7\",\"copyright\":\"http://creativecommons.org/licenses/by/3.0/\",\"shorttitle\":\"TeMoto\",\"url\":\"http://www.mdpi.com/2218-6581/7/1/9\",\"doi\":\"10.3390/robotics7010009\",\"abstract\":\"Teleoperated mobile robots, equipped with object manipulation capabilities, provide safe means for executing dangerous tasks in hazardous environments without putting humans at risk. However, mainly due to a communication delay, complex operator interfaces and insufficient Situational Awareness (SA), the task productivity of telerobots remains inferior to human workers. This paper addresses the shortcomings of telerobots by proposing a combined approach of (i) a scalable and intuitive operator interface with gestural and verbal input, (ii) improved Situational Awareness (SA) through sensor fusion according to documented best practices, (iii) integrated virtual fixtures for task simplification and minimizing the operator’s cognitive burden and (iv) integrated semiautonomous behaviors that further reduce cognitive burden and negate the impact of communication delays, execution latency and/or failures. The proposed teleoperation system, TeMoto, is implemented using ROS (Robot Operating System) to ensure hardware agnosticism, extensibility and community access. The operator’s command interface consists of a Leap Motion Controller for hand tracking, Griffin PowerMate USB as turn knob for scaling and a microphone for speech input. TeMoto is evaluated on multiple robots including two mobile manipulator platforms. In addition to standard, task-specific evaluation techniques (completion time, user studies, number of steps, etc.)—which are platform and task dependent and thus difficult to scale—this paper presents additional metrics for evaluating the user interface including task-independent criteria for measuring generalized (i) task completion efficiency and (ii) operator context switching.\",\"language\":\"en\",\"number\":\"1\",\"urldate\":\"2018-02-01\",\"journal\":\"Robotics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Valner\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kruusamäe\"],\"firstnames\":[\"Karl\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"February\",\"year\":\"2018\",\"note\":\"Featured cover article\",\"keywords\":\"gesture input, human-robot interface, natural language input, supervisory control, teleoperation\",\"pages\":\"21\",\"bibtex\":\"@article{valner_temoto_2018,\\n\\ttitle = {{TeMoto}: {Intuitive} {Multi}-{Range} {Telerobotic} {System} with {Natural} {Gestural} and {Verbal} {Instruction} {Interface}},\\n\\tvolume = {7},\\n\\tcopyright = {http://creativecommons.org/licenses/by/3.0/},\\n\\tshorttitle = {{TeMoto}},\\n\\turl = {http://www.mdpi.com/2218-6581/7/1/9},\\n\\tdoi = {10.3390/robotics7010009},\\n\\tabstract = {Teleoperated mobile robots, equipped with object manipulation capabilities, provide safe means for executing dangerous tasks in hazardous environments without putting humans at risk. However, mainly due to a communication delay, complex operator interfaces and insufficient Situational Awareness (SA), the task productivity of telerobots remains inferior to human workers. This paper addresses the shortcomings of telerobots by proposing a combined approach of (i) a scalable and intuitive operator interface with gestural and verbal input, (ii) improved Situational Awareness (SA) through sensor fusion according to documented best practices, (iii) integrated virtual fixtures for task simplification and minimizing the operator’s cognitive burden and (iv) integrated semiautonomous behaviors that further reduce cognitive burden and negate the impact of communication delays, execution latency and/or failures. The proposed teleoperation system, TeMoto, is implemented using ROS (Robot Operating System) to ensure hardware agnosticism, extensibility and community access. The operator’s command interface consists of a Leap Motion Controller for hand tracking, Griffin PowerMate USB as turn knob for scaling and a microphone for speech input. TeMoto is evaluated on multiple robots including two mobile manipulator platforms. In addition to standard, task-specific evaluation techniques (completion time, user studies, number of steps, etc.)—which are platform and task dependent and thus difficult to scale—this paper presents additional metrics for evaluating the user interface including task-independent criteria for measuring generalized (i) task completion efficiency and (ii) operator context switching.},\\n\\tlanguage = {en},\\n\\tnumber = {1},\\n\\turldate = {2018-02-01},\\n\\tjournal = {Robotics},\\n\\tauthor = {Valner, Robert and Kruusamäe, Karl and Pryor, Mitch},\\n\\tmonth = feb,\\n\\tyear = {2018},\\n\\tnote = {Featured cover article},\\n\\tkeywords = {gesture input, human-robot interface, natural language input, supervisory control, teleoperation},\\n\\tpages = {21},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Valner, R.\",\"Kruusamäe, K.\",\"Pryor, M.\"],\"key\":\"valner_temoto_2018\",\"id\":\"valner_temoto_2018\",\"bibbaseid\":\"valner-kruusame-pryor-temotointuitivemultirangeteleroboticsystemwithnaturalgesturalandverbalinstructioninterface-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://www.mdpi.com/2218-6581/7/1/9\"},\"keyword\":[\"gesture input\",\"human-robot interface\",\"natural language input\",\"supervisory control\",\"teleoperation\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":23,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"San Antonio, TX\",\"title\":\"Drillstring Vibration Observation, Modeling and Prevention in the Oil and Gas Industry\",\"url\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T37A004/229758\",\"doi\":\"10.1115/DSCC2014-6147\",\"abstract\":\"As well designs become increasingly complicated, a complete understanding of drillstring vibrations is key to maximize drilling efficiency and reduce bit wear as well as prevent drillstring, tool, and borehole damage. This paper presents a review of the past fifty years of work on drillstring dynamics models and the proposed and accepted vibration mitigation applications within the drilling industry. Early modeling began with simplistic models in efforts to understand downhole processes. Once downhole sensors were deployed and the basic modes of vibration were understood, proprietary systems were developed and — only recently — successfully deployed to detect and mitigate the effects of certain undesired vibrational modes, specifically stick-slip torsional vibrations. Future systems and their effectiveness will depend on a refined understanding of the various modes of vibration and their interaction, as well as improved real-time downhole sensing techniques. Implementation of high-fidelity models to deduce and correct the downhole drillstring state will subsequently improve the operational drilling efficiency.\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"publisher\":\"ASME\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Shor\"],\"firstnames\":[\"Roman\",\"J.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[\"van\"],\"lastnames\":[\"Oort\"],\"firstnames\":[\"Eric\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2014\",\"pages\":\"10\",\"bibtex\":\"@inproceedings{shor_drillstring_2014,\\n\\taddress = {San Antonio, TX},\\n\\ttitle = {Drillstring {Vibration} {Observation}, {Modeling} and {Prevention} in the {Oil} and {Gas} {Industry}},\\n\\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T37A004/229758},\\n\\tdoi = {10.1115/DSCC2014-6147},\\n\\tabstract = {As well designs become increasingly complicated, a complete understanding of drillstring vibrations is key to maximize drilling efficiency and reduce bit wear as well as prevent drillstring, tool, and borehole damage. This paper presents a review of the past fifty years of work on drillstring dynamics models and the proposed and accepted vibration mitigation applications within the drilling industry. Early modeling began with simplistic models in efforts to understand downhole processes. Once downhole sensors were deployed and the basic modes of vibration were understood, proprietary systems were developed and — only recently — successfully deployed to detect and mitigate the effects of certain undesired vibrational modes, specifically stick-slip torsional vibrations. Future systems and their effectiveness will depend on a refined understanding of the various modes of vibration and their interaction, as well as improved real-time downhole sensing techniques. Implementation of high-fidelity models to deduce and correct the downhole drillstring state will subsequently improve the operational drilling efficiency.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tpublisher = {ASME},\\n\\tauthor = {Shor, Roman J. and Pryor, Mitch and van Oort, Eric},\\n\\tmonth = oct,\\n\\tyear = {2014},\\n\\tpages = {10},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Shor, R. J.\",\"Pryor, M.\",\"van Oort, E.\"],\"key\":\"shor_drillstring_2014\",\"id\":\"shor_drillstring_2014\",\"bibbaseid\":\"shor-pryor-vanoort-drillstringvibrationobservationmodelingandpreventionintheoilandgasindustry-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T37A004/229758\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Theoretical neutron damage calculations in industrial robotic manipulators used for non-destructive imaging applications\",\"volume\":\"94\",\"issn\":\"0149-1970\",\"url\":\"http://www.sciencedirect.com/science/article/pii/S0149197016302232\",\"doi\":\"10.1016/j.pnucene.2016.09.022\",\"abstract\":\"This paper describes how to use MCNP to evaluate the rate of material damage in a robot incurred by exposure to a neutron flux. The example used in this work is that of a robotic manipulator installed in a high intensity, fast, and collimated neutron radiography beam port at the University of Texas at Austin's TRIGA Mark II research reactor. This effort includes taking robotic technologies and using them to automate non-destructive imaging tasks in nuclear facilities where the robotic manipulator acts as the motion control system for neutron imaging tasks. Simulated radiation tests are used to analyze the radiation damage to the robot. Once the neutron damage is calculated using MCNP, several possible shielding materials are analyzed to determine the most effective way of minimizing the neutron damage. Neutron damage predictions provide users the means to simulate geometrical and material changes, thus saving time, money, and energy in determining the optimal setup for a robotic system installed in a radiation environment.\",\"language\":\"en\",\"urldate\":\"2020-05-10\",\"journal\":\"Progress in Nuclear Energy\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hashem\"],\"firstnames\":[\"Joseph\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Schneider\"],\"firstnames\":[\"Erich\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]}],\"month\":\"January\",\"year\":\"2017\",\"keywords\":\"MCNP, Neutron radiation damage, Non-destructive testing, Radiography, Research reactor, Robotics\",\"pages\":\"71–79\",\"bibtex\":\"@article{hashem_theoretical_2017,\\n\\ttitle = {Theoretical neutron damage calculations in industrial robotic manipulators used for non-destructive imaging applications},\\n\\tvolume = {94},\\n\\tissn = {0149-1970},\\n\\turl = {http://www.sciencedirect.com/science/article/pii/S0149197016302232},\\n\\tdoi = {10.1016/j.pnucene.2016.09.022},\\n\\tabstract = {This paper describes how to use MCNP to evaluate the rate of material damage in a robot incurred by exposure to a neutron flux. The example used in this work is that of a robotic manipulator installed in a high intensity, fast, and collimated neutron radiography beam port at the University of Texas at Austin's TRIGA Mark II research reactor. This effort includes taking robotic technologies and using them to automate non-destructive imaging tasks in nuclear facilities where the robotic manipulator acts as the motion control system for neutron imaging tasks. Simulated radiation tests are used to analyze the radiation damage to the robot. Once the neutron damage is calculated using MCNP, several possible shielding materials are analyzed to determine the most effective way of minimizing the neutron damage. Neutron damage predictions provide users the means to simulate geometrical and material changes, thus saving time, money, and energy in determining the optimal setup for a robotic system installed in a radiation environment.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-10},\\n\\tjournal = {Progress in Nuclear Energy},\\n\\tauthor = {Hashem, Joseph and Schneider, Erich and Pryor, Mitch and Landsberger, Sheldon},\\n\\tmonth = jan,\\n\\tyear = {2017},\\n\\tkeywords = {MCNP, Neutron radiation damage, Non-destructive testing, Radiography, Research reactor, Robotics},\\n\\tpages = {71--79},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hashem, J.\",\"Schneider, E.\",\"Pryor, M.\",\"Landsberger, S.\"],\"key\":\"hashem_theoretical_2017\",\"id\":\"hashem_theoretical_2017\",\"bibbaseid\":\"hashem-schneider-pryor-landsberger-theoreticalneutrondamagecalculationsinindustrialroboticmanipulatorsusedfornondestructiveimagingapplications-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"http://www.sciencedirect.com/science/article/pii/S0149197016302232\"},\"keyword\":[\"MCNP\",\"Neutron radiation damage\",\"Non-destructive testing\",\"Radiography\",\"Research reactor\",\"Robotics\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Intelligent Grasping with the Robotic Opposable Thumb\",\"volume\":\"28\",\"issn\":\"0883-9514\",\"url\":\"https://doi.org/10.1080/08839514.2014.952917\",\"doi\":\"10.1080/08839514.2014.952917\",\"abstract\":\"Recent advances in the field of grasp planning have used heuristics, dimensionality reduction, machine learning, and haptic feedback, with a high degree of success, to plan grasps for simple grippers and/or simple object geometry. We look at applying some of these techniques to the anthropomorphic Meka gripper. First, dimensionality reduction is attempted. We show that dimensionality reduction does not accurately predict the thumb position. A new algorithm is proposed in which measurements from 2D images are used to classify the thumb opposition angle to one of three positions. The remaining joints employ a reactive torque-control strategy to complete the grasp. The algorithm achieves force closure for 82% of 39 household objects. It is simple, computationally fast, and achieves a success rate that is similar to other contemporary grasp planning algorithms.\",\"number\":\"8\",\"urldate\":\"2020-05-10\",\"journal\":\"Applied Artificial Intelligence\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Brabec\"],\"firstnames\":[\"Cheryl\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Thompson\"],\"firstnames\":[\"Jack\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hashem\"],\"firstnames\":[\"Joey\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Fernandez\"],\"firstnames\":[\"Benito\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2014\",\"note\":\"Publisher: Taylor & Francis _eprint: https://doi.org/10.1080/08839514.2014.952917\",\"pages\":\"737–750\",\"bibtex\":\"@article{zelenak_intelligent_2014,\\n\\ttitle = {Intelligent {Grasping} with the {Robotic} {Opposable} {Thumb}},\\n\\tvolume = {28},\\n\\tissn = {0883-9514},\\n\\turl = {https://doi.org/10.1080/08839514.2014.952917},\\n\\tdoi = {10.1080/08839514.2014.952917},\\n\\tabstract = {Recent advances in the field of grasp planning have used heuristics, dimensionality reduction, machine learning, and haptic feedback, with a high degree of success, to plan grasps for simple grippers and/or simple object geometry. We look at applying some of these techniques to the anthropomorphic Meka gripper. First, dimensionality reduction is attempted. We show that dimensionality reduction does not accurately predict the thumb position. A new algorithm is proposed in which measurements from 2D images are used to classify the thumb opposition angle to one of three positions. The remaining joints employ a reactive torque-control strategy to complete the grasp. The algorithm achieves force closure for 82\\\\% of 39 household objects. It is simple, computationally fast, and achieves a success rate that is similar to other contemporary grasp planning algorithms.},\\n\\tnumber = {8},\\n\\turldate = {2020-05-10},\\n\\tjournal = {Applied Artificial Intelligence},\\n\\tauthor = {Zelenak, Andy and Brabec, Cheryl and Thompson, Jack and Hashem, Joey and Fernandez, Benito and Pryor, Mitch},\\n\\tmonth = sep,\\n\\tyear = {2014},\\n\\tnote = {Publisher: Taylor \\\\& Francis\\n\\\\_eprint: https://doi.org/10.1080/08839514.2014.952917},\\n\\tpages = {737--750},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Zelenak, A.\",\"Brabec, C.\",\"Thompson, J.\",\"Hashem, J.\",\"Fernandez, B.\",\"Pryor, M.\"],\"key\":\"zelenak_intelligent_2014\",\"id\":\"zelenak_intelligent_2014\",\"bibbaseid\":\"zelenak-brabec-thompson-hashem-fernandez-pryor-intelligentgraspingwiththeroboticopposablethumb-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1080/08839514.2014.952917\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":24,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Nuclear forensics education at the University of Texas at Austin\",\"volume\":\"296\",\"issn\":\"1588-2780\",\"url\":\"https://doi.org/10.1007/s10967-012-2067-5\",\"doi\":\"10.1007/s10967-012-2067-5\",\"abstract\":\"Nuclear forensics continues to be an integral part of the Domestic Nuclear Detection Office, the Defense Threat Reduction Agency and the National Nuclear Security Administration. As with our previous three-year Nuclear Forensics Education Award Program we will continue to offer a comprehensive educational program and closely collaborate with national laboratories to pursue common research. Our research will primarily focus on analysis of radioactive debris following a nuclear or radiological dispersive device event or the investigation of the pedigree of nuclear materials in nonproliferation. This research will include using Compton suppression and gamma coincidence low-level gamma ray counting, investigation of nuclear fuel cycles for nonproliferation, on-site inspection within the context of the Comprehensive Nuclear-Test-Ban Treaty and radioxenon detection physics. We also offer a graduate program in nuclear robotics, an interdisciplinary program in the automation of handling special nuclear materials. To better equip our students who are entering the workforce at the national laboratories and government agencies we are also proposing the development of several new laboratory modules for non-destructive identification of fission products in environmental samples and irradiated uranium specimens at various enrichments and characterizing naturally occurring radioactive material. Collaboration with Florida Memorial University a Historically Black Colleges and Universities will continue for training and collaborative research.\",\"language\":\"en\",\"number\":\"1\",\"urldate\":\"2020-05-10\",\"journal\":\"Journal of Radioanalytical and Nuclear Chemistry\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Biegalski\"],\"firstnames\":[\"S.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kapsimalis\"],\"firstnames\":[\"R.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tamalis\"],\"firstnames\":[\"D.\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2013\",\"pages\":\"333–337\",\"bibtex\":\"@article{landsberger_nuclear_2013,\\n\\ttitle = {Nuclear forensics education at the {University} of {Texas} at {Austin}},\\n\\tvolume = {296},\\n\\tissn = {1588-2780},\\n\\turl = {https://doi.org/10.1007/s10967-012-2067-5},\\n\\tdoi = {10.1007/s10967-012-2067-5},\\n\\tabstract = {Nuclear forensics continues to be an integral part of the Domestic Nuclear Detection Office, the Defense Threat Reduction Agency and the National Nuclear Security Administration. As with our previous three-year Nuclear Forensics Education Award Program we will continue to offer a comprehensive educational program and closely collaborate with national laboratories to pursue common research. Our research will primarily focus on analysis of radioactive debris following a nuclear or radiological dispersive device event or the investigation of the pedigree of nuclear materials in nonproliferation. This research will include using Compton suppression and gamma coincidence low-level gamma ray counting, investigation of nuclear fuel cycles for nonproliferation, on-site inspection within the context of the Comprehensive Nuclear-Test-Ban Treaty and radioxenon detection physics. We also offer a graduate program in nuclear robotics, an interdisciplinary program in the automation of handling special nuclear materials. To better equip our students who are entering the workforce at the national laboratories and government agencies we are also proposing the development of several new laboratory modules for non-destructive identification of fission products in environmental samples and irradiated uranium specimens at various enrichments and characterizing naturally occurring radioactive material. Collaboration with Florida Memorial University a Historically Black Colleges and Universities will continue for training and collaborative research.},\\n\\tlanguage = {en},\\n\\tnumber = {1},\\n\\turldate = {2020-05-10},\\n\\tjournal = {Journal of Radioanalytical and Nuclear Chemistry},\\n\\tauthor = {Landsberger, S. and Biegalski, S. and Kapsimalis, R. and Pryor, M. and Tamalis, D.},\\n\\tmonth = apr,\\n\\tyear = {2013},\\n\\tpages = {333--337},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Landsberger, S.\",\"Biegalski, S.\",\"Kapsimalis, R.\",\"Pryor, M.\",\"Tamalis, D.\"],\"key\":\"landsberger_nuclear_2013\",\"id\":\"landsberger_nuclear_2013\",\"bibbaseid\":\"landsberger-biegalski-kapsimalis-pryor-tamalis-nuclearforensicseducationattheuniversityoftexasataustin-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://doi.org/10.1007/s10967-012-2067-5\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":24,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"An Empirical Approach to Performance Criteria for Manipulation\",\"volume\":\"1\",\"issn\":\"1942-4302\",\"url\":\"https://asmedigitalcollection.asme.org/mechanismsrobotics/article/1/3/031002/454114/An-Empirical-Approach-to-Performance-Criteria-for\",\"doi\":\"10.1115/1.3147194\",\"language\":\"en\",\"number\":\"3\",\"urldate\":\"2020-05-10\",\"journal\":\"Journal of Mechanisms and Robotics\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Tisius\"],\"firstnames\":[\"Mark\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kapoor\"],\"firstnames\":[\"Chetan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"Delbert\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2009\",\"note\":\"Publisher: American Society of Mechanical Engineers Digital Collection\",\"pages\":\"12\",\"bibtex\":\"@article{tisius_empirical_2009,\\n\\ttitle = {An {Empirical} {Approach} to {Performance} {Criteria} for {Manipulation}},\\n\\tvolume = {1},\\n\\tissn = {1942-4302},\\n\\turl = {https://asmedigitalcollection.asme.org/mechanismsrobotics/article/1/3/031002/454114/An-Empirical-Approach-to-Performance-Criteria-for},\\n\\tdoi = {10.1115/1.3147194},\\n\\tlanguage = {en},\\n\\tnumber = {3},\\n\\turldate = {2020-05-10},\\n\\tjournal = {Journal of Mechanisms and Robotics},\\n\\tauthor = {Tisius, Mark and Pryor, Mitch and Kapoor, Chetan and Tesar, Delbert},\\n\\tmonth = aug,\\n\\tyear = {2009},\\n\\tnote = {Publisher: American Society of Mechanical Engineers Digital Collection},\\n\\tpages = {12},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Tisius, M.\",\"Pryor, M.\",\"Kapoor, C.\",\"Tesar, D.\"],\"key\":\"tisius_empirical_2009\",\"id\":\"tisius_empirical_2009\",\"bibbaseid\":\"tisius-pryor-kapoor-tesar-anempiricalapproachtoperformancecriteriaformanipulation-2009\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/mechanismsrobotics/article/1/3/031002/454114/An-Empirical-Approach-to-Performance-Criteria-for\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Macau, China\",\"title\":\"Enabling semi-autonomous behaviours: handling multiple input streams and task uncertainty\",\"url\":\"https://rainhub.org.uk/legacy-disruptors-hmi-iros19/\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wanna\"],\"firstnames\":[\"Selma\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2019\",\"bibtex\":\"@inproceedings{wanna_enabling_2019,\\n\\taddress = {Macau, China},\\n\\ttitle = {Enabling semi-autonomous behaviours: handling multiple input streams and task uncertainty},\\n\\turl = {https://rainhub.org.uk/legacy-disruptors-hmi-iros19/},\\n\\tauthor = {Wanna, Selma and Pryor, Mitch},\\n\\tmonth = nov,\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wanna, S.\",\"Pryor, M.\"],\"key\":\"wanna_enabling_2019\",\"id\":\"wanna_enabling_2019\",\"bibbaseid\":\"wanna-pryor-enablingsemiautonomousbehaviourshandlingmultipleinputstreamsandtaskuncertainty-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://rainhub.org.uk/legacy-disruptors-hmi-iros19/\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":18,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Macau, China\",\"title\":\"Reactive Jogger for Teleoperation and Contact Tasks\",\"url\":\"https://roscon.ros.org/2019/\",\"abstract\":\"In order to rapidly deploy natural language interfaces for robotics applications, we developed the Universal Meaning Representation Format (UMRF) and TeMoto Action Engine. The proposed UMRF acts as a middle ground for combining existing and cutting edge solutions in the domains of natural language processing and grounding. The open-sourced TeMoto Action Engine offers developers We developed and released a computationally efficient jogger for mobile manipulation that is well-suited for real-world manipulation tasks. Its fast control rates (\\\\textgreater500 Hz) and tolerance for message latency enables teleoperation, admittance control, and end effector pose regulation during base motion. The presentation covers implementation including singularity avoidance, signal filtering, reactive control, and velocity/position control modalities. It includes three use examples: cabinet opening, opening and passing through a sprung door, and contact force regulation. We also quickly present a real-world use case (emergency response in an operational mine). The jogger package is now available as a part of MoveIt.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Reid\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2019\",\"bibtex\":\"@inproceedings{zelenak_reactive_2019,\\n\\taddress = {Macau, China},\\n\\ttitle = {Reactive {Jogger} for {Teleoperation} and {Contact} {Tasks}},\\n\\turl = {https://roscon.ros.org/2019/},\\n\\tabstract = {In order to rapidly deploy natural language interfaces for robotics applications, we developed the Universal Meaning Representation Format (UMRF) and TeMoto Action Engine. The proposed UMRF acts as a middle ground for combining existing and cutting edge solutions in the domains of natural language processing and grounding. The open-sourced TeMoto Action Engine offers developers We developed and released a computationally efficient jogger for mobile manipulation that is well-suited for real-world manipulation tasks. Its fast control rates ({\\\\textgreater}500 Hz) and tolerance for message latency enables teleoperation, admittance control, and end effector pose regulation during base motion. The presentation covers implementation including singularity avoidance, signal filtering, reactive control, and velocity/position control modalities. It includes three use examples: cabinet opening, opening and passing through a sprung door, and contact force regulation. We also quickly present a real-world use case (emergency response in an operational mine). The jogger package is now available as a part of MoveIt.},\\n\\tauthor = {Zelenak, Andy and Reid, Robert and Pryor, Mitch},\\n\\tmonth = oct,\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Zelenak, A.\",\"Reid, R.\",\"Pryor, M.\"],\"key\":\"zelenak_reactive_2019\",\"id\":\"zelenak_reactive_2019\",\"bibbaseid\":\"zelenak-reid-pryor-reactivejoggerforteleoperationandcontacttasks-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://roscon.ros.org/2019/\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Macau, China\",\"title\":\"Universal Meaning Representation Format for Natural Language Task Engines\",\"url\":\"https://roscon.ros.org/2019/\",\"abstract\":\"In order to rapidly deploy natural language interfaces for robotics applications, we developed the Universal Meaning Representation Format (UMRF) and TeMoto Action Engine. The proposed UMRF acts as a middle ground for combining existing and cutting edge solutions in the domains of natural language processing and grounding. The open-sourced TeMoto Action Engine offers developers an UMRF based action execution management system to use as an interface for natural language control, via grounding the UMRF data structures to executable code. We demonstrate the feasibility of the developed work by executing robotic tasks on ROS via different parsing systems, including Google Assistant.\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Valner\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Wanna\"],\"firstnames\":[\"Selma\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2019\",\"bibtex\":\"@inproceedings{valner_universal_2019,\\n\\taddress = {Macau, China},\\n\\ttitle = {Universal {Meaning} {Representation} {Format} for {Natural} {Language} {Task} {Engines}},\\n\\turl = {https://roscon.ros.org/2019/},\\n\\tabstract = {In order to rapidly deploy natural language interfaces for robotics applications, we developed the Universal Meaning Representation Format (UMRF) and TeMoto Action Engine. The proposed UMRF acts as a middle ground for combining existing and cutting edge solutions in the domains of natural language processing and grounding. The open-sourced TeMoto Action Engine offers developers an UMRF based action execution management system to use as an interface for natural language control, via grounding the UMRF data structures to executable code. We demonstrate the feasibility of the developed work by executing robotic tasks on ROS via different parsing systems, including Google Assistant.},\\n\\tauthor = {Valner, Robert and Wanna, Selma and Pryor, Mitch},\\n\\tmonth = oct,\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Valner, R.\",\"Wanna, S.\",\"Pryor, M.\"],\"key\":\"valner_universal_2019\",\"id\":\"valner_universal_2019\",\"bibbaseid\":\"valner-wanna-pryor-universalmeaningrepresentationformatfornaturallanguagetaskengines-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://roscon.ros.org/2019/\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Park City, UT\",\"title\":\"Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies\",\"url\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T20A006/1070639\",\"doi\":\"10.1115/DSCC2019-9062\",\"language\":\"en\",\"urldate\":\"2020-05-09\",\"publisher\":\"ASME\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pettinger\"],\"firstnames\":[\"Adam\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2019\",\"bibtex\":\"@inproceedings{pettinger_completing_2019,\\n\\taddress = {Park City, UT},\\n\\ttitle = {Completing {Complex} {Contact} {Tasks} {Using} {Integrated} {Active} and {Passive} {Compliant} {Control} {Methodologies}},\\n\\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T20A006/1070639},\\n\\tdoi = {10.1115/DSCC2019-9062},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-09},\\n\\tpublisher = {ASME},\\n\\tauthor = {Pettinger, Adam and Pryor, Mitch},\\n\\tmonth = oct,\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Pettinger, A.\",\"Pryor, M.\"],\"key\":\"pettinger_completing_2019\",\"id\":\"pettinger_completing_2019\",\"bibbaseid\":\"pettinger-pryor-completingcomplexcontacttasksusingintegratedactiveandpassivecompliantcontrolmethodologies-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T20A006/1070639\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":25,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Park City, UT\",\"title\":\"Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control\",\"url\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T17A005/1070613\",\"doi\":\"10.1115/DSCC2019-9123\",\"language\":\"en\",\"urldate\":\"2020-05-09\",\"publisher\":\"ASME\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Ramanathan\"],\"firstnames\":[\"Vikram\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2019\",\"bibtex\":\"@inproceedings{ramanathan_instantaneous_2019,\\n\\taddress = {Park City, UT},\\n\\ttitle = {Instantaneous {Center} of {Rotation}-{Based} {Master}-{Slave} {Kinematic} {Modeling} and {Control}},\\n\\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T17A005/1070613},\\n\\tdoi = {10.1115/DSCC2019-9123},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-09},\\n\\tpublisher = {ASME},\\n\\tauthor = {Ramanathan, Vikram and Zelenak, Andy and Pryor, Mitch},\\n\\tmonth = oct,\\n\\tyear = {2019},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Ramanathan, V.\",\"Zelenak, A.\",\"Pryor, M.\"],\"key\":\"ramanathan_instantaneous_2019\",\"id\":\"ramanathan_instantaneous_2019\",\"bibbaseid\":\"ramanathan-zelenak-pryor-instantaneouscenterofrotationbasedmasterslavekinematicmodelingandcontrol-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T17A005/1070613\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":23,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Passive Tool Changer Development for an Elastic and Compliant Manipulator\",\"doi\":\"10.1109/COASE.2019.8843255\",\"abstract\":\"Robotic tool changers allow the use of multiple tools or end-effectors by a robotic manipulator and eliminate the need for human intervention to change tools. In this paper, we present the design and testing of a passive mechanical tool changer designed for a project involving the inspection of an acidic and radioactive air duct. The tool changer relied on the active/passive motions of a compliant manipulator to perform tool changes and contains no electrical or pneumatic components. The resulting tool changing operation utilizes a developed compliant controller that relies exclusively on contact forces to guide the manipulator, and thus eliminates the need for precision operation or any assistance from the operator. The design features a locking system to ensure secure storage of tools that are not in use. Furthermore, the connection mechanism includes a bore scope camera for use when tools are not attached or to visually verify tool connections. Testing and demonstrations were performed to validate both the design and operation as well as show both the tools and tool changer perform in an extreme environment. The design requirements, iterative process, and prototype testing with the manipulator are also discussed.\",\"booktitle\":\"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pettinger\"],\"firstnames\":[\"Adam\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Dimoush\"],\"firstnames\":[\"Conner\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2019\",\"note\":\"ISSN: 2161-8089\",\"keywords\":\"Cameras, Inspection, Manipulators, Springs, Testing, Tools, acidic air duct, cameras, compliant manipulator, design engineering, design requirements, elastic manipulator, end effectors, end-effectors, industrial manipulators, industrial robots, iterative process, machine tool spindles, manipulator dynamics, mobile robots, motion control, multiple tools, passive mechanical tool changer, passive tool changer development, pneumatic systems, prototype testing, radioactive air duct, robotic manipulator, robotic tool changers, telerobotics\",\"pages\":\"1200–1205\",\"bibtex\":\"@inproceedings{pettinger_passive_2019,\\n\\ttitle = {Passive {Tool} {Changer} {Development} for an {Elastic} and {Compliant} {Manipulator}},\\n\\tdoi = {10.1109/COASE.2019.8843255},\\n\\tabstract = {Robotic tool changers allow the use of multiple tools or end-effectors by a robotic manipulator and eliminate the need for human intervention to change tools. In this paper, we present the design and testing of a passive mechanical tool changer designed for a project involving the inspection of an acidic and radioactive air duct. The tool changer relied on the active/passive motions of a compliant manipulator to perform tool changes and contains no electrical or pneumatic components. The resulting tool changing operation utilizes a developed compliant controller that relies exclusively on contact forces to guide the manipulator, and thus eliminates the need for precision operation or any assistance from the operator. The design features a locking system to ensure secure storage of tools that are not in use. Furthermore, the connection mechanism includes a bore scope camera for use when tools are not attached or to visually verify tool connections. Testing and demonstrations were performed to validate both the design and operation as well as show both the tools and tool changer perform in an extreme environment. The design requirements, iterative process, and prototype testing with the manipulator are also discussed.},\\n\\tbooktitle = {2019 {IEEE} 15th {International} {Conference} on {Automation} {Science} and {Engineering} ({CASE})},\\n\\tauthor = {Pettinger, Adam and Dimoush, Conner and Pryor, Mitch},\\n\\tmonth = aug,\\n\\tyear = {2019},\\n\\tnote = {ISSN: 2161-8089},\\n\\tkeywords = {Cameras, Inspection, Manipulators, Springs, Testing, Tools, acidic air duct, cameras, compliant manipulator, design engineering, design requirements, elastic manipulator, end effectors, end-effectors, industrial manipulators, industrial robots, iterative process, machine tool spindles, manipulator dynamics, mobile robots, motion control, multiple tools, passive mechanical tool changer, passive tool changer development, pneumatic systems, prototype testing, radioactive air duct, robotic manipulator, robotic tool changers, telerobotics},\\n\\tpages = {1200--1205},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Pettinger, A.\",\"Dimoush, C.\",\"Pryor, M.\"],\"key\":\"pettinger_passive_2019\",\"id\":\"pettinger_passive_2019\",\"bibbaseid\":\"pettinger-dimoush-pryor-passivetoolchangerdevelopmentforanelasticandcompliantmanipulator-2019\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Cameras\",\"Inspection\",\"Manipulators\",\"Springs\",\"Testing\",\"Tools\",\"acidic air duct\",\"cameras\",\"compliant manipulator\",\"design engineering\",\"design requirements\",\"elastic manipulator\",\"end effectors\",\"end-effectors\",\"industrial manipulators\",\"industrial robots\",\"iterative process\",\"machine tool spindles\",\"manipulator dynamics\",\"mobile robots\",\"motion control\",\"multiple tools\",\"passive mechanical tool changer\",\"passive tool changer development\",\"pneumatic systems\",\"prototype testing\",\"radioactive air duct\",\"robotic manipulator\",\"robotic tool changers\",\"telerobotics\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":11,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Orlando, FL\",\"title\":\"Development of a modular sensor tree for inspection of hazardous environments\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"McMahon\"],\"firstnames\":[\"Conor\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Suarez\"],\"firstnames\":[\"Christopher\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Plummer\"],\"firstnames\":[\"Jean\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2018\",\"bibtex\":\"@inproceedings{mcmahon_development_2018,\\n\\taddress = {Orlando, FL},\\n\\ttitle = {Development of a modular sensor tree for inspection of hazardous environments},\\n\\tpublisher = {ANS},\\n\\tauthor = {McMahon, Conor and Suarez, Christopher and Plummer, Jean and Pryor, Mitch and Landsberger, Sheldon},\\n\\tmonth = nov,\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"McMahon, C.\",\"Suarez, C.\",\"Plummer, J.\",\"Pryor, M.\",\"Landsberger, S.\"],\"key\":\"mcmahon_development_2018\",\"id\":\"mcmahon_development_2018\",\"bibbaseid\":\"mcmahon-suarez-plummer-pryor-landsberger-developmentofamodularsensortreeforinspectionofhazardousenvironments-2018\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Orlando, FL\",\"title\":\"Automated gamma radiation surveying with a lanthanum bromide detector\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Wanna\"],\"firstnames\":[\"Selma\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2018\",\"bibtex\":\"@inproceedings{wanna_automated_2018,\\n\\taddress = {Orlando, FL},\\n\\ttitle = {Automated gamma radiation surveying with a lanthanum bromide detector},\\n\\tpublisher = {ANS},\\n\\tauthor = {Wanna, Selma and Pryor, Mitch and Landsberger, Sheldon},\\n\\tmonth = nov,\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Wanna, S.\",\"Pryor, M.\",\"Landsberger, S.\"],\"key\":\"wanna_automated_2018\",\"id\":\"wanna_automated_2018\",\"bibbaseid\":\"wanna-pryor-landsberger-automatedgammaradiationsurveyingwithalanthanumbromidedetector-2018\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Orlando, FL\",\"title\":\"A robotic platform for testing plasma pen decontamination\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Petlowany\"],\"firstnames\":[\"Christina\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2018\",\"bibtex\":\"@inproceedings{petlowany_robotic_2018,\\n\\taddress = {Orlando, FL},\\n\\ttitle = {A robotic platform for testing plasma pen decontamination},\\n\\tpublisher = {ANS},\\n\\tauthor = {Petlowany, Christina and Pryor, Mitch},\\n\\tmonth = nov,\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Petlowany, C.\",\"Pryor, M.\"],\"key\":\"petlowany_robotic_2018\",\"id\":\"petlowany_robotic_2018\",\"bibbaseid\":\"petlowany-pryor-aroboticplatformfortestingplasmapendecontamination-2018\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"Virtual fixture generation for task planning with complex geometries\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/78702\",\"abstract\":\"Decontaminating and decommissioning aging nuclear facilities and managing nuclear waste required increased automation to reduce personnel dose. Semi-autonomous behaviors, such as virtual fixtures, aid task execution by managing low-level system resources while operators retain high-level control. Virtual fixtures provide operators with geometric constraints or guidance forces in a robotic manipulator’s workspace. This dissertation advances virtual fixture generation through, the previously unexplored, construction of layers of point cloud based Guidance Virtual Fixtures. Point clouds are used for virtual fixture generation, based on complex surface geometry, to provide more expressive, and therefore useful, environmental representations. Thus, this work builds upon previous point cloud based Forbidden Region Virtual Fixtures to address virtual fixture generation shortcomings outlined in the literature. Task input polygonal mesh checks warn operators if defects are found. Task normal vectors and task parameters are used to calculate point cloud layers at task defined distances from the surface. These layers are interpolated and voxelized to maintain point cloud resolution at increasing distances from the task surface. The layers are combined into a bi-directional graph structure for storage and future use. The graph structure is combined with a Forbidden Region Virtual Fixture to create a Task Virtual Fixture. Task Virtual Fixture generation was evaluated with multiple input types including parametric surfaces, polygonal meshes, and point cloud data. Results demonstrate surface model concavity affects the growth in the number of offset layer vertices as does distance from the task surface. Task Virtual Fixture generation intuitively modifies VF layer resolution at extended task surface distances. Point cloud sensor data demonstrated sensor data input for \\\"open world\\\" scenarios. Two visualization and task execution environments were developed to apply Task Virtual Fixtures to spatially discrete and spatially continuous non-contact tasks. The first interface, spatially discrete, was constructed with the Robot Operating System, RViz, and MoveIt!. This interface displays reachability information to the operator and is called the Manipulator to Task Transform Tool. The second interface allows operators to employ Task Virtual Fixture information in ABB’s RobotStudio for spatially continuous tasks. A small user study was conducted for each interface to demonstrate more expressive Task Virtual Fixtures are still operator interpretable and assist with task execution.\",\"language\":\"en\",\"urldate\":\"2020-05-09\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sharp\"],\"firstnames\":[\"Andrew\",\"Patrick\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2019\",\"doi\":\"http://dx.doi.org/10.26153/tsw/5758\",\"note\":\"Accepted: 2019-12-10T00:48:10Z\",\"bibtex\":\"@phdthesis{sharp_virtual_2019,\\n\\ttype = {Dissertation},\\n\\ttitle = {Virtual fixture generation for task planning with complex geometries},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/78702},\\n\\tabstract = {Decontaminating and decommissioning aging nuclear facilities and managing nuclear waste required increased automation to reduce personnel dose. Semi-autonomous behaviors, such as virtual fixtures, aid task execution by managing low-level system resources while operators retain high-level control. Virtual fixtures provide operators with geometric constraints or guidance forces in a robotic manipulator’s workspace. This dissertation advances virtual fixture generation through, the previously unexplored, construction of layers of point cloud based Guidance Virtual Fixtures. Point clouds are used for virtual fixture generation, based on complex surface geometry, to provide more expressive, and therefore useful, environmental representations. Thus, this work builds upon previous point cloud based Forbidden Region Virtual Fixtures to address virtual fixture generation shortcomings outlined in the literature. Task input polygonal mesh checks warn operators if defects are found. Task normal vectors and task parameters are used to calculate point cloud layers at task defined distances from the surface. These layers are interpolated and voxelized to maintain point cloud resolution at increasing distances from the task surface. The layers are combined into a bi-directional graph structure for storage and future use. The graph structure is combined with a Forbidden Region Virtual Fixture to create a Task Virtual Fixture. \\nTask Virtual Fixture generation was evaluated with multiple input types including parametric surfaces, polygonal meshes, and point cloud data. Results demonstrate surface model concavity affects the growth in the number of offset layer vertices as does distance from the task surface. Task Virtual Fixture generation intuitively modifies VF layer resolution at extended task surface distances. Point cloud sensor data demonstrated sensor data input for \\\"open world\\\" scenarios. Two visualization and task execution environments were developed to apply Task Virtual Fixtures to spatially discrete and spatially continuous non-contact tasks. The first interface, spatially discrete, was constructed with the Robot Operating System, RViz, and MoveIt!. This interface displays reachability information to the operator and is called the Manipulator to Task Transform Tool. The second interface allows operators to employ Task Virtual Fixture information in ABB’s RobotStudio for spatially continuous tasks. A small user study was conducted for each interface to demonstrate more expressive Task Virtual Fixtures are still operator interpretable and assist with task execution.},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-09},\\n\\tauthor = {Sharp, Andrew Patrick},\\n\\tmonth = may,\\n\\tyear = {2019},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/5758},\\n\\tdoi = {http://dx.doi.org/10.26153/tsw/5758},\\n\\tnote = {Accepted: 2019-12-10T00:48:10Z},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Sharp, A. P.\"],\"key\":\"sharp_virtual_2019\",\"id\":\"sharp_virtual_2019\",\"bibbaseid\":\"sharp-virtualfixturegenerationfortaskplanningwithcomplexgeometries-2019\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/78702\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"title\":\"Development and Validation of a Scenario-Based Drilling Simulator for Training and Evaluating Human Factors\",\"issn\":\"2168-2305\",\"doi\":\"10.1109/THMS.2020.2969014\",\"abstract\":\"Drilling and completing an oil/gas well is a time-sensitive and high-value operation, in which environment/system parameters change in unseen, unpredictable environments. Safety issues arise at every stage. Drilling principles can be taught using traditional methods, but safety and event response are difficult to teach in such formats. Here, in this article, we integrate a hardware-in-the-loop simulator, downhole physics, and auxiliary touchscreen interfaces (similar to a rig's add-on equipment) to develop a realistic, real-time drilling simulator for well control operation training. Realistic operational data are supplied to the simulator representative of downhole operations, including unplanned well events. The well plan accounts for drilling parameter changes, the pore-pressure fracture-gradient drilling window, mud weights, etc., which occur in response to the unplanned events. The developed simulator is used for hands-on training, human factor studies, model verification, and evaluating new auxiliary equipment and/or operational procedures. A critical research objective was evaluating the accuracy/realism of the developed system. To do so, eight petroleum engineering students and 11 certified drillers were trained and asked to complete a comprehensive (\\\\textgreater6 h) drilling operation. System accuracy was measured by comparing how new versus experienced operators learned to operate the simulator, execute mission-critical tasks, and respond to unplanned events. The results validate the realism of the developed simulator and scenarios, since personnel with prior drilling experience took significantly less time to master the system.\",\"journal\":\"IEEE Transactions on Human-Machine Systems\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Chan\"],\"firstnames\":[\"Hong-Chih\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lee\"],\"firstnames\":[\"Melissa\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Saini\"],\"firstnames\":[\"Gurtej\",\"Singh\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[\"van\"],\"lastnames\":[\"Oort\"],\"firstnames\":[\"Eric\"],\"suffixes\":[]}],\"month\":\"February\",\"year\":\"2020\",\"note\":\"Conference Name: IEEE Transactions on Human-Machine Systems\",\"keywords\":\"Drilling, Human factors, Industries, Personnel, Physics, Safety, Training, education, simulation-based learning (SBL), simulator, training\",\"pages\":\"1–10\",\"bibtex\":\"@article{chan_development_2020,\\n\\ttitle = {Development and {Validation} of a {Scenario}-{Based} {Drilling} {Simulator} for {Training} and {Evaluating} {Human} {Factors}},\\n\\tissn = {2168-2305},\\n\\tdoi = {10.1109/THMS.2020.2969014},\\n\\tabstract = {Drilling and completing an oil/gas well is a time-sensitive and high-value operation, in which environment/system parameters change in unseen, unpredictable environments. Safety issues arise at every stage. Drilling principles can be taught using traditional methods, but safety and event response are difficult to teach in such formats. Here, in this article, we integrate a hardware-in-the-loop simulator, downhole physics, and auxiliary touchscreen interfaces (similar to a rig's add-on equipment) to develop a realistic, real-time drilling simulator for well control operation training. Realistic operational data are supplied to the simulator representative of downhole operations, including unplanned well events. The well plan accounts for drilling parameter changes, the pore-pressure fracture-gradient drilling window, mud weights, etc., which occur in response to the unplanned events. The developed simulator is used for hands-on training, human factor studies, model verification, and evaluating new auxiliary equipment and/or operational procedures. A critical research objective was evaluating the accuracy/realism of the developed system. To do so, eight petroleum engineering students and 11 certified drillers were trained and asked to complete a comprehensive ({\\\\textgreater}6 h) drilling operation. System accuracy was measured by comparing how new versus experienced operators learned to operate the simulator, execute mission-critical tasks, and respond to unplanned events. The results validate the realism of the developed simulator and scenarios, since personnel with prior drilling experience took significantly less time to master the system.},\\n\\tjournal = {IEEE Transactions on Human-Machine Systems},\\n\\tauthor = {Chan, Hong-Chih and Lee, Melissa M. and Saini, Gurtej Singh and Pryor, Mitch and van Oort, Eric},\\n\\tmonth = feb,\\n\\tyear = {2020},\\n\\tnote = {Conference Name: IEEE Transactions on Human-Machine Systems},\\n\\tkeywords = {Drilling, Human factors, Industries, Personnel, Physics, Safety, Training, education, simulation-based learning (SBL), simulator, training},\\n\\tpages = {1--10},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Chan, H.\",\"Lee, M. M.\",\"Saini, G. S.\",\"Pryor, M.\",\"van Oort, E.\"],\"key\":\"chan_development_2020-1\",\"id\":\"chan_development_2020-1\",\"bibbaseid\":\"chan-lee-saini-pryor-vanoort-developmentandvalidationofascenariobaseddrillingsimulatorfortrainingandevaluatinghumanfactors-2020\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Drilling\",\"Human factors\",\"Industries\",\"Personnel\",\"Physics\",\"Safety\",\"Training\",\"education\",\"simulation-based learning (SBL)\",\"simulator\",\"training\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Dallas, TX\",\"title\":\"Real-Time 3D Computer Vision Shape Analysis of Cuttings and Cavings\",\"isbn\":\"978-1-61399-572-3\",\"url\":\"https://www.onepetro.org/conference-paper/SPE-191634-MS\",\"doi\":\"10.2118/191634-MS\",\"abstract\":\"Excessive cuttings and cavings accumulation due to poor hole cleaning and borehole instability can cause costly stuck pipe incidents. Currently, there is no surface instrument to monitor cuttings volume and detect cavings in real-time. An automated\",\"language\":\"english\",\"urldate\":\"2020-05-09\",\"publisher\":\"Society of Petroleum Engineers\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Han\"],\"firstnames\":[\"Runqi\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ashok\"],\"firstnames\":[\"Pradeepkumar\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitchell\"],\"suffixes\":[]},{\"propositions\":[\"van\"],\"lastnames\":[\"Oort\"],\"firstnames\":[\"Eric\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2018\",\"pages\":\"16\",\"bibtex\":\"@inproceedings{han_real-time_2018,\\n\\taddress = {Dallas, TX},\\n\\ttitle = {Real-{Time} {3D} {Computer} {Vision} {Shape} {Analysis} of {Cuttings} and {Cavings}},\\n\\tisbn = {978-1-61399-572-3},\\n\\turl = {https://www.onepetro.org/conference-paper/SPE-191634-MS},\\n\\tdoi = {10.2118/191634-MS},\\n\\tabstract = {Excessive cuttings and cavings accumulation due to poor hole cleaning and borehole instability can cause costly stuck pipe incidents. Currently, there is no surface instrument to monitor cuttings volume and detect cavings in real-time. An automated},\\n\\tlanguage = {english},\\n\\turldate = {2020-05-09},\\n\\tpublisher = {Society of Petroleum Engineers},\\n\\tauthor = {Han, Runqi and Ashok, Pradeepkumar and Pryor, Mitchell and van Oort, Eric},\\n\\tmonth = sep,\\n\\tyear = {2018},\\n\\tpages = {16},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Han, R.\",\"Ashok, P.\",\"Pryor, M.\",\"van Oort, E.\"],\"key\":\"han_real-time_2018\",\"id\":\"han_real-time_2018\",\"bibbaseid\":\"han-ashok-pryor-vanoort-realtime3dcomputervisionshapeanalysisofcuttingsandcavings-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.onepetro.org/conference-paper/SPE-191634-MS\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":25,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Quebec City, CA\",\"title\":\"Data Driven Virtual Fixtures for Improved Shared Control\",\"url\":\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2018/51814/V05BT07A028/276112\",\"doi\":\"10.1115/DETC2018-86209\",\"language\":\"en\",\"urldate\":\"2020-05-09\",\"publisher\":\"ASME\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sharp\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2018\",\"pages\":\"10\",\"bibtex\":\"@inproceedings{sharp_data_2018,\\n\\taddress = {Quebec City, CA},\\n\\ttitle = {Data {Driven} {Virtual} {Fixtures} for {Improved} {Shared} {Control}},\\n\\turl = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2018/51814/V05BT07A028/276112},\\n\\tdoi = {10.1115/DETC2018-86209},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-09},\\n\\tpublisher = {ASME},\\n\\tauthor = {Sharp, Andrew and Pryor, Mitch},\\n\\tmonth = aug,\\n\\tyear = {2018},\\n\\tpages = {10},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Sharp, A.\",\"Pryor, M.\"],\"key\":\"sharp_data_2018\",\"id\":\"sharp_data_2018\",\"bibbaseid\":\"sharp-pryor-datadrivenvirtualfixturesforimprovedsharedcontrol-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2018/51814/V05BT07A028/276112\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Gdansk, Poland\",\"title\":\"Improved Situational Awareness in ROS Using Panospheric Vision and Virtual Reality\",\"doi\":\"10.1109/HSI.2018.8431062\",\"abstract\":\"One of the main difficulties in teleoperated systems is providing an operator with sufficient Situational Awareness (SA). This paper introduces three open-source packages that improve the operator's SA using the Robot Operating System (ROS). The first package-rviz_textured_sphere-allows rendering panospheric camera outputs as spherical images in the ROS visualization software RViz. A system where the visualization of this spherical data using an open-source virtual reality (OSVR) headset in the ROS framework is achieved with the second package: rviz_plugin_osvr. Finally, the third package-pointcloud_painter-projects spherical data onto a 3D depth cloud scan of the scene generated from a rotating lidar. This package outputs a XYZRGB pointcloud that can be visualized either in RViz or using the virtual reality headset. Together, these technologies address the wider issue of limited SA in robotics and represent a substantial advancement in the environment visualization capabilities available to open-source robotics developers.\",\"booktitle\":\"2018 11th International Conference on Human System Interaction (HSI)\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Vunder\"],\"firstnames\":[\"Veiko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Valner\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"McMahon\"],\"firstnames\":[\"Conor\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kruusamäe\"],\"firstnames\":[\"Karl\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"July\",\"year\":\"2018\",\"keywords\":\"3D depth cloud scan, Cameras, Data visualization, Distortion, Headphones, Lenses, OSVR headset, ROS, ROS visualization software, RViz, Rendering (computer graphics), Robots, XYZRGB pointcloud, control engineering computing, data visualisation, environment visualization capabilities, human-robot interaction, lidar, mobile robots, open-source packages, open-source robotics developers, open-source virtual reality headset, operating systems (computers), optical radar, package-rviz_textured_sphere, panospheric camera output rendering, panospheric vision, pointcloud_painter-projects spherical data, public domain software, rendering (computer graphics), robot operating system, rviz_plugin_osvr, situational awareness, spherical images, teleoperated systems, telerobotics, user interfaces, virtual reality\",\"pages\":\"471–477\",\"bibtex\":\"@inproceedings{vunder_improved_2018,\\n\\taddress = {Gdansk, Poland},\\n\\ttitle = {Improved {Situational} {Awareness} in {ROS} {Using} {Panospheric} {Vision} and {Virtual} {Reality}},\\n\\tdoi = {10.1109/HSI.2018.8431062},\\n\\tabstract = {One of the main difficulties in teleoperated systems is providing an operator with sufficient Situational Awareness (SA). This paper introduces three open-source packages that improve the operator's SA using the Robot Operating System (ROS). The first package-rviz\\\\_textured\\\\_sphere-allows rendering panospheric camera outputs as spherical images in the ROS visualization software RViz. A system where the visualization of this spherical data using an open-source virtual reality (OSVR) headset in the ROS framework is achieved with the second package: rviz\\\\_plugin\\\\_osvr. Finally, the third package-pointcloud\\\\_painter-projects spherical data onto a 3D depth cloud scan of the scene generated from a rotating lidar. This package outputs a XYZRGB pointcloud that can be visualized either in RViz or using the virtual reality headset. Together, these technologies address the wider issue of limited SA in robotics and represent a substantial advancement in the environment visualization capabilities available to open-source robotics developers.},\\n\\tbooktitle = {2018 11th {International} {Conference} on {Human} {System} {Interaction} ({HSI})},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Vunder, Veiko and Valner, Robert and McMahon, Conor and Kruusamäe, Karl and Pryor, Mitch},\\n\\tmonth = jul,\\n\\tyear = {2018},\\n\\tkeywords = {3D depth cloud scan, Cameras, Data visualization, Distortion, Headphones, Lenses, OSVR headset, ROS, ROS visualization software, RViz, Rendering (computer graphics), Robots, XYZRGB pointcloud, control engineering computing, data visualisation, environment visualization capabilities, human-robot interaction, lidar, mobile robots, open-source packages, open-source robotics developers, open-source virtual reality headset, operating systems (computers), optical radar, package-rviz\\\\_textured\\\\_sphere, panospheric camera output rendering, panospheric vision, pointcloud\\\\_painter-projects spherical data, public domain software, rendering (computer graphics), robot operating system, rviz\\\\_plugin\\\\_osvr, situational awareness, spherical images, teleoperated systems, telerobotics, user interfaces, virtual reality},\\n\\tpages = {471--477},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Vunder, V.\",\"Valner, R.\",\"McMahon, C.\",\"Kruusamäe, K.\",\"Pryor, M.\"],\"key\":\"vunder_improved_2018\",\"id\":\"vunder_improved_2018\",\"bibbaseid\":\"vunder-valner-mcmahon-kruusame-pryor-improvedsituationalawarenessinrosusingpanosphericvisionandvirtualreality-2018\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"3D depth cloud scan\",\"Cameras\",\"Data visualization\",\"Distortion\",\"Headphones\",\"Lenses\",\"OSVR headset\",\"ROS\",\"ROS visualization software\",\"RViz\",\"Rendering (computer graphics)\",\"Robots\",\"XYZRGB pointcloud\",\"control engineering computing\",\"data visualisation\",\"environment visualization capabilities\",\"human-robot interaction\",\"lidar\",\"mobile robots\",\"open-source packages\",\"open-source robotics developers\",\"open-source virtual reality headset\",\"operating systems (computers)\",\"optical radar\",\"package-rviz_textured_sphere\",\"panospheric camera output rendering\",\"panospheric vision\",\"pointcloud_painter-projects spherical data\",\"public domain software\",\"rendering (computer graphics)\",\"robot operating system\",\"rviz_plugin_osvr\",\"situational awareness\",\"spherical images\",\"teleoperated systems\",\"telerobotics\",\"user interfaces\",\"virtual reality\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":11,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"London, England\",\"title\":\"Virtual Fixture Augmentation of Operator Selection of Non-Contact Material Reduction Task Paths\",\"url\":\"https://asmedigitalcollection.asme.org/ICONE/proceedings/ICONE26/51531/V009T16A083/274799\",\"doi\":\"10.1115/ICONE26-82398\",\"language\":\"en\",\"urldate\":\"2020-05-09\",\"publisher\":\"ASME\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sharp\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Petlowany\"],\"firstnames\":[\"Christina\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"July\",\"year\":\"2018\",\"pages\":\"10\",\"bibtex\":\"@inproceedings{sharp_virtual_2018,\\n\\taddress = {London, England},\\n\\ttitle = {Virtual {Fixture} {Augmentation} of {Operator} {Selection} of {Non}-{Contact} {Material} {Reduction} {Task} {Paths}},\\n\\turl = {https://asmedigitalcollection.asme.org/ICONE/proceedings/ICONE26/51531/V009T16A083/274799},\\n\\tdoi = {10.1115/ICONE26-82398},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-09},\\n\\tpublisher = {ASME},\\n\\tauthor = {Sharp, Andrew and Petlowany, Christina and Pryor, Mitch},\\n\\tmonth = jul,\\n\\tyear = {2018},\\n\\tpages = {10},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Sharp, A.\",\"Petlowany, C.\",\"Pryor, M.\"],\"key\":\"sharp_virtual_2018\",\"id\":\"sharp_virtual_2018\",\"bibbaseid\":\"sharp-petlowany-pryor-virtualfixtureaugmentationofoperatorselectionofnoncontactmaterialreductiontaskpaths-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/ICONE/proceedings/ICONE26/51531/V009T16A083/274799\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Madrid, Spain\",\"title\":\"Intuitive ‘human-on-the-loop’ interface for tele-operating remote mobile manipulator robots\",\"publisher\":\"European Space Agency\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Valner\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Vunder\"],\"firstnames\":[\"Veiko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Aabloo\"],\"firstnames\":[\"Alvo\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kruusamäe\"],\"firstnames\":[\"Karl\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2018\",\"pages\":\"8\",\"bibtex\":\"@inproceedings{valner_intuitive_2018,\\n\\taddress = {Madrid, Spain},\\n\\ttitle = {Intuitive ‘human-on-the-loop’ interface for tele-operating remote mobile manipulator robots},\\n\\tpublisher = {European Space Agency},\\n\\tauthor = {Valner, Robert and Vunder, Veiko and Zelenak, Andy and Pryor, Mitch and Aabloo, Alvo and Kruusamäe, Karl},\\n\\tmonth = jun,\\n\\tyear = {2018},\\n\\tpages = {8},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Valner, R.\",\"Vunder, V.\",\"Zelenak, A.\",\"Pryor, M.\",\"Aabloo, A.\",\"Kruusamäe, K.\"],\"key\":\"valner_intuitive_2018\",\"id\":\"valner_intuitive_2018\",\"bibbaseid\":\"valner-vunder-zelenak-pryor-aabloo-kruusame-intuitivehumanontheloopinterfaceforteleoperatingremotemobilemanipulatorrobots-2018\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Stockholm, Sweden\",\"series\":\"AAMAS '18\",\"title\":\"Affordance Discovery using Simulated Exploration\",\"abstract\":\"Allowing robots to understand their world in terms of affordances allows for generalization, learning, and complex planning, while also being intuitive for humans to understand. In recent work, affordances are often learned with hand-coded robot actions, which can limit or bias the model. Real-world training has also been used to learn affordances and manipulation models, but is timeconsuming and unsafe for the robot and its environment.\",\"urldate\":\"2020-05-09\",\"booktitle\":\"Proceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems\",\"publisher\":\"International Foundation for Autonomous Agents and Multiagent Systems\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Allevato\"],\"firstnames\":[\"Adam\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Thomaz\"],\"firstnames\":[\"Andrea\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"July\",\"year\":\"2018\",\"keywords\":\"affordances, feature selection, human-guided learning, mental simulation, robot simulation, transfer learning\",\"pages\":\"2174–2176\",\"bibtex\":\"@inproceedings{allevato_affordance_2018,\\n\\taddress = {Stockholm, Sweden},\\n\\tseries = {{AAMAS} '18},\\n\\ttitle = {Affordance {Discovery} using {Simulated} {Exploration}},\\n\\tabstract = {Allowing robots to understand their world in terms of affordances allows for generalization, learning, and complex planning, while also being intuitive for humans to understand. In recent work, affordances are often learned with hand-coded robot actions, which can limit or bias the model. Real-world training has also been used to learn affordances and manipulation models, but is timeconsuming and unsafe for the robot and its environment.},\\n\\turldate = {2020-05-09},\\n\\tbooktitle = {Proceedings of the 17th {International} {Conference} on {Autonomous} {Agents} and {MultiAgent} {Systems}},\\n\\tpublisher = {International Foundation for Autonomous Agents and Multiagent Systems},\\n\\tauthor = {Allevato, Adam and Thomaz, Andrea and Pryor, Mitch},\\n\\tmonth = jul,\\n\\tyear = {2018},\\n\\tkeywords = {affordances, feature selection, human-guided learning, mental simulation, robot simulation, transfer learning},\\n\\tpages = {2174--2176},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Allevato, A.\",\"Thomaz, A.\",\"Pryor, M.\"],\"key\":\"allevato_affordance_2018\",\"id\":\"allevato_affordance_2018\",\"bibbaseid\":\"allevato-thomaz-pryor-affordancediscoveryusingsimulatedexploration-2018\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"affordances\",\"feature selection\",\"human-guided learning\",\"mental simulation\",\"robot simulation\",\"transfer learning\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Phoenix, AZ\",\"title\":\"Automated Glovebox Workcell Design\",\"url\":\"https://www.xcdsystem.com/wmsym/2018/015.html#18370\",\"booktitle\":\"Proceeding of the 2018 Waste Management Symposium\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Petlowany\"],\"firstnames\":[\"Christina\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Paredes\"],\"firstnames\":[\"Edwin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Horn\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Allevato\"],\"firstnames\":[\"Adam\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2018\",\"bibtex\":\"@inproceedings{petlowany_automated_2018,\\n\\taddress = {Phoenix, AZ},\\n\\ttitle = {Automated {Glovebox} {Workcell} {Design}},\\n\\turl = {https://www.xcdsystem.com/wmsym/2018/015.html#18370},\\n\\tbooktitle = {Proceeding of the 2018 {Waste} {Management} {Symposium}},\\n\\tauthor = {Petlowany, Christina and Paredes, Edwin and Horn, Matthew and Allevato, Adam and Pryor, Mitch},\\n\\tmonth = mar,\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Petlowany, C.\",\"Paredes, E.\",\"Horn, M.\",\"Allevato, A.\",\"Pryor, M.\"],\"key\":\"petlowany_automated_2018\",\"id\":\"petlowany_automated_2018\",\"bibbaseid\":\"petlowany-paredes-horn-allevato-pryor-automatedgloveboxworkcelldesign-2018\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.xcdsystem.com/wmsym/2018/015.html#18370\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":15,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Gyeongju, Korea\",\"title\":\"Generating survey plans for autonomous robots using source and instrumentation data\",\"url\":\"https://www.kns.org/inter_paper/lists/page/435\",\"publisher\":\"Korean Nuclear Society\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Anderson\"],\"firstnames\":[\"Blake\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2017\",\"pages\":\"9\",\"bibtex\":\"@inproceedings{anderson_generating_2017,\\n\\taddress = {Gyeongju, Korea},\\n\\ttitle = {Generating survey plans for autonomous robots using source and instrumentation data},\\n\\turl = {https://www.kns.org/inter_paper/lists/page/435},\\n\\tpublisher = {Korean Nuclear Society},\\n\\tauthor = {Anderson, Blake and Pryor, Mitch and Landsberger, Sheldon},\\n\\tmonth = nov,\\n\\tyear = {2017},\\n\\tpages = {9},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Anderson, B.\",\"Pryor, M.\",\"Landsberger, S.\"],\"key\":\"anderson_generating_2017\",\"id\":\"anderson_generating_2017\",\"bibbaseid\":\"anderson-pryor-landsberger-generatingsurveyplansforautonomousrobotsusingsourceandinstrumentationdata-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.kns.org/inter_paper/lists/page/435\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":15,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Vancouver, CA\",\"title\":\"Improved situational awareness for teleoperated systems with VR headset and panospheric camera integration\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Vunder\"],\"firstnames\":[\"Veiko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2018\",\"bibtex\":\"@inproceedings{vunder_improved_2018,\\n\\taddress = {Vancouver, CA},\\n\\ttitle = {Improved situational awareness for teleoperated systems with {VR} headset and panospheric camera integration},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Vunder, Veiko and Pryor, Mitch},\\n\\tmonth = sep,\\n\\tyear = {2018},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Vunder, V.\",\"Pryor, M.\"],\"key\":\"vunder_improved_2018-1\",\"id\":\"vunder_improved_2018-1\",\"bibbaseid\":\"vunder-pryor-improvedsituationalawarenessforteleoperatedsystemswithvrheadsetandpanosphericcameraintegration-2018\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Cleveland, OH\",\"title\":\"Control of Nonlinear Systems in Normal Form by Complementary Lyapunov Functions\",\"url\":\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A014/258244\",\"doi\":\"10.1115/DETC2017-67805\",\"language\":\"en\",\"urldate\":\"2020-05-09\",\"publisher\":\"ASME\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Fernández\"],\"firstnames\":[\"Benito\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2017\",\"bibtex\":\"@inproceedings{zelenak_control_2017,\\n\\taddress = {Cleveland, OH},\\n\\ttitle = {Control of {Nonlinear} {Systems} in {Normal} {Form} by {Complementary} {Lyapunov} {Functions}},\\n\\turl = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A014/258244},\\n\\tdoi = {10.1115/DETC2017-67805},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-09},\\n\\tpublisher = {ASME},\\n\\tauthor = {Zelenak, Andy and Fernández, Benito and Pryor, Mitch},\\n\\tmonth = aug,\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Zelenak, A.\",\"Fernández, B.\",\"Pryor, M.\"],\"key\":\"zelenak_control_2017\",\"id\":\"zelenak_control_2017\",\"bibbaseid\":\"zelenak-fernndez-pryor-controlofnonlinearsystemsinnormalformbycomplementarylyapunovfunctions-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A014/258244\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":24,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Cleveland, OH\",\"title\":\"A Lyapunov Proof of Stability for Parallel Controllers of SISO Systems\",\"url\":\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A017/258278\",\"doi\":\"10.1115/DETC2017-68036\",\"language\":\"en\",\"urldate\":\"2020-05-09\",\"publisher\":\"ASME\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pitsch\"],\"firstnames\":[\"Meredith\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Fernández\"],\"firstnames\":[\"Benito\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2017\",\"bibtex\":\"@inproceedings{zelenak_lyapunov_2017,\\n\\taddress = {Cleveland, OH},\\n\\ttitle = {A {Lyapunov} {Proof} of {Stability} for {Parallel} {Controllers} of {SISO} {Systems}},\\n\\turl = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A017/258278},\\n\\tdoi = {10.1115/DETC2017-68036},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-09},\\n\\tpublisher = {ASME},\\n\\tauthor = {Zelenak, Andy and Pitsch, Meredith and Fernández, Benito and Pryor, Mitch},\\n\\tmonth = aug,\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Zelenak, A.\",\"Pitsch, M.\",\"Fernández, B.\",\"Pryor, M.\"],\"key\":\"zelenak_lyapunov_2017\",\"id\":\"zelenak_lyapunov_2017\",\"bibbaseid\":\"zelenak-pitsch-fernndez-pryor-alyapunovproofofstabilityforparallelcontrollersofsisosystems-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A017/258278\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":24,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Real-Time Borehole Condition Monitoring using Novel 3D Cuttings Sensing Technology\",\"isbn\":\"978-1-61399-501-3\",\"url\":\"https://www.onepetro.org/conference-paper/SPE-184718-MS\",\"doi\":\"10.2118/184718-MS\",\"abstract\":\"Abstract Wellbore instability and stuck pipe incidents are large contributors to drilling-related non-productive time (NPT). Drilling cuttings/cavings monitoring is crucial for early detection and mitigation of such events. Currently, monitoring is\",\"language\":\"english\",\"urldate\":\"2020-05-09\",\"publisher\":\"Society of Petroleum Engineers\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Han\"],\"firstnames\":[\"Runqi\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Ashok\"],\"firstnames\":[\"Pradeepkumar\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitchell\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Oort\"],\"firstnames\":[\"Eric\",\"van\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Scott\"],\"firstnames\":[\"Paul\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Reese\"],\"firstnames\":[\"Isaac\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hampton\"],\"firstnames\":[\"Kyle\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2017\",\"bibtex\":\"@inproceedings{han_real-time_2017,\\n\\ttitle = {Real-{Time} {Borehole} {Condition} {Monitoring} using {Novel} {3D} {Cuttings} {Sensing} {Technology}},\\n\\tisbn = {978-1-61399-501-3},\\n\\turl = {https://www.onepetro.org/conference-paper/SPE-184718-MS},\\n\\tdoi = {10.2118/184718-MS},\\n\\tabstract = {Abstract Wellbore instability and stuck pipe incidents are large contributors to drilling-related non-productive time (NPT). Drilling cuttings/cavings monitoring is crucial for early detection and mitigation of such events. Currently, monitoring is},\\n\\tlanguage = {english},\\n\\turldate = {2020-05-09},\\n\\tpublisher = {Society of Petroleum Engineers},\\n\\tauthor = {Han, Runqi and Ashok, Pradeepkumar and Pryor, Mitchell and Oort, Eric van and Scott, Paul and Reese, Isaac and Hampton, Kyle},\\n\\tmonth = mar,\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Han, R.\",\"Ashok, P.\",\"Pryor, M.\",\"Oort, E. v.\",\"Scott, P.\",\"Reese, I.\",\"Hampton, K.\"],\"key\":\"han_real-time_2017\",\"id\":\"han_real-time_2017\",\"bibbaseid\":\"han-ashok-pryor-oort-scott-reese-hampton-realtimeboreholeconditionmonitoringusingnovel3dcuttingssensingtechnology-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://www.onepetro.org/conference-paper/SPE-184718-MS\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":24,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Quantifying grasp quality using an inverse reinforcement learning algorithm\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/47303\",\"abstract\":\"This thesis considers the problem of using a learning algorithm to recognize when a mechanical gripper and sensor combination has achieved a robust grasp. Robotic hands are continuously evolving with finer motor control and higher degrees of freedom which can complicate the ability of an operator to determine if a gripper has achieved a successful grasp. Robots working in hazardous environments especially need confirmation of a successful grasp as the cost of failure is often higher than in traditional factory environments. The object set found in a nuclear environment is the focus of this effort. Objects in this environment are typically expensive (or one-of-a-kind), rigid, radioactive (or toxic), dense, and susceptible to dents, scratches, and oxidation. To validate the robustness of a grasp option, an online inverse reinforcement learning approach is evaluated as a method to quantify grasp quality. This approach is applied to an industrial-grade under-actuated robotic hand equipped with 36 pressure sensors. An expert trains the inverse reinforcement learning algorithm to generate a reward function which scores each grasp so - when combined with fuzzy logic - provides a general success or fail along with a confidence level. Utilizing the trained inverse reinforcement learning algorithm in a glovebox environment reduces the number of potential failing and untrustworthy grasps by scoring executed grasps and rejecting grasps that are similar to prior failed grasps while allowing further execution of movement when a grasp has been scored highly. The trained algorithm incorrectly classified grasps of insufficient quality less than 5% of the time in experimental hardware tests, showing that the algorithm can be applied to the glovebox environment to improve grasp safety. Thus the combination of grasp selection and pressure sensor validation provides a more efficient, robust, and redundant method to assure items can be safely handled during remote automation processes.\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Horn\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2017\",\"bibtex\":\"@phdthesis{horn_quantifying_2017,\\n\\ttype = {Thesis},\\n\\ttitle = {Quantifying grasp quality using an inverse reinforcement learning algorithm},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/47303},\\n\\tabstract = {This thesis considers the problem of using a learning algorithm to recognize when a mechanical gripper and sensor combination has achieved a robust grasp. Robotic hands are continuously evolving with finer motor control and higher degrees of freedom which can complicate the ability of an operator to determine if a gripper has achieved a successful grasp. Robots working in hazardous environments especially need confirmation of a successful grasp as the cost of failure is often higher than in traditional factory environments. The object set found in a nuclear environment is the focus of this effort. Objects in this environment are typically expensive (or one-of-a-kind), rigid, radioactive (or toxic), dense, and susceptible to dents, scratches, and oxidation. To validate the robustness of a grasp option, an online inverse reinforcement learning approach is evaluated as a method to quantify grasp quality. This approach is applied to an industrial-grade under-actuated robotic hand equipped with 36 pressure sensors. An expert trains the inverse reinforcement learning algorithm to generate a reward function which scores each grasp so - when combined with fuzzy logic - provides a general success or fail along with a confidence level. Utilizing the trained inverse reinforcement learning algorithm in a glovebox environment reduces the number of potential failing and untrustworthy grasps by scoring executed grasps and rejecting grasps that are similar to prior failed grasps while allowing further execution of movement when a grasp has been scored highly. The trained algorithm incorrectly classified grasps of insufficient quality less than 5\\\\% of the time in experimental hardware tests, showing that the algorithm can be applied to the glovebox environment to improve grasp safety. Thus the combination of grasp selection and pressure sensor validation provides a more efficient, robust, and redundant method to assure items can be safely handled during remote automation processes.},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Horn, Matthew},\\n\\tmonth = may,\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Horn, M.\"],\"key\":\"horn_quantifying_2017\",\"id\":\"horn_quantifying_2017\",\"bibbaseid\":\"horn-quantifyinggraspqualityusinganinversereinforcementlearningalgorithm-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/47303\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":15,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Getting the shot: Socially-aware viewpoints for autonomously observing tasks\",\"shorttitle\":\"Getting the shot\",\"doi\":\"10.1109/ARSO.2017.8025205\",\"abstract\":\"In this work, we present an algorithm for autonomously determining the appropriate location from which to observe a human or robot agent (actor) while it completes a task in dynamic environments. We develop theory for selecting such a location using forward physical simulation of randomly-selected candidate viewpoints. The simulated points provide obstacle avoidance, and by incorporating a modified version of the Social Force Model, candidate viewpoints adjust themselves so that they do not encroach on the actor's personal space and/or safety region. The best observer position is chosen from these candidates to provide the most complete view of the task volume, taking into account the occlusion caused by the actor itself. We show that our algorithm works under a variety of task volume configurations, actor types (human and robot), and environmental constraints. Finally, the paper shows the results of hardware deployment on a two-robot system-one observer, and one actor. The paper concludes by examining the social impacts of deploying autonomous observation algorithms on real-world systems.\",\"booktitle\":\"2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Allevato\"],\"firstnames\":[\"Adam\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sharp\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2017\",\"note\":\"ISSN: 2162-7576\",\"keywords\":\"Collision avoidance, Force, Mathematical model, Navigation, Observers, Robot sensing systems, actor personal space, actor safety region, autonomous observation algorithm, autonomous task observation, collision avoidance, dynamic environments, environmental constraint, forward physical simulation, mobile robots, multi-robot systems, observer position, observers, obstacle avoidance, randomly-selected candidate viewpoints, robot agent, social force model, socially-aware viewpoint, task volume configuration, two-robot system\",\"pages\":\"1–6\",\"bibtex\":\"@inproceedings{allevato_getting_2017,\\n\\ttitle = {Getting the shot: {Socially}-aware viewpoints for autonomously observing tasks},\\n\\tshorttitle = {Getting the shot},\\n\\tdoi = {10.1109/ARSO.2017.8025205},\\n\\tabstract = {In this work, we present an algorithm for autonomously determining the appropriate location from which to observe a human or robot agent (actor) while it completes a task in dynamic environments. We develop theory for selecting such a location using forward physical simulation of randomly-selected candidate viewpoints. The simulated points provide obstacle avoidance, and by incorporating a modified version of the Social Force Model, candidate viewpoints adjust themselves so that they do not encroach on the actor's personal space and/or safety region. The best observer position is chosen from these candidates to provide the most complete view of the task volume, taking into account the occlusion caused by the actor itself. We show that our algorithm works under a variety of task volume configurations, actor types (human and robot), and environmental constraints. Finally, the paper shows the results of hardware deployment on a two-robot system-one observer, and one actor. The paper concludes by examining the social impacts of deploying autonomous observation algorithms on real-world systems.},\\n\\tbooktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},\\n\\tauthor = {Allevato, Adam and Sharp, Andrew and Pryor, Mitch},\\n\\tmonth = mar,\\n\\tyear = {2017},\\n\\tnote = {ISSN: 2162-7576},\\n\\tkeywords = {Collision avoidance, Force, Mathematical model, Navigation, Observers, Robot sensing systems, actor personal space, actor safety region, autonomous observation algorithm, autonomous task observation, collision avoidance, dynamic environments, environmental constraint, forward physical simulation, mobile robots, multi-robot systems, observer position, observers, obstacle avoidance, randomly-selected candidate viewpoints, robot agent, social force model, socially-aware viewpoint, task volume configuration, two-robot system},\\n\\tpages = {1--6},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Allevato, A.\",\"Sharp, A.\",\"Pryor, M.\"],\"key\":\"allevato_getting_2017\",\"id\":\"allevato_getting_2017\",\"bibbaseid\":\"allevato-sharp-pryor-gettingtheshotsociallyawareviewpointsforautonomouslyobservingtasks-2017\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Collision avoidance\",\"Force\",\"Mathematical model\",\"Navigation\",\"Observers\",\"Robot sensing systems\",\"actor personal space\",\"actor safety region\",\"autonomous observation algorithm\",\"autonomous task observation\",\"collision avoidance\",\"dynamic environments\",\"environmental constraint\",\"forward physical simulation\",\"mobile robots\",\"multi-robot systems\",\"observer position\",\"observers\",\"obstacle avoidance\",\"randomly-selected candidate viewpoints\",\"robot agent\",\"social force model\",\"socially-aware viewpoint\",\"task volume configuration\",\"two-robot system\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":9,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Temporally static environment coverage with offline planning techniques\",\"doi\":\"10.1109/ARSO.2017.8025194\",\"abstract\":\"Complete coverage path planning remains a challenge for environments that change over time. Currently, computationally expensive online, sensor-based planning algorithms are used to address the uncertainty caused by any changes to an environment. Temporally static environments, common in many robot coverage tasks such as cleaning or maintenance surveying, see changes only over extended periods of time. Enhancing offline methods to handle such variations is ideal in order to maintain guaranteed optimality and completeness. This work presents a method of enhancing offline coverage path planning algorithms for temporally static maps through the introduction of adaptive permanence for offline planning decisions. The presentation will include a review of offline and online methods as well as a discussion of how to combine their strengths to address the described situation. It will include any developed algorithms as well as experimental results or demonstrations of the proposed coverage algorithm.\",\"booktitle\":\"2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pitsch\"],\"firstnames\":[\"Meredith\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2017\",\"note\":\"ISSN: 2162-7576\",\"keywords\":\"Mobile communication, Path planning, Planning, Robot sensing systems, Service robots, Uncertainty, adaptive permanence, cleaning, complete coverage path planning, completeness, environment changes, maintenance surveying, offline planning decision, offline planning technique, online sensor-based planning algorithm, optimality, path planning, robot coverage task, robots, temporally static environment coverage, temporally static map, uncertain systems, uncertainty\",\"pages\":\"1–2\",\"bibtex\":\"@inproceedings{pitsch_temporally_2017,\\n\\ttitle = {Temporally static environment coverage with offline planning techniques},\\n\\tdoi = {10.1109/ARSO.2017.8025194},\\n\\tabstract = {Complete coverage path planning remains a challenge for environments that change over time. Currently, computationally expensive online, sensor-based planning algorithms are used to address the uncertainty caused by any changes to an environment. Temporally static environments, common in many robot coverage tasks such as cleaning or maintenance surveying, see changes only over extended periods of time. Enhancing offline methods to handle such variations is ideal in order to maintain guaranteed optimality and completeness. This work presents a method of enhancing offline coverage path planning algorithms for temporally static maps through the introduction of adaptive permanence for offline planning decisions. The presentation will include a review of offline and online methods as well as a discussion of how to combine their strengths to address the described situation. It will include any developed algorithms as well as experimental results or demonstrations of the proposed coverage algorithm.},\\n\\tbooktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},\\n\\tauthor = {Pitsch, Meredith and Pryor, Mitch},\\n\\tmonth = mar,\\n\\tyear = {2017},\\n\\tnote = {ISSN: 2162-7576},\\n\\tkeywords = {Mobile communication, Path planning, Planning, Robot sensing systems, Service robots, Uncertainty, adaptive permanence, cleaning, complete coverage path planning, completeness, environment changes, maintenance surveying, offline planning decision, offline planning technique, online sensor-based planning algorithm, optimality, path planning, robot coverage task, robots, temporally static environment coverage, temporally static map, uncertain systems, uncertainty},\\n\\tpages = {1--2},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Pitsch, M.\",\"Pryor, M.\"],\"key\":\"pitsch_temporally_2017\",\"id\":\"pitsch_temporally_2017\",\"bibbaseid\":\"pitsch-pryor-temporallystaticenvironmentcoveragewithofflineplanningtechniques-2017\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Mobile communication\",\"Path planning\",\"Planning\",\"Robot sensing systems\",\"Service robots\",\"Uncertainty\",\"adaptive permanence\",\"cleaning\",\"complete coverage path planning\",\"completeness\",\"environment changes\",\"maintenance surveying\",\"offline planning decision\",\"offline planning technique\",\"online sensor-based planning algorithm\",\"optimality\",\"path planning\",\"robot coverage task\",\"robots\",\"temporally static environment coverage\",\"temporally static map\",\"uncertain systems\",\"uncertainty\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":10,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Phoenix, AZ\",\"title\":\"Mobile manipulation and survey system for H-Canyon and other applications across the DOE complex\",\"url\":\"https://xcdsystem.com/wmsym/archives//2017/137.html#17309\",\"booktitle\":\"Proceedings of the Waste Management Symposia\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2017\",\"note\":\"Conference Superior Paper\",\"bibtex\":\"@inproceedings{pryor_mobile_2017,\\n\\taddress = {Phoenix, AZ},\\n\\ttitle = {Mobile manipulation and survey system for {H}-{Canyon} and other applications across the {DOE} complex},\\n\\turl = {https://xcdsystem.com/wmsym/archives//2017/137.html#17309},\\n\\tbooktitle = {Proceedings of the {Waste} {Management} {Symposia}},\\n\\tauthor = {Pryor, Mitch and Landsberger, Sheldon},\\n\\tmonth = mar,\\n\\tyear = {2017},\\n\\tnote = {Conference Superior Paper},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pryor, M.\",\"Landsberger, S.\"],\"key\":\"pryor_mobile_2017\",\"id\":\"pryor_mobile_2017\",\"bibbaseid\":\"pryor-landsberger-mobilemanipulationandsurveysystemforhcanyonandotherapplicationsacrossthedoecomplex-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://xcdsystem.com/wmsym/archives//2017/137.html#17309\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Phoenix, AZ\",\"title\":\"ROS-DOE: Leveraging open-source robotics software for the DOE-EM mission\",\"url\":\"https://xcdsystem.com/wmsym/archives//2017/107.html#17181\",\"booktitle\":\"Proceedings of the Waste Management Symposia\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Wood\"],\"firstnames\":[\"Paul\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hvass\"],\"firstnames\":[\"Paul\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Quigley\"],\"firstnames\":[\"Morgan\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2017\",\"note\":\"Conference Superior Paper\",\"bibtex\":\"@inproceedings{pryor_ros-doe_2017,\\n\\taddress = {Phoenix, AZ},\\n\\ttitle = {{ROS}-{DOE}: {Leveraging} open-source robotics software for the {DOE}-{EM} mission},\\n\\turl = {https://xcdsystem.com/wmsym/archives//2017/107.html#17181},\\n\\tbooktitle = {Proceedings of the {Waste} {Management} {Symposia}},\\n\\tauthor = {Pryor, Mitch and Wood, Paul and Hvass, Paul and Quigley, Morgan},\\n\\tmonth = mar,\\n\\tyear = {2017},\\n\\tnote = {Conference Superior Paper},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pryor, M.\",\"Wood, P.\",\"Hvass, P.\",\"Quigley, M.\"],\"key\":\"pryor_ros-doe_2017\",\"id\":\"pryor_ros-doe_2017\",\"bibbaseid\":\"pryor-wood-hvass-quigley-rosdoeleveragingopensourceroboticssoftwareforthedoeemmission-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://xcdsystem.com/wmsym/archives//2017/107.html#17181\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Phoenix, AZ\",\"title\":\"Operator evaluation of a mobile robotic systems for inventory, inspection, and contamination survey tasks in D&D environments\",\"url\":\"https://xcdsystem.com/wmsym/archives//2017/137.html#17309\",\"booktitle\":\"Proceedings of the Waste Management Symposia\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2017\",\"bibtex\":\"@inproceedings{pryor_operator_2017,\\n\\taddress = {Phoenix, AZ},\\n\\ttitle = {Operator evaluation of a mobile robotic systems for inventory, inspection, and contamination survey tasks in {D}\\\\&{D} environments},\\n\\turl = {https://xcdsystem.com/wmsym/archives//2017/137.html#17309},\\n\\tbooktitle = {Proceedings of the {Waste} {Management} {Symposia}},\\n\\tauthor = {Pryor, Mitch},\\n\\tmonth = mar,\\n\\tyear = {2017},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pryor, M.\"],\"key\":\"pryor_operator_2017\",\"id\":\"pryor_operator_2017\",\"bibbaseid\":\"pryor-operatorevaluationofamobileroboticsystemsforinventoryinspectionandcontaminationsurveytasksinddenvironments-2017\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://xcdsystem.com/wmsym/archives//2017/137.html#17309\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Pittsburgh, PA\",\"title\":\"Intelligent navigation of a skid steer dual-arm manipulator with dynamic center of gravity\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Ebersole\"],\"firstnames\":[\"Ben\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2016\",\"bibtex\":\"@inproceedings{ebersole_intelligent_2016,\\n\\taddress = {Pittsburgh, PA},\\n\\ttitle = {Intelligent navigation of a skid steer dual-arm manipulator with dynamic center of gravity},\\n\\tpublisher = {ANS},\\n\\tauthor = {Ebersole, Ben and Pryor, Mitch},\\n\\tmonth = aug,\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Ebersole, B.\",\"Pryor, M.\"],\"key\":\"ebersole_intelligent_2016\",\"id\":\"ebersole_intelligent_2016\",\"bibbaseid\":\"ebersole-pryor-intelligentnavigationofaskidsteerdualarmmanipulatorwithdynamiccenterofgravity-2016\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Pittsburgh, PA\",\"title\":\"Demonstrations of a generalized contact control framework: follow-the-leader and grasping/inserting a peg in a hole\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[\"von\"],\"lastnames\":[\"Sternberg\"],\"firstnames\":[\"Alex\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2016\",\"bibtex\":\"@inproceedings{von_sternberg_demonstrations_2016,\\n\\taddress = {Pittsburgh, PA},\\n\\ttitle = {Demonstrations of a generalized contact control framework: follow-the-leader and grasping/inserting a peg in a hole},\\n\\tpublisher = {ANS},\\n\\tauthor = {von Sternberg, Alex and Pryor, Mitch},\\n\\tmonth = aug,\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"von Sternberg, A.\",\"Pryor, M.\"],\"key\":\"von_sternberg_demonstrations_2016\",\"id\":\"von_sternberg_demonstrations_2016\",\"bibbaseid\":\"vonsternberg-pryor-demonstrationsofageneralizedcontactcontrolframeworkfollowtheleaderandgraspinginsertingapeginahole-2016\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Pittsburgh, PA\",\"title\":\"Autonomous inventory in nuclear environment using a remote platform\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Anderson\"],\"firstnames\":[\"Blake\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pitsch\"],\"firstnames\":[\"Meredith\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Wanna\"],\"firstnames\":[\"Selma\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Park\"],\"firstnames\":[\"David\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2016\",\"bibtex\":\"@inproceedings{anderson_autonomous_2016,\\n\\taddress = {Pittsburgh, PA},\\n\\ttitle = {Autonomous inventory in nuclear environment using a remote platform},\\n\\tpublisher = {ANS},\\n\\tauthor = {Anderson, Blake and Pitsch, Meredith and Wanna, Selma and Park, David and Pryor, Mitch and Landsberger, Sheldon},\\n\\tmonth = aug,\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Anderson, B.\",\"Pitsch, M.\",\"Wanna, S.\",\"Park, D.\",\"Pryor, M.\",\"Landsberger, S.\"],\"key\":\"anderson_autonomous_2016\",\"id\":\"anderson_autonomous_2016\",\"bibbaseid\":\"anderson-pitsch-wanna-park-pryor-landsberger-autonomousinventoryinnuclearenvironmentusingaremoteplatform-2016\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Pittsburgh, PA\",\"title\":\"Virtual normal surface fixtures (VNSVF) for semi-autonomous task completion\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Sharp\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2016\",\"bibtex\":\"@inproceedings{sharp_virtual_2016,\\n\\taddress = {Pittsburgh, PA},\\n\\ttitle = {Virtual normal surface fixtures ({VNSVF}) for semi-autonomous task completion},\\n\\tpublisher = {ANS},\\n\\tauthor = {Sharp, Andrew and Pryor, Mitch},\\n\\tmonth = aug,\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Sharp, A.\",\"Pryor, M.\"],\"key\":\"sharp_virtual_2016\",\"id\":\"sharp_virtual_2016\",\"bibbaseid\":\"sharp-pryor-virtualnormalsurfacefixturesvnsvfforsemiautonomoustaskcompletion-2016\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Pittsburgh, PA\",\"title\":\"Characterizing glovebox automation tasks using partially observable Markov decision processes\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Allevato\"],\"firstnames\":[\"Adam\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Thompson\"],\"firstnames\":[\"Jack\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2016\",\"bibtex\":\"@inproceedings{allevato_characterizing_2016,\\n\\taddress = {Pittsburgh, PA},\\n\\ttitle = {Characterizing glovebox automation tasks using partially observable {Markov} decision processes},\\n\\tpublisher = {ANS},\\n\\tauthor = {Allevato, Adam and Thompson, Jack and Pryor, Mitch},\\n\\tmonth = aug,\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Allevato, A.\",\"Thompson, J.\",\"Pryor, M.\"],\"key\":\"allevato_characterizing_2016\",\"id\":\"allevato_characterizing_2016\",\"bibbaseid\":\"allevato-thompson-pryor-characterizinggloveboxautomationtasksusingpartiallyobservablemarkovdecisionprocesses-2016\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Pittsburgh, PA\",\"title\":\"Spatially-mapped human-robot interface for teleoperation of high-precision tasks\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Kruusamäe\"],\"firstnames\":[\"Karl\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Thompson\"],\"firstnames\":[\"Jack\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2016\",\"bibtex\":\"@inproceedings{kruusamae_spatially-mapped_2016,\\n\\taddress = {Pittsburgh, PA},\\n\\ttitle = {Spatially-mapped human-robot interface for teleoperation of high-precision tasks},\\n\\tpublisher = {ANS},\\n\\tauthor = {Kruusamäe, Karl and Thompson, Jack and Pryor, Mitch},\\n\\tmonth = aug,\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Kruusamäe, K.\",\"Thompson, J.\",\"Pryor, M.\"],\"key\":\"kruusamae_spatially-mapped_2016\",\"id\":\"kruusamae_spatially-mapped_2016\",\"bibbaseid\":\"kruusame-thompson-pryor-spatiallymappedhumanrobotinterfaceforteleoperationofhighprecisiontasks-2016\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Pittsburgh, PA\",\"title\":\"The effectiveness of collision detection for human-robot interaction in glovebox environment\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Schroeder\"],\"firstnames\":[\"Kyle\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Harden\"],\"firstnames\":[\"Troy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2016\",\"bibtex\":\"@inproceedings{schroeder_effectiveness_2016,\\n\\taddress = {Pittsburgh, PA},\\n\\ttitle = {The effectiveness of collision detection for human-robot interaction in glovebox environment},\\n\\tpublisher = {ANS},\\n\\tauthor = {Schroeder, Kyle and Harden, Troy and Pryor, Mitch},\\n\\tmonth = aug,\\n\\tyear = {2016},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Schroeder, K.\",\"Harden, T.\",\"Pryor, M.\"],\"key\":\"schroeder_effectiveness_2016\",\"id\":\"schroeder_effectiveness_2016\",\"bibbaseid\":\"schroeder-harden-pryor-theeffectivenessofcollisiondetectionforhumanrobotinteractioningloveboxenvironment-2016\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Portsmouth, UK\",\"title\":\"High-precision telerobot with human-centered variable perspective and scalable gestural interface\",\"copyright\":\"All rights reserved\",\"doi\":\"10.1109/HSI.2016.7529630\",\"abstract\":\"Telerobotics (i.e., remote-controlling robots) is highly attractive for tasks in potentially dangerous situations, e.g., search and rescue, space exploration, and handling hazardous materials. However, when telerobots are deployed to complete tasks, the human operator needs to develop task plan and figure out how to execute it using the available control interface. Inappropriate controls can lead to excessive cognitive load and long task completion times. If the human operator can interact with the robot in an intuitive way, he or she can focus more on the task. For that reason, we have designed a human-centered control interface that allows the operator to modify the user perspective, command via hand gestures and natural language, and scale human input motion to any suitable range on the robot. The interface consists of a Leap Motion Controller for hand tracking, microphone for speech detection, and a simple turn knob for varying the scaling factor between the human and robot motions. The teleoperator software utilizes the Robot Operating System (ROS) which enables open-source development and hardware agnosticism. In this paper we demonstrate the feasibility of the proposed system by executing a high-precision task of threading a needle. Furthermore, we present results from a usability study in where people were asked to complete high-precision tasks with both the developed human-centered gestural control input and a conventional functionality-centered drag-and-drop interface.\",\"booktitle\":\"2016 9th International Conference on Human System Interactions (HSI)\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Kruusamäe\"],\"firstnames\":[\"Karl\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"July\",\"year\":\"2016\",\"keywords\":\"ROS, Robot kinematics, Robot sensing systems, Service robots, Speech, Teleoperators, Visualization, drag-and-drop interface, gesture recognition, hand gestures, hand tracking, handling hazardous materials, hardware agnosticism, high-precision, high-precision telerobotics, human-centered control interface, human-centered variable perspective, human-robot interaction, human-robot interface, industrial robot, leap motion controller, motion control, natural language, natural languages, open-source development, operating systems (computers), public domain software, robot operating system, robot programming, scalable, scalable gestural interface, search and rescue, space exploration, spatial mapping, speech detection, speech processing, supervisory control, teleoperator, teleoperator software, telerobotics\",\"pages\":\"190–196\",\"bibtex\":\"@inproceedings{kruusamae_high-precision_2016,\\n\\taddress = {Portsmouth, UK},\\n\\ttitle = {High-precision telerobot with human-centered variable perspective and scalable gestural interface},\\n\\tcopyright = {All rights reserved},\\n\\tdoi = {10.1109/HSI.2016.7529630},\\n\\tabstract = {Telerobotics (i.e., remote-controlling robots) is highly attractive for tasks in potentially dangerous situations, e.g., search and rescue, space exploration, and handling hazardous materials. However, when telerobots are deployed to complete tasks, the human operator needs to develop task plan and figure out how to execute it using the available control interface. Inappropriate controls can lead to excessive cognitive load and long task completion times. If the human operator can interact with the robot in an intuitive way, he or she can focus more on the task. For that reason, we have designed a human-centered control interface that allows the operator to modify the user perspective, command via hand gestures and natural language, and scale human input motion to any suitable range on the robot. The interface consists of a Leap Motion Controller for hand tracking, microphone for speech detection, and a simple turn knob for varying the scaling factor between the human and robot motions. The teleoperator software utilizes the Robot Operating System (ROS) which enables open-source development and hardware agnosticism. In this paper we demonstrate the feasibility of the proposed system by executing a high-precision task of threading a needle. Furthermore, we present results from a usability study in where people were asked to complete high-precision tasks with both the developed human-centered gestural control input and a conventional functionality-centered drag-and-drop interface.},\\n\\tbooktitle = {2016 9th {International} {Conference} on {Human} {System} {Interactions} ({HSI})},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Kruusamäe, Karl and Pryor, Mitch},\\n\\tmonth = jul,\\n\\tyear = {2016},\\n\\tkeywords = {ROS, Robot kinematics, Robot sensing systems, Service robots, Speech, Teleoperators, Visualization, drag-and-drop interface, gesture recognition, hand gestures, hand tracking, handling hazardous materials, hardware agnosticism, high-precision, high-precision telerobotics, human-centered control interface, human-centered variable perspective, human-robot interaction, human-robot interface, industrial robot, leap motion controller, motion control, natural language, natural languages, open-source development, operating systems (computers), public domain software, robot operating system, robot programming, scalable, scalable gestural interface, search and rescue, space exploration, spatial mapping, speech detection, speech processing, supervisory control, teleoperator, teleoperator software, telerobotics},\\n\\tpages = {190--196},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Kruusamäe, K.\",\"Pryor, M.\"],\"key\":\"kruusamae_high-precision_2016\",\"id\":\"kruusamae_high-precision_2016\",\"bibbaseid\":\"kruusame-pryor-highprecisiontelerobotwithhumancenteredvariableperspectiveandscalablegesturalinterface-2016\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"ROS\",\"Robot kinematics\",\"Robot sensing systems\",\"Service robots\",\"Speech\",\"Teleoperators\",\"Visualization\",\"drag-and-drop interface\",\"gesture recognition\",\"hand gestures\",\"hand tracking\",\"handling hazardous materials\",\"hardware agnosticism\",\"high-precision\",\"high-precision telerobotics\",\"human-centered control interface\",\"human-centered variable perspective\",\"human-robot interaction\",\"human-robot interface\",\"industrial robot\",\"leap motion controller\",\"motion control\",\"natural language\",\"natural languages\",\"open-source development\",\"operating systems (computers)\",\"public domain software\",\"robot operating system\",\"robot programming\",\"scalable\",\"scalable gestural interface\",\"search and rescue\",\"space exploration\",\"spatial mapping\",\"speech detection\",\"speech processing\",\"supervisory control\",\"teleoperator\",\"teleoperator software\",\"telerobotics\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":8,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"Nonlinear control with two complementary Lyapunov function\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/46519\",\"abstract\":\"If a Lyapunov function is known, a dynamic system can be stabilized. However, computing or selecting a Lyapunov function is often challenging. This dissertation presents a new approach which eliminates this challenge: a simple control Lyapunov function [CLF] is assumed then the algorithm seeks to reduce the value of the Lyapunov function. If the control effort would have no effect at any iteration, the CLF is switched in an attempt to regain control. There is some flexibility in choosing these two complementary CLF’s but they must satisfy a few characteristics. The method is proven to asymptotically stabilize a wide range of nonlinear systems and was tested on an even broader variety in simulation. It was also tested on an industrial robot to provide compliant behavior. The simulated and hardware demonstrations provide a broad perspective on the algorithm’s usefulness and limitations. In comparison to the ubiquitous PID controller, the algorithm’s advantages include enhanced performance, ease of tuning, and extensions to higher-order and/or coupled systems. Those claimed advantages are validated by a test with four engineering students, which validates the controller as a viable option for nonlinear control (even at the undergraduate level). The algorithm’s drawbacks include the necessity of a dynamic model and, when linearization is required, the reliance on a small simulation time step; however, for the motivating application –interactive industrial robotic systems – both requirements were already met. Finally, the developed software was released to the public as part of the Robot Operating System (ROS) and the details of that release are included in this report.\",\"language\":\"en\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andrew\",\"J.\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2016\",\"doi\":\"10.15781/T2JW86S95\",\"keywords\":\"Dissertation\",\"bibtex\":\"@phdthesis{zelenak_nonlinear_2016,\\n\\ttype = {Dissertation},\\n\\ttitle = {Nonlinear control with two complementary {Lyapunov} function},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/46519},\\n\\tabstract = {If a Lyapunov function is known, a dynamic system can be stabilized. However, computing or selecting a Lyapunov function is often challenging. This dissertation presents a new approach which eliminates this challenge: a simple control Lyapunov function [CLF] is assumed then the algorithm seeks to reduce the value of the Lyapunov function. If the control effort would have no effect at any iteration, the CLF is switched in an attempt to regain control. There is some flexibility in choosing these two complementary CLF’s but they must satisfy a few characteristics. The method is proven to asymptotically stabilize a wide range of nonlinear systems and was tested on an even broader variety in simulation. It was also tested on an industrial robot to provide compliant behavior. The simulated and hardware demonstrations provide a broad perspective on the algorithm’s usefulness and limitations. In comparison to the ubiquitous PID controller, the algorithm’s advantages include enhanced performance, ease of tuning, and extensions to higher-order and/or coupled systems. Those claimed advantages are validated by a test with four engineering students, which validates the controller as a viable option for nonlinear control (even at the undergraduate level). The algorithm’s drawbacks include the necessity of a dynamic model and, when linearization is required, the reliance on a small simulation time step; however, for the motivating application –interactive industrial robotic systems – both requirements were already met. Finally, the developed software was released to the public as part of the Robot Operating System (ROS) and the details of that release are included in this report.},\\n\\tlanguage = {en},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Zelenak, Andrew J.},\\n\\tmonth = dec,\\n\\tyear = {2016},\\n\\tdoi = {10.15781/T2JW86S95},\\n\\tkeywords = {Dissertation},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Zelenak, A. J.\"],\"key\":\"zelenak_nonlinear_2016\",\"id\":\"zelenak_nonlinear_2016\",\"bibbaseid\":\"zelenak-nonlinearcontrolwithtwocomplementarylyapunovfunction-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/46519\"},\"keyword\":[\"Dissertation\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Skid-steer kinematics for dual-arm mobile manipulator system with dynamic center of gravity\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/46137\",\"abstract\":\"Skid-steer mobile vehicles bridge an important operational gap in robotics between indoor-only and outdoor-only platforms. Traditionally, skid-steer vehicles have been treated and operated as differential-drive vehicles, which is an adequate approximation with a static center of gravity (CG) coincident with the wheelbase center. With a dual-arm mobile manipulator, such as the Nuclear and Applied Robotics Group's VaultBot platform, the center of gravity's location is dynamic and the differential-drive model is no longer valid. This can result in large errors between desired and actual trajectories over even short periods of time. In this work, the degree to which the platform's behavior changes with a dynamic CG and the intuition behind these effects are discussed. Several different approaches leading to the development of a heuristic model built to improve performance, and the evaluation results of said model, are also discussed.\",\"language\":\"en\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Ebersole\"],\"firstnames\":[\"Benjamin\",\"Jarrett\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2016\",\"doi\":\"10.15781/T2XK84W0N\",\"bibtex\":\"@phdthesis{ebersole_skid-steer_2016,\\n\\ttype = {Thesis},\\n\\ttitle = {Skid-steer kinematics for dual-arm mobile manipulator system with dynamic center of gravity},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/46137},\\n\\tabstract = {Skid-steer mobile vehicles bridge an important operational gap in robotics between indoor-only and outdoor-only platforms. Traditionally, skid-steer vehicles have been treated and operated as differential-drive vehicles, which is an adequate approximation with a static center of gravity (CG) coincident with the wheelbase center. With a dual-arm mobile manipulator, such as the Nuclear and Applied Robotics Group's VaultBot platform, the center of gravity's location is dynamic and the differential-drive model is no longer valid. This can result in large errors between desired and actual trajectories over even short periods of time. In this work, the degree to which the platform's behavior changes with a dynamic CG and the intuition behind these effects are discussed. Several different approaches leading to the development of a heuristic model built to improve performance, and the evaluation results of said model, are also discussed.},\\n\\tlanguage = {en},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Ebersole, Benjamin Jarrett},\\n\\tmonth = dec,\\n\\tyear = {2016},\\n\\tdoi = {10.15781/T2XK84W0N},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Ebersole, B. J.\"],\"key\":\"ebersole_skid-steer_2016\",\"id\":\"ebersole_skid-steer_2016\",\"bibbaseid\":\"ebersole-skidsteerkinematicsfordualarmmobilemanipulatorsystemwithdynamiccenterofgravity-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/46137\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":24,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Washington DC\",\"title\":\"Automated industrial manufacturing in hazardous glovebox environments\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Peterson\"],\"firstnames\":[\"Clinton\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2015\",\"bibtex\":\"@inproceedings{peterson_automated_2015,\\n\\taddress = {Washington DC},\\n\\ttitle = {Automated industrial manufacturing in hazardous glovebox environments},\\n\\tpublisher = {ANS},\\n\\tauthor = {Peterson, Clinton and Pryor, Mitch},\\n\\tmonth = nov,\\n\\tyear = {2015},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Peterson, C.\",\"Pryor, M.\"],\"key\":\"peterson_automated_2015\",\"id\":\"peterson_automated_2015\",\"bibbaseid\":\"peterson-pryor-automatedindustrialmanufacturinginhazardousgloveboxenvironments-2015\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Columbus, OH\",\"title\":\"Stabilization of Nonlinear Systems by Switched Lyapunov Function\",\"url\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57243/V001T03A002/228044\",\"doi\":\"10.1115/DSCC2015-9650\",\"language\":\"en\",\"urldate\":\"2020-05-09\",\"publisher\":\"ASME\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2015\",\"pages\":\"9\",\"bibtex\":\"@inproceedings{zelenak_stabilization_2015,\\n\\taddress = {Columbus, OH},\\n\\ttitle = {Stabilization of {Nonlinear} {Systems} by {Switched} {Lyapunov} {Function}},\\n\\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57243/V001T03A002/228044},\\n\\tdoi = {10.1115/DSCC2015-9650},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-09},\\n\\tpublisher = {ASME},\\n\\tauthor = {Zelenak, Andy and Pryor, Mitch},\\n\\tmonth = oct,\\n\\tyear = {2015},\\n\\tpages = {9},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Zelenak, A.\",\"Pryor, M.\"],\"key\":\"zelenak_stabilization_2015\",\"id\":\"zelenak_stabilization_2015\",\"bibbaseid\":\"zelenak-pryor-stabilizationofnonlinearsystemsbyswitchedlyapunovfunction-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57243/V001T03A002/228044\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Columbus, OH\",\"title\":\"The Advantages of Velocity Control for Reactive Robot Motion\",\"url\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57267/V003T43A003/230493\",\"doi\":\"10.1115/DSCC2015-9713\",\"language\":\"en\",\"urldate\":\"2020-05-09\",\"publisher\":\"ASME\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Peterson\"],\"firstnames\":[\"Clinton\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Thompson\"],\"firstnames\":[\"Jack\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2015\",\"pages\":\"8\",\"bibtex\":\"@inproceedings{zelenak_advantages_2015,\\n\\taddress = {Columbus, OH},\\n\\ttitle = {The {Advantages} of {Velocity} {Control} for {Reactive} {Robot} {Motion}},\\n\\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57267/V003T43A003/230493},\\n\\tdoi = {10.1115/DSCC2015-9713},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-09},\\n\\tpublisher = {ASME},\\n\\tauthor = {Zelenak, Andy and Peterson, Clinton and Thompson, Jack and Pryor, Mitch},\\n\\tmonth = oct,\\n\\tyear = {2015},\\n\\tpages = {8},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Zelenak, A.\",\"Peterson, C.\",\"Thompson, J.\",\"Pryor, M.\"],\"key\":\"zelenak_advantages_2015\",\"id\":\"zelenak_advantages_2015\",\"bibbaseid\":\"zelenak-peterson-thompson-pryor-theadvantagesofvelocitycontrolforreactiverobotmotion-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57267/V003T43A003/230493\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"San Antonio, TX\",\"title\":\"An Extended Kalman Filter for Collision Detection During Manipulator Contact Tasks\",\"url\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46186/V001T11A005/228334\",\"doi\":\"10.1115/DSCC2014-6330\",\"language\":\"en\",\"urldate\":\"2020-05-08\",\"publisher\":\"ASME\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Schroeder\"],\"firstnames\":[\"Kyle\"],\"suffixes\":[]}],\"month\":\"October\",\"year\":\"2014\",\"bibtex\":\"@inproceedings{zelenak_extended_2014,\\n\\taddress = {San Antonio, TX},\\n\\ttitle = {An {Extended} {Kalman} {Filter} for {Collision} {Detection} {During} {Manipulator} {Contact} {Tasks}},\\n\\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46186/V001T11A005/228334},\\n\\tdoi = {10.1115/DSCC2014-6330},\\n\\tlanguage = {en},\\n\\turldate = {2020-05-08},\\n\\tpublisher = {ASME},\\n\\tauthor = {Zelenak, Andy and Pryor, Mitch and Schroeder, Kyle},\\n\\tmonth = oct,\\n\\tyear = {2014},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Zelenak, A.\",\"Pryor, M.\",\"Schroeder, K.\"],\"key\":\"zelenak_extended_2014\",\"id\":\"zelenak_extended_2014\",\"bibbaseid\":\"zelenak-pryor-schroeder-anextendedkalmanfilterforcollisiondetectionduringmanipulatorcontacttasks-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46186/V001T11A005/228334\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"GCCF : a generalized contact control framework\",\"shorttitle\":\"GCCF\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/39083\",\"abstract\":\"The field of robotics has come a long way since the first reprogrammable robot was able to automate simple tasks on an assembly line. However, many industrial robots are stuck doing similar simple tasks in the field, especially in the nuclear industry. Roboticists can expand the task space of industrial robots by making advanced robot technology reliable, easily integrated, and packaged in a manner that does not require an expert in the field to use. One particular field of robotics that could be used to help this task space expansion is compliant control which is used to execute robotic procedures involving contact with environmental objects. It is especially useful when the position or orientation of the environmental objects is not precise. Examples of industrial procedures that a robot could do with compliant control include material reduction, surface finishing, packaging, assembly, material handling, and many more. This thesis explores the state of the art in compliant control and proposes a Generalized Contact Control Framework (GCCF) that packages compliant control laws in a manner that is easy to use for a non-expert. GCCF splits the control of a robot end effector into separate control of each linear and rotational dimension. The user sets the law that controls each dimension independently to one of three intuitive laws. By specifying laws and stiffness independently for each dimension of end effector control, the user can complete a large variety of contact tasks. We illustrate GCCF’s broad capabilities in two flexible demonstrations. The first demonstration provides a graphical user interface to GCCF with which a user can set and reconfigure the control of the end effector while interacting with the robot. This allows the user to subjectively experience the reconfigurablilty as well as the physical behavior prompted by the control. In the second demonstration, we use GCCF to execute multiple contact tasks with the goal of putting a peg in a hole. These demonstrations prove the feasibility and usefulness of GCCF, using the API and ROS compatible package for the controller.\",\"language\":\"en\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[\"von\"],\"lastnames\":[\"Sternberg\"],\"firstnames\":[\"Alex\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2016\",\"doi\":\"10.15781/T29882N00\",\"bibtex\":\"@phdthesis{von_sternberg_gccf_2016,\\n\\ttype = {Thesis},\\n\\ttitle = {{GCCF} : a generalized contact control framework},\\n\\tshorttitle = {{GCCF}},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/39083},\\n\\tabstract = {The field of robotics has come a long way since the first reprogrammable robot was able to automate simple tasks on an assembly line. However, many industrial robots are stuck doing similar simple tasks in the field, especially in the nuclear industry. Roboticists can expand the task space of industrial robots by making advanced robot technology reliable, easily integrated, and packaged in a manner that does not require an expert in the field to use. One particular field of robotics that could be used to help this task space expansion is compliant control which is used to execute robotic procedures involving contact with environmental objects. It is especially useful when the position or orientation of the environmental objects is not precise. Examples of industrial procedures that a robot could do with compliant control include material reduction, surface finishing, packaging, assembly, material handling, and many more. This thesis explores the state of the art in compliant control and proposes a Generalized Contact Control Framework (GCCF) that packages compliant control laws in a manner that is easy to use for a non-expert. GCCF splits the control of a robot end effector into separate control of each linear and rotational dimension. The user sets the law that controls each dimension independently to one of three intuitive laws. By specifying laws and stiffness independently for each dimension of end effector control, the user can complete a large variety of contact tasks. We illustrate GCCF’s broad capabilities in two flexible demonstrations. The first demonstration provides a graphical user interface to GCCF with which a user can set and reconfigure the control of the end effector while interacting with the robot. This allows the user to subjectively experience the reconfigurablilty as well as the physical behavior prompted by the control. In the second demonstration, we use GCCF to execute multiple contact tasks with the goal of putting a peg in a hole. These demonstrations prove the feasibility and usefulness of GCCF, using the API and ROS compatible package for the controller.},\\n\\tlanguage = {en},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {von Sternberg, Alex},\\n\\tmonth = may,\\n\\tyear = {2016},\\n\\tdoi = {10.15781/T29882N00},\\n}\\n\\n\\n\\n\",\"author_short\":[\"von Sternberg, A.\"],\"key\":\"von_sternberg_gccf_2016\",\"id\":\"von_sternberg_gccf_2016\",\"bibbaseid\":\"vonsternberg-gccfageneralizedcontactcontrolframework-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/39083\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":22,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"An object recognition and pose estimation library for intelligent industrial automation\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/39369\",\"abstract\":\"The nuclear-industrial complex is a field characterized by hazardous environments and stringent worker health regulations. Automation is one of the best ways to improve worker health, but many of the work-intensive tasks in the nuclear industry are difficult to automate using rigid industrial manipulators, which are often treated as glorified assembly lines. This thesis presents the idea of intelligent industrial automation, or IIA, as a way to implement automation in diverse and uncertain environments, and shows that robust computer vision is a key technology in achieving deployable IIA. Furthermore, with recent advances in the field of computer vision, including machine-learning based techniques, the time is better than ever for groups such as the Department of Energy (DOE) to implement computer vision and IIA in their processes. A modular software framework for object recognition and pose estimation (ORP) is developed and incorporated into three laboratory demonstrations, each of which represents a different capability relevant to DOE. By using well-proven computer vision techniques and libraries, ORP enables robust task completion in domains that would have previously been impossible without human supervision or custom mechanical designs (such as task-specific fixtures). A vision-enabled manipulation system is shown to reliably pick and place small weapon detonator components 98% of the time, making it an ideal candidate for machine tending. A remote inspection and inventory system shows the ability to visually detect the position of nuclear material storage canisters with a standard deviation under 1 mm, allowing it to detect cans that have been moved or tampered with. Finally, using vision, an automated glovebox mixed-waste sorting system is able to sort small objects, which begin in a random configuration, into three containers based on their color (a surrogate for radiation signature) with 94.6% accuracy. All three demonstrations proceed autonomously, suggesting that implementing IIA can result in significant improvements in worker safety and productivity at DOE complex sites.\",\"language\":\"en\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Allevato\"],\"firstnames\":[\"Adam\",\"David\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2016\",\"doi\":\"10.15781/T2GH9B905\",\"bibtex\":\"@phdthesis{allevato_object_2016,\\n\\ttype = {Thesis},\\n\\ttitle = {An object recognition and pose estimation library for intelligent industrial automation},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/39369},\\n\\tabstract = {The nuclear-industrial complex is a field characterized by hazardous environments and stringent worker health regulations. Automation is one of the best ways to improve worker health, but many of the work-intensive tasks in the nuclear industry are difficult to automate using rigid industrial manipulators, which are often treated as glorified assembly lines. This thesis presents the idea of intelligent industrial automation, or IIA, as a way to implement automation in diverse and uncertain environments, and shows that robust computer vision is a key technology in achieving deployable IIA. Furthermore, with recent advances in the field of computer vision, including machine-learning based techniques, the time is better than ever for groups such as the Department of Energy (DOE) to implement computer vision and IIA in their processes. A modular software framework for object recognition and pose estimation (ORP) is developed and incorporated into three laboratory demonstrations, each of which represents a different capability relevant to DOE. By using well-proven computer vision techniques and libraries, ORP enables robust task completion in domains that would have previously been impossible without human supervision or custom mechanical designs (such as task-specific fixtures). A vision-enabled manipulation system is shown to reliably pick and place small weapon detonator components 98\\\\% of the time, making it an ideal candidate for machine tending. A remote inspection and inventory system shows the ability to visually detect the position of nuclear material storage canisters with a standard deviation under 1 mm, allowing it to detect cans that have been moved or tampered with. Finally, using vision, an automated glovebox mixed-waste sorting system is able to sort small objects, which begin in a random configuration, into three containers based on their color (a surrogate for radiation signature) with 94.6\\\\% accuracy. All three demonstrations proceed autonomously, suggesting that implementing IIA can result in significant improvements in worker safety and productivity at DOE complex sites.},\\n\\tlanguage = {en},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Allevato, Adam David},\\n\\tmonth = may,\\n\\tyear = {2016},\\n\\tdoi = {10.15781/T2GH9B905},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Allevato, A. D.\"],\"key\":\"allevato_object_2016\",\"id\":\"allevato_object_2016\",\"bibbaseid\":\"allevato-anobjectrecognitionandposeestimationlibraryforintelligentindustrialautomation-2016\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/39369\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":24,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"Automating X-ray and neutron imaging applications with flexible automation\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/33357\",\"abstract\":\"This dissertation advances the capability of autonomous manipulation systems for non-destructive testing applications, specifically computed tomography and radiography. Non-destructive testing is the inspection of a part that does not affect its future usefulness. Radiography and tomography technologies are used to detect material faults inaccessible to direct observation. An industrial 7 degree-of-freedom manipulator has been installed in various x-ray and neutron imaging facilities, including the Nuclear Engineering Teaching Laboratory and Los Alamos National Laboratory, for imaging purposes. Inspection of numerous components manually is laborious and time consuming, and there is the risk of high radiation dose to the operator. As Low As Reasonably Achievable exposure can be significantly reduced by installing a robot in an x-ray or neutron imaging facility to perform part placement in the beam for radioactive parts and nuclear facilities. Automation has the additional potential benefit of improving part throughput by obviating the need for human personnel to move or exchange parts to be imaged and allowing for flexible orientation of the imaged object with respect to the x-ray or neutron beam. When the process is fully automated, it eliminates the need for a human to enter the beam area. The robot needs to meet certain performance requirements, including high repeatability, precision, stability, and accuracy. The robotic system must be able to precisely position and align parts, and parts need to be held still while the image is taken. Any movement of the specimen during exposure causes image blurring. Robotics and remote systems are an integral part of the ALARA approach to radiation safety. Robots increase the distance between workers and hazards and reduce time that workers must be exposed. Research performed aims to expand the role of automation at nuclear facilities by reducing the burden on human operators. The robot’s control system must manage collision detection, grasping, and motion planning to reduce the amount of time that an operator spends micro-managing such a system via tele-operation. The subject of this work includes modeling (in MCNP) and measuring flux, dose rates, and DPA rates of neutron imaging facilities to develop predictions of radiation flux, dose profiles, and radiation damage by examining neutron and gamma fields during operation. Dose and flux predictions provide users the means to simulate geometrical and material changes and additions to a facility, thus saving time, money, and energy in determining the optimal setup for the robotic system.\",\"language\":\"en\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hashem\"],\"firstnames\":[\"Joseph\",\"Anthony\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2015\",\"doi\":\"10.15781/T2GD6T\",\"keywords\":\"Dissertation\",\"bibtex\":\"@phdthesis{hashem_automating_2015,\\n\\ttype = {Dissertation},\\n\\ttitle = {Automating {X}-ray and neutron imaging applications with flexible automation},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/33357},\\n\\tabstract = {This dissertation advances the capability of autonomous manipulation systems for non-destructive testing applications, specifically computed tomography and radiography. Non-destructive testing is the inspection of a part that does not affect its future usefulness. Radiography and tomography technologies are used to detect material faults inaccessible to direct observation. An industrial 7 degree-of-freedom manipulator has been installed in various x-ray and neutron imaging facilities, including the Nuclear Engineering Teaching Laboratory and Los Alamos National Laboratory, for imaging purposes.\\nInspection of numerous components manually is laborious and time consuming, and there is the risk of high radiation dose to the operator. As Low As Reasonably Achievable exposure can be significantly reduced by installing a robot in an x-ray or neutron imaging facility to perform part placement in the beam for radioactive parts and nuclear facilities. Automation has the additional potential benefit of improving part throughput by obviating the need for human personnel to move or exchange parts to be imaged and allowing for flexible orientation of the imaged object with respect to the x-ray or neutron beam. When the process is fully automated, it eliminates the need for a human to enter the beam area.\\nThe robot needs to meet certain performance requirements, including high repeatability, precision, stability, and accuracy. The robotic system must be able to precisely position and align parts, and parts need to be held still while the image is taken. Any movement of the specimen during exposure causes image blurring.\\nRobotics and remote systems are an integral part of the ALARA approach to radiation safety. Robots increase the distance between workers and hazards and reduce time that workers must be exposed. Research performed aims to expand the role of automation at nuclear facilities by reducing the burden on human operators. The robot’s control system must manage collision detection, grasping, and motion planning to reduce the amount of time that an operator spends micro-managing such a system via tele-operation.\\nThe subject of this work includes modeling (in MCNP) and measuring flux, dose rates, and DPA rates of neutron imaging facilities to develop predictions of radiation flux, dose profiles, and radiation damage by examining neutron and gamma fields during operation. Dose and flux predictions provide users the means to simulate geometrical and material changes and additions to a facility, thus saving time, money, and energy in determining the optimal setup for the robotic system.},\\n\\tlanguage = {en},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Hashem, Joseph Anthony},\\n\\tmonth = dec,\\n\\tyear = {2015},\\n\\tdoi = {10.15781/T2GD6T},\\n\\tkeywords = {Dissertation},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hashem, J. A.\"],\"key\":\"hashem_automating_2015\",\"id\":\"hashem_automating_2015\",\"bibbaseid\":\"hashem-automatingxrayandneutronimagingapplicationswithflexibleautomation-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/33357\"},\"keyword\":[\"Dissertation\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":23,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Industrial automation and control in hazardous nuclear environments\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/31978\",\"abstract\":\"This report discusses the design and implementation of an automated system for use in geometrically-constrained, hazardous glovebox environments. This system’s purpose is to reduce a hemispherical plutonium pit into smaller pieces that fit inside of a crucible. The size reduction of plutonium pits supports stockpile stewardship efforts by the United States Department of Energy. The automation of this process increases the safety of radiation workers by handling radioactive nuclear material. This decreases glovebox worker dose and exposure to tools, sharps, and fines. This effort examines the hardware and software framework developed to support the use of a Port Deployed Manipulator (PDM) for a contact task. This research effort uses a 7 Degree-of-Freedom (DOF) PDM and a micropunch to reduce hemispherical pit surrogates. Formulation of the material reduction execution algorithm involved addressing a variety of topics related to industrial automation: 1. Collision detection and object recognition based on user-specified parameters. 2. Joint torque monitoring 3. Online motion planning for contact tasks 4. Object-in-hand industrial manufacturing 5. Grasping and handling of nuclear material 6. Software compliance via robust nonlinear control methods A high-bandwidth collision detection algorithm involving joint torque monitoring was developed to increase robot safety during operation. The motion planning algorithm developed for this effort takes variable geometric properties to be used with a range of hemishells. The algorithm’s feasibility was validated on a hardware test bed in a laboratory setting. Hardware cold tests conclude that mechanical compliance is sufficient for task completion. However, software compliance would increase performance, ef- ficiency, and safety during task execution. Two different nonlinear force control laws (feedback linearization and sliding mode control) that minimize object shear forces were developed using a simplified material reduction simulation. It is recommended that glovebox automation research continue to increase worker safety throughout the DOE complex.\",\"language\":\"en\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Peterson\"],\"firstnames\":[\"Clinton\",\"II\",\"Dean\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2015\",\"doi\":\"10.15781/T25P75\",\"bibtex\":\"@phdthesis{peterson_industrial_2015,\\n\\ttype = {Thesis},\\n\\ttitle = {Industrial automation and control in hazardous nuclear environments},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/31978},\\n\\tabstract = {This report discusses the design and implementation of an automated system for use in geometrically-constrained, hazardous glovebox environments. This system’s purpose is to reduce a hemispherical plutonium pit into smaller pieces that fit inside of a crucible. The size reduction of plutonium pits supports stockpile stewardship efforts by the United States Department of Energy. The automation of this process increases the safety of radiation workers by handling radioactive nuclear material. This decreases glovebox worker dose and exposure to tools, sharps, and fines. This effort examines the hardware and software framework developed to support the use of a Port Deployed Manipulator (PDM) for a contact task. This research effort uses a 7 Degree-of-Freedom (DOF) PDM and a micropunch to reduce hemispherical pit surrogates. Formulation of the material reduction execution algorithm involved addressing a variety of topics related to industrial automation: 1. Collision detection and object recognition based on user-specified parameters. 2. Joint torque monitoring 3. Online motion planning for contact tasks 4. Object-in-hand industrial manufacturing 5. Grasping and handling of nuclear material 6. Software compliance via robust nonlinear control methods A high-bandwidth collision detection algorithm involving joint torque monitoring was developed to increase robot safety during operation. The motion planning algorithm developed for this effort takes variable geometric properties to be used with a range of hemishells. The algorithm’s feasibility was validated on a hardware test bed in a laboratory setting. Hardware cold tests conclude that mechanical compliance is sufficient for task completion. However, software compliance would increase performance, ef- ficiency, and safety during task execution. Two different nonlinear force control laws (feedback linearization and sliding mode control) that minimize object shear forces were developed using a simplified material reduction simulation. It is recommended that glovebox automation research continue to increase worker safety throughout the DOE complex.},\\n\\tlanguage = {en},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Peterson, Clinton II Dean},\\n\\tmonth = may,\\n\\tyear = {2015},\\n\\tdoi = {10.15781/T25P75},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Peterson, C. I. D.\"],\"key\":\"peterson_industrial_2015\",\"id\":\"peterson_industrial_2015\",\"bibbaseid\":\"peterson-industrialautomationandcontrolinhazardousnuclearenvironments-2015\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/31978\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":23,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"address\":\"The University of Texas at Austin\",\"title\":\"Redesigning the human-robot interface : intuitive teleoperation of anthropomorphic robots\",\"shorttitle\":\"Redesigning the human-robot interface\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/28284\",\"abstract\":\"A novel interface for robotic teleoperation was developed to enable accurate and highly efficient teleoperation of the Industrial Reconfigurable Anthropomorphic Dual-arm (IRAD) system and other robotic systems. In order to achieve a revolutionary increase in operator productivity, the bilateral/master-slave approach must give way to shared autonomy and unilateral control; autonomy must be employed where possible, and appropriate sensory feedback only where autonomy is impossible; and today’s low-information/high feedback model must be replaced by one that emphasizes feedforward precision and minimal corrective feedback. This is emphasized for task spaces outside of the traditional anthropomorphic scale such as mobile manipulation (i.e. large task spaces) and high precision tasks (i.e. very small task spaces). The system is demonstrated using an anthropomorphically dimensioned industrial manipulator working in task spaces from one meter to less than one millimeter, in both simulation and hardware. This thesis discusses the design requirements and philosophy of this interface, provides a summary of prototype teleoperation hardware, simulation environment, test-bed hardware, and experimental results.\",\"language\":\"en\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Thompson\"],\"firstnames\":[\"Jack\",\"Lyle\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2014\",\"bibtex\":\"@phdthesis{thompson_redesigning_2014,\\n\\taddress = {The University of Texas at Austin},\\n\\ttype = {Thesis},\\n\\ttitle = {Redesigning the human-robot interface : intuitive teleoperation of anthropomorphic robots},\\n\\tshorttitle = {Redesigning the human-robot interface},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/28284},\\n\\tabstract = {A novel interface for robotic teleoperation was developed to enable accurate and highly efficient teleoperation of the Industrial Reconfigurable Anthropomorphic Dual-arm (IRAD) system and other robotic systems. In order to achieve a revolutionary increase in operator productivity, the bilateral/master-slave approach must give way to shared autonomy and unilateral control; autonomy must be employed where possible, and appropriate sensory feedback only where autonomy is impossible; and today’s low-information/high feedback model must be replaced by one that emphasizes feedforward precision and minimal corrective feedback. This is emphasized for task spaces outside of the traditional anthropomorphic scale such as mobile manipulation (i.e. large task spaces) and high precision tasks (i.e. very small task spaces). The system is demonstrated using an anthropomorphically dimensioned industrial manipulator working in task spaces from one meter to less than one millimeter, in both simulation and hardware. This thesis discusses the design requirements and philosophy of this interface, provides a summary of prototype teleoperation hardware, simulation environment, test-bed hardware, and experimental results.},\\n\\tlanguage = {en},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Thompson, Jack Lyle},\\n\\tmonth = dec,\\n\\tyear = {2014},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Thompson, J. L.\"],\"key\":\"thompson_redesigning_2014\",\"id\":\"thompson_redesigning_2014\",\"bibbaseid\":\"thompson-redesigningthehumanrobotinterfaceintuitiveteleoperationofanthropomorphicrobots-2014\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/28284\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Knoxville, TN\",\"title\":\"A Complete Approach to Reduce Operator Dosage in Hazardous Environments\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Williams\"],\"firstnames\":[\"Joshua\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Schulte\"],\"firstnames\":[\"Louis\",\"D.\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2011\",\"bibtex\":\"@inproceedings{williams_complete_2011,\\n\\taddress = {Knoxville, TN},\\n\\ttitle = {A {Complete} {Approach} to {Reduce} {Operator} {Dosage} in {Hazardous} {Environments}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Williams, Joshua and Pryor, Mitch and Landsberger, Sheldon and Schulte, Louis D.},\\n\\tmonth = aug,\\n\\tyear = {2011},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Williams, J.\",\"Pryor, M.\",\"Landsberger, S.\",\"Schulte, L. D.\"],\"key\":\"williams_complete_2011\",\"id\":\"williams_complete_2011\",\"bibbaseid\":\"williams-pryor-landsberger-schulte-acompleteapproachtoreduceoperatordosageinhazardousenvironments-2011\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Graph-based world-model for robotic manipulation\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-08-1734\",\"abstract\":\"There has been a significant push in robotics research toward robot autonomy. However, full autonomy is currently impractical for all but the most clearly defined tasks in the most structured environments. However, as tasks become less defined and environments become cluttered and less controlled, there is still a benefit to implementing semi-autonomous behaviors where aspects of the tasks are completed autonomously thus reducing the burden on the human operator. A key component of a robot control system that supports this functionality is a robust world model to act as a repository of environmental information. The research community has provided many world-modeling solutions to support autonomous vehicle navigation. As such, they focus primarily on preventing collisions with the environment. Modeling schemes designed for collision prevention are of limited use to robotic manipulators that must have contact interaction with the environment as a matter of course. This thesis presents a world-modeling scheme that abstracts the model of the environment into a graph structure. This abstraction separates the concepts of entities in the environment from their relationships to the environment. The result is an intuitive world model that supports not only collision detection, but also motion planning and grasping. The graph-based world model presented can be searched by semantic type and tag values, allowing any number of agents to simultaneously use and update the model without causing failures elsewhere in the system. These capabilities are demonstrated on two different automated hot-cell glovebox systems, and one mobile manipulation system for use in remote contamination testing.\",\"language\":\"eng\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"O'Neil\"],\"firstnames\":[\"Brian\",\"Erick\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2010\",\"bibtex\":\"@phdthesis{oneil_graph-based_2010,\\n\\ttype = {Thesis},\\n\\ttitle = {Graph-based world-model for robotic manipulation},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-08-1734},\\n\\tabstract = {There has been a significant push in robotics research toward robot autonomy. However, full autonomy is currently impractical for all but the most clearly defined tasks in the most structured environments. However, as tasks become less defined and environments become cluttered and less controlled, there is still a benefit to implementing semi-autonomous behaviors where aspects of the tasks are completed autonomously thus reducing the burden on the human operator. A key component of a robot control system that supports this functionality is a robust world model to act as a repository of environmental information. \\nThe research community has provided many world-modeling solutions to support autonomous vehicle navigation. As such, they focus primarily on preventing collisions with the environment. Modeling schemes designed for collision prevention are of limited use to robotic manipulators that must have contact interaction with the environment as a matter of course.  \\nThis thesis presents a world-modeling scheme that abstracts the model of the environment into a graph structure. This abstraction separates the concepts of entities in the environment from their relationships to the environment. The result is an intuitive world model that supports not only collision detection, but also motion planning and grasping. The graph-based world model presented can be searched by semantic type and tag values, allowing any number of agents to simultaneously use and update the model without causing failures elsewhere in the system. These capabilities are demonstrated on two different automated hot-cell glovebox systems, and one mobile manipulation system for use in remote contamination testing.},\\n\\tlanguage = {eng},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {O'Neil, Brian Erick},\\n\\tmonth = aug,\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\",\"author_short\":[\"O'Neil, B. E.\"],\"key\":\"oneil_graph-based_2010\",\"id\":\"oneil_graph-based_2010\",\"bibbaseid\":\"oneil-graphbasedworldmodelforroboticmanipulation-2010\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-08-1734\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"On the use of generalized force data for kinematically controlled manipulators\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2150\",\"abstract\":\"The Department of Energy national laboratories, like Los Alamos National Lab or Sandia National Lab, perform work on radioactive and chemically dangerous materials. Gloveboxes are often used to shield workers from these hazards, but they cannot completely eliminate the danger and often create new safety concerns due to reduced operator dexterity and ergonomic posture. When feasible, robots can be employed to remove the human from the radioactive hazard; allowing them to analyze the situation and make decisions remotely. Force sensor data from the manipulator can be used to simplify the control of these remote systems as well as make them more robust. Much research has been done to develop force and torque control algorithms to introduce compliance or detect collisions. Many of these algorithms are very complicated and currently only implemented in research institutions on torque-controlled manipulators. The literature review discusses many such controllers which have been developed and/or demonstrated. This thesis reviews, develops, and demonstrates several beneficial algorithms which can be implemented on commercially-available kinematically-controlled robots using commercially-available sensors with a reasonable investment of time. Force data is used to improve safety and manage contact forces while kinematically controlling the robot, as well as improve the world model. Safety is improved by detecting anomalous and/or excessive forces during operation. Environmental modeling data is inferred from position and/or force data. A six-axis sensor and joint torque sensors on 2 7DOF manipulators are used to demonstrate the proposed algorithms in two DOE relevant applications: remotely opening an incompletely modeled cabinet door and moving a robot in a confined space.\",\"language\":\"en_US\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Schroeder\"],\"firstnames\":[\"Kyle\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2010\",\"bibtex\":\"@phdthesis{schroeder_use_2010,\\n\\ttype = {Thesis},\\n\\ttitle = {On the use of generalized force data for kinematically controlled manipulators},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2150},\\n\\tabstract = {The Department of Energy national laboratories, like Los Alamos National Lab or Sandia National Lab, perform work on radioactive and chemically dangerous materials. Gloveboxes are often used to shield workers from these hazards, but they cannot completely eliminate the danger and often create new safety concerns due to reduced operator dexterity and ergonomic posture. When feasible, robots can be employed to remove the human from the radioactive hazard; allowing them to analyze the situation and make decisions remotely.\\n Force sensor data from the manipulator can be used to simplify the control of these remote systems as well as make them more robust. Much research has been done to develop force and torque control algorithms to introduce compliance or detect collisions. Many of these algorithms are very complicated and currently only implemented in research institutions on torque-controlled manipulators. The literature review discusses many such controllers which have been developed and/or demonstrated. This thesis reviews, develops, and demonstrates several beneficial algorithms which can be implemented on commercially-available kinematically-controlled robots using commercially-available sensors with a reasonable investment of time.\\n Force data is used to improve safety and manage contact forces while kinematically controlling the robot, as well as improve the world model. Safety is improved by detecting anomalous and/or excessive forces during operation. Environmental modeling data is inferred from position and/or force data. A six-axis sensor and joint torque sensors on 2 7DOF manipulators are used to demonstrate the proposed algorithms in two DOE relevant applications: remotely opening an incompletely modeled cabinet door and moving a robot in a confined space.},\\n\\tlanguage = {en\\\\_US},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Schroeder, Kyle},\\n\\tmonth = dec,\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Schroeder, K.\"],\"key\":\"schroeder_use_2010\",\"id\":\"schroeder_use_2010\",\"bibbaseid\":\"schroeder-ontheuseofgeneralizedforcedataforkinematicallycontrolledmanipulators-2010\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2150\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"Improved manipulator configurations for grasping and task completion based on manipulability\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2174\",\"abstract\":\"When a robotic system executes a task, there are a number of responsibilities that belong to either the operator and/or the robot. A more autonomous system has more responsibilities in the completion of a task and must possess the decision making skills necessary to adequately deal with these responsibilities. The system must also handle environmental constraints that limit the region of operability and complicate the execution of tasks. There are decisions about the robot’s internal configuration and how the manipulator should move through space, avoid obstacles, and grasp objects. These motions usually have limits and performance requirements associated with them. Successful completion of tasks in a given environment is aided by knowledge of the robot’s capabilities in its workspace. This not only indicates if a task is possible but can suggest how a task should be completed. In this work, we develop a grasping strategy for selecting and attaining grasp configurations for flexible tasks in environments containing obstacles. This is done by sampling for valid grasping configurations at locations throughout the workspace to generate a task plane. Locations in the task plane that contain more valid configurations are stipulated to have higher dexterity and thus provide greater manipulability of targets. For valid configurations found in the plane, we develop a strategy for selecting which configurations to choose when grasping and/or placing an object at a given location in the workspace. These workspace task planes can also be utilized as a design tool to configure the system around the manipulator’s capabilities. We determine the quality of manipulator positioning in the workspace based on manipulability and locate the best location of targets for manipulation. The knowledge of valid manipulator configurations throughout the workspace can be used to extend the application of task planes to motion planning between grasping configurations. This guides the end-effector through more dexterous workspace regions and to configurations that move the arm away from obstacles. The task plane technique employed here accurately captures a manipulator’s capabilities. Initial tests for exploiting these capabilities for system design and operation were successful, thus demonstrating this method as a viable starting point for incrementally increasing system autonomy.\",\"school\":\"The\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Williams\"],\"firstnames\":[\"Joshua\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2010\",\"bibtex\":\"@phdthesis{williams_improved_2010,\\n\\ttype = {Thesis},\\n\\ttitle = {Improved manipulator configurations for grasping and task completion based on manipulability},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2174},\\n\\tabstract = {When a robotic system executes a task, there are a number of responsibilities that belong to either the operator and/or the robot. A more autonomous system has more responsibilities in the completion of a task and must possess the decision making skills necessary to adequately deal with these responsibilities. The system must also handle environmental constraints that limit the region of operability and complicate the execution of tasks. There are decisions about the robot’s internal configuration and how the manipulator should move through space, avoid obstacles, and grasp objects. These motions usually have limits and performance requirements associated with them. \\n Successful completion of tasks in a given environment is aided by knowledge of the robot’s capabilities in its workspace. This not only indicates if a task is possible but can suggest how a task should be completed. In this work, we develop a grasping strategy for selecting and attaining grasp configurations for flexible tasks in environments containing obstacles. This is done by sampling for valid grasping configurations at locations throughout the workspace to generate a task plane. Locations in the task plane that contain more valid configurations are stipulated to have higher dexterity and thus provide greater manipulability of targets. For valid configurations found in the plane, we develop a strategy for selecting which configurations to choose when grasping and/or placing an object at a given location in the workspace. \\n These workspace task planes can also be utilized as a design tool to configure the system around the manipulator’s capabilities. We determine the quality of manipulator positioning in the workspace based on manipulability and locate the best location of targets for manipulation. The knowledge of valid manipulator configurations throughout the workspace can be used to extend the application of task planes to motion planning between grasping configurations. This guides the end-effector through more dexterous workspace regions and to configurations that move the arm away from obstacles.\\n The task plane technique employed here accurately captures a manipulator’s capabilities. Initial tests for exploiting these capabilities for system design and operation were successful, thus demonstrating this method as a viable starting point for incrementally increasing system autonomy.},\\n\\tschool = {The},\\n\\tauthor = {Williams, Joshua},\\n\\tmonth = dec,\\n\\tyear = {2010},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Williams, J.\"],\"key\":\"williams_improved_2010\",\"id\":\"williams_improved_2010\",\"bibbaseid\":\"williams-improvedmanipulatorconfigurationsforgraspingandtaskcompletionbasedonmanipulability-2010\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2174\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Hamburg, Germany\",\"title\":\"Autonomous mobile system for inventory and inspection tasks in hazardous environments\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"O'Neil\"],\"firstnames\":[\"Brian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"2015\",\"bibtex\":\"@inproceedings{oneil_autonomous_2015,\\n\\taddress = {Hamburg, Germany},\\n\\ttitle = {Autonomous mobile system for inventory and inspection tasks in hazardous environments},\\n\\tpublisher = {IEEE},\\n\\tauthor = {O'Neil, Brian and Pryor, Mitch},\\n\\tmonth = sep,\\n\\tyear = {2015},\\n}\\n\\n\\n\\n\",\"author_short\":[\"O'Neil, B.\",\"Pryor, M.\"],\"key\":\"oneil_autonomous_2015\",\"id\":\"oneil_autonomous_2015\",\"bibbaseid\":\"oneil-pryor-autonomousmobilesystemforinventoryandinspectiontasksinhazardousenvironments-2015\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"San Antonio, TX\",\"title\":\"Performing neutron imaging of mock uranium fuel rods with a robotic manipulator\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hashem\"],\"firstnames\":[\"Joseph\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2015\",\"bibtex\":\"@inproceedings{hashem_performing_2015,\\n\\taddress = {San Antonio, TX},\\n\\ttitle = {Performing neutron imaging of mock uranium fuel rods with a robotic manipulator},\\n\\tpublisher = {ANS},\\n\\tauthor = {Hashem, Joseph and Pryor, Mitch},\\n\\tmonth = jun,\\n\\tyear = {2015},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Hashem, J.\",\"Pryor, M.\"],\"key\":\"hashem_performing_2015\",\"id\":\"hashem_performing_2015\",\"bibbaseid\":\"hashem-pryor-performingneutronimagingofmockuraniumfuelrodswitharoboticmanipulator-2015\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"A compliant control law for industrial, dual-arm manipulators\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/22232\",\"abstract\":\"Many of the first robots ever built, decades even before the first industrial robots, were humanoids. It seems like researchers have always sought to imitate the human form with their robots, and with good reason. Humans are incredibly flexible; they can perform a huge variety of tasks, from locomotion over rough terrain, to delicate assembly, to heavy lifting. A human’s second arm allows him to lift twice as much weight. His workspace is approximately doubled, and he can perform a broader variety of tasks as items are passed back and forth between hands. We sought to impart some of that same functionality to a strong, rigid, dual-arm robot. Specifically, we developed a control law that allows two robot arms to lift and manipulate an object in cooperation. As opposed to the prior art, our control law is tailored for industrial robots. These robots do not usually allow torque control and their control frequency is generally 60 Hz. Through the use of fuzzy logic, the control law is quite robust at 60 Hz control rates. Its simple structure reduces the computational cost of the algorithm by approximately 75% over Jacobian-based methods. Stability is proven and the controller parameters can be adjusted to handle perturbances of arbitrary magnitude. Since the robots behave as an admittance, torque control is not required. Several experiments were conducted to benchmark and validate the performance of this control law. The controller is able to maintain a clamp force within ± 4N despite a wide variation in trajectory and control frequency. This fine level of force control makes the controller suitable for delicate tasks. The conclusion suggests several extensions that would make this control law more useful. For example, adaptive control would improve the performance. A position feedback controller should be cascaded so that the robot arms’ tracking accuracy is improved. Many tasks (such as co-robotics) require external compliance, and we show how external compliance could easily be incorporated.\",\"language\":\"en_US\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andrew\",\"J.\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2013\",\"bibtex\":\"@phdthesis{zelenak_compliant_2013,\\n\\ttype = {Thesis},\\n\\ttitle = {A compliant control law for industrial, dual-arm manipulators},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/22232},\\n\\tabstract = {Many of the first robots ever built, decades even before the first industrial robots, were humanoids. It seems like researchers have always sought to imitate the human form with their robots, and with good reason. Humans are incredibly flexible; they can perform a huge variety of tasks, from locomotion over rough terrain, to delicate assembly, to heavy lifting. A human’s second arm allows him to lift twice as much weight. His workspace is approximately doubled, and he can perform a broader variety of tasks as items are passed back and forth between hands. We sought to impart some of that same functionality to a strong, rigid, dual-arm robot. Specifically, we developed a control law that allows two robot arms to lift and manipulate an object in cooperation.\\nAs opposed to the prior art, our control law is tailored for industrial robots. These robots do not usually allow torque control and their control frequency is generally 60 Hz. Through the use of fuzzy logic, the control law is quite robust at 60 Hz control rates. Its simple structure reduces the computational cost of the algorithm by approximately 75\\\\% over Jacobian-based methods. Stability is proven and the controller parameters can be adjusted to handle perturbances of arbitrary magnitude. Since the robots behave as an admittance, torque control is not required. Several experiments were conducted to benchmark and validate the performance of this control law. The controller is able to maintain a clamp force within ± 4N despite a wide variation in trajectory and control frequency. This fine level of force control makes the controller suitable for delicate tasks.\\nThe conclusion suggests several extensions that would make this control law more useful. For example, adaptive control would improve the performance. A position feedback controller should be cascaded so that the robot arms’ tracking accuracy is improved. Many tasks (such as co-robotics) require external compliance, and we show how external compliance could easily be incorporated.},\\n\\tlanguage = {en\\\\_US},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Zelenak, Andrew J.},\\n\\tmonth = may,\\n\\tyear = {2013},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Zelenak, A. J.\"],\"key\":\"zelenak_compliant_2013\",\"id\":\"zelenak_compliant_2013\",\"bibbaseid\":\"zelenak-acompliantcontrollawforindustrialdualarmmanipulators-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/22232\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"The requirements and implementation of dynamically-deployed robotic systems for use in confined, hazardous environments\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/19692\",\"abstract\":\"This report discusses the design and operation of dynamically-deployed robotic systems for use in confined, hazardous environments, such as those found in Department of Energy gloveboxes to handle nuclear material while keeping humans at a safe distance. The Department of Energy faces unique technical and operational challenges to automate glovebox operations. These operations share characteristics such as confined spaces, extremely harsh environmental conditions, simplified field serviceability, and portability. Human-scale uncertainty must be tolerated since many glovebox tasks require manipulation of objects whose positions are not predefined and vary in unpredictable ways due to external factors including humans in the loop, interactions with preexisting systems, and completing experimental (as opposed to manufacturing tasks) where the final state of handled objects may not be known. Completion of automated tasks is much more difficult without any a priori knowledge of the item to be handled. This effort will examine both the software and hardware requirements and technical challenges associated with this domain. The examined hardware testbeds include two seven degree-of-freedom glovebox manipulators (5 kg payload each) in a dual-arm configuration deployed via gloveports as well as a similar but larger (10 kg payload) manipulator deployed via a transfer port. Several critical operational capabilities are demonstrated, including deployment, collision detection, manipulation, trajectory generation, tele-manipulation, and calibration. Implementing automation within the confines of a glovebox is far from trivial. The unique environmental and system requirements include confined operating spaces, pre-existing, fixed environments, difficulties when performing complex maintenance and repair, and unconventional workspace envelopes. Many glovebox processes are still experimental, so flexible robotic systems are necessary to test and perfect process methodologies while keeping humans at a safe distance. The need for a gloveport-deployed robotic system that can be easily inserted and removed from an existing glovebox stems from these set of challenges. Port-deployed systems allow the operators to move away from hazards while allowing them to return when (or if) necessary. Ultimately, port-deployed manipulators provide a flexible and reversible approach for increasing the use of automation in glovebox environments, without significant redesign of existing processes or the environment where they occur.\",\"language\":\"en_US\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hashem\"],\"firstnames\":[\"Joseph\",\"Anthony\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2012\",\"bibtex\":\"@phdthesis{hashem_requirements_2012,\\n\\ttype = {Thesis},\\n\\ttitle = {The requirements and implementation of dynamically-deployed robotic systems for use in confined, hazardous environments},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/19692},\\n\\tabstract = {This report discusses the design and operation of dynamically-deployed robotic systems for use in confined, hazardous environments, such as those found in Department of Energy gloveboxes to handle nuclear material while keeping humans at a safe distance. The Department of Energy faces unique technical and operational challenges to automate glovebox operations. These operations share characteristics such as confined spaces, extremely harsh environmental conditions, simplified field serviceability, and portability. Human-scale uncertainty must be tolerated since many glovebox tasks require manipulation of objects whose positions are not predefined and vary in unpredictable ways due to external factors including humans in the loop, interactions with preexisting systems, and completing experimental (as opposed to manufacturing tasks) where the final state of handled objects may not be known. Completion of automated tasks is much more difficult without any a priori knowledge of the item to be handled. \\nThis effort will examine both the software and hardware requirements and technical challenges associated with this domain. The examined hardware testbeds include two seven degree-of-freedom glovebox manipulators (5 kg payload each) in a dual-arm configuration deployed via gloveports as well as a similar but larger (10 kg payload) manipulator deployed via a transfer port. Several critical operational capabilities are demonstrated, including deployment, collision detection, manipulation, trajectory generation, tele-manipulation, and calibration. \\nImplementing automation within the confines of a glovebox is far from trivial. The unique environmental and system requirements include confined operating spaces, pre-existing, fixed environments, difficulties when performing complex maintenance and repair, and unconventional workspace envelopes. Many glovebox processes are still experimental, so flexible robotic systems are necessary to test and perfect process methodologies while keeping humans at a safe distance. The need for a gloveport-deployed robotic system that can be easily inserted and removed from an existing glovebox stems from these set of challenges. \\nPort-deployed systems allow the operators to move away from hazards while allowing them to return when (or if) necessary. Ultimately, port-deployed manipulators provide a flexible and reversible approach for increasing the use of automation in glovebox environments, without significant redesign of existing processes or the environment where they occur.},\\n\\tlanguage = {en\\\\_US},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Hashem, Joseph Anthony},\\n\\tmonth = dec,\\n\\tyear = {2012},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hashem, J. A.\"],\"key\":\"hashem_requirements_2012\",\"id\":\"hashem_requirements_2012\",\"bibbaseid\":\"hashem-therequirementsandimplementationofdynamicallydeployedroboticsystemsforuseinconfinedhazardousenvironments-2012\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/19692\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"Object recognition and pose estimation for nuclear manipulation in nuclear materials handling applications\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/21610\",\"abstract\":\"This dissertation advances the capability of autonomous or semiautonomous robotic manipulation systems by providing the tools required to turn depth sensor measurements into a meaningful representation of the objects present in the robot's environment. This process happens in two steps. First, the points from depth imagery are separated into clusters representing individual objects by a Euclidean clustering scheme. Each cluster is then passed to a recognition algorithm that determines what it is, and where it is. This information allows the robot to determine a pose of the object for grasp planning or obstacle avoidance. To accomplish this, the recognition system must extract mathematical representation of each point cluster. To this end, this dissertation presents a new feature descriptor, the Cylindrical Projection Histogram which captures the shape, size, and viewpoint of the object while maintaining invariance to image scale. These features are used to train a classifier which can then determine the label and pose of each cluster identified in a scene. The results are used to inform a probabilistic model of the object, that quantifies uncertainty and allows Bayesian update of the object's label and position. Experimental results on live data show a 97.2% correct recognition rate for a classifier based on the Cylindrical Projection Histogram. This is a significant improvement over another state-of-the art feature that gives an 89.6% recognition rate on the same object set. With statistical filtering over 10 frames, the raw recognition rate improve to 100% and 92.3% respectively. For pose estimation, both features offe rrotational pose estimation performance from 12° to 30°, and pose errors below 1 cm. This work supports deployment of robotic manipulation systems in unstructured glovebox environments in US Department of Energy facilities. The recognition performance of the CPH classifier is adequate for this purpose. The pose estimation performance is sufficient for gross pick-and-place tasks of simple objects, but not sufficient for dexterous manipulation. However, the pose estimation, along with the probabilistic model, support post-recognition pose refinement techniques.\",\"language\":\"en_US\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"O'Neil\"],\"firstnames\":[\"Brian\",\"Erick\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2013\",\"keywords\":\"Dissertation\",\"bibtex\":\"@phdthesis{oneil_object_2013,\\n\\ttype = {Dissertation},\\n\\ttitle = {Object recognition and pose estimation for nuclear manipulation in nuclear materials handling applications},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/21610},\\n\\tabstract = {This dissertation advances the capability of autonomous or semiautonomous robotic manipulation systems by providing the tools required to turn depth sensor measurements into a meaningful representation of the objects present in the robot's environment. This process happens in two steps. First, the points from depth imagery are separated into clusters representing individual objects by a Euclidean clustering scheme. Each cluster is then passed to a recognition algorithm that determines what it is, and where it is. This information allows the robot to determine a pose of the object for grasp planning or obstacle avoidance. To accomplish this, the recognition system must extract mathematical representation of each point cluster. To this end, this dissertation presents a new feature descriptor, the Cylindrical Projection Histogram which captures the shape, size, and viewpoint of the object while maintaining invariance to image scale. These features are used to train a classifier which can then determine the label and pose of each cluster identified in a scene. The results are used to inform a probabilistic model of the object, that quantifies uncertainty and allows Bayesian update of the object's label and position. Experimental results on live data show a 97.2\\\\% correct recognition rate for a classifier based on the Cylindrical Projection Histogram. This is a significant improvement over another state-of-the art feature that gives an 89.6\\\\% recognition rate on the same object set. With statistical filtering over 10 frames, the raw recognition rate improve to 100\\\\% and 92.3\\\\% respectively. For pose estimation, both features offe rrotational pose estimation performance from 12° to 30°, and pose errors below 1 cm. This work supports deployment of robotic manipulation systems in unstructured glovebox environments in US Department of Energy facilities. The recognition performance of the CPH classifier is adequate for this purpose. The pose estimation performance is sufficient for gross pick-and-place tasks of simple objects, but not sufficient for dexterous manipulation. However, the pose estimation, along with the probabilistic model, support post-recognition pose refinement techniques.},\\n\\tlanguage = {en\\\\_US},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {O'Neil, Brian Erick},\\n\\tmonth = may,\\n\\tyear = {2013},\\n\\tkeywords = {Dissertation},\\n}\\n\\n\\n\\n\",\"author_short\":[\"O'Neil, B. E.\"],\"key\":\"oneil_object_2013\",\"id\":\"oneil_object_2013\",\"bibbaseid\":\"oneil-objectrecognitionandposeestimationfornuclearmanipulationinnuclearmaterialshandlingapplications-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/21610\"},\"keyword\":[\"Dissertation\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Atlanta, GA\",\"title\":\"Automated design of robotic/human manufacturing workcells in radioactive environments\",\"booktitle\":\"Proceedings of the 2013 ANS Annual Meeting\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Williams\"],\"firstnames\":[\"Joshua\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2013\",\"bibtex\":\"@inproceedings{williams_automated_2013,\\n\\taddress = {Atlanta, GA},\\n\\ttitle = {Automated design of robotic/human manufacturing workcells in radioactive environments},\\n\\tbooktitle = {Proceedings of the 2013 {ANS} {Annual} {Meeting}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Williams, Joshua and Pryor, Mitch},\\n\\tmonth = jun,\\n\\tyear = {2013},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Williams, J.\",\"Pryor, M.\"],\"key\":\"williams_automated_2013\",\"id\":\"williams_automated_2013\",\"bibbaseid\":\"williams-pryor-automateddesignofrobotichumanmanufacturingworkcellsinradioactiveenvironments-2013\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Reno, NV\",\"title\":\"Integration of compliance and collision detection algorithms for industrial systems\",\"booktitle\":\"Proceedings of the ANS Embedded Topical on Decommissioning and Remote Systems\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Zelenak\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Schroeder\"],\"firstnames\":[\"Kyle\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2014\",\"bibtex\":\"@inproceedings{zelenak_integration_2014,\\n\\taddress = {Reno, NV},\\n\\ttitle = {Integration of compliance and collision detection algorithms for industrial systems},\\n\\tbooktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Zelenak, Andrew and Schroeder, Kyle and Landsberger, Sheldon},\\n\\tmonth = nov,\\n\\tyear = {2014},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Zelenak, A.\",\"Schroeder, K.\",\"Landsberger, S.\"],\"key\":\"zelenak_integration_2014\",\"id\":\"zelenak_integration_2014\",\"bibbaseid\":\"zelenak-schroeder-landsberger-integrationofcomplianceandcollisiondetectionalgorithmsforindustrialsystems-2014\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Reno, NV\",\"title\":\"3D object recognition and pose estimation for remote material handling\",\"booktitle\":\"Proceedings of the ANS Embedded Topical on Decommissioning and Remote Systems\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"O'Neil\"],\"firstnames\":[\"Brian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2014\",\"bibtex\":\"@inproceedings{oneil_3d_2014,\\n\\taddress = {Reno, NV},\\n\\ttitle = {{3D} object recognition and pose estimation for remote material handling},\\n\\tbooktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},\\n\\tpublisher = {ANS},\\n\\tauthor = {O'Neil, Brian and Pryor, Mitch},\\n\\tmonth = nov,\\n\\tyear = {2014},\\n}\\n\\n\\n\\n\",\"author_short\":[\"O'Neil, B.\",\"Pryor, M.\"],\"key\":\"oneil_3d_2014\",\"id\":\"oneil_3d_2014\",\"bibbaseid\":\"oneil-pryor-3dobjectrecognitionandposeestimationforremotematerialhandling-2014\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Reno, NV\",\"title\":\"Low-cost mobile platform and sensor suite for remote radiation surveying\",\"booktitle\":\"Proceedings of the ANS Embedded Topical on Decommissioning and Remote Systems\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Anderson\"],\"firstnames\":[\"Blake\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sharp\"],\"firstnames\":[\"Andrew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2014\",\"bibtex\":\"@inproceedings{anderson_low-cost_2014,\\n\\taddress = {Reno, NV},\\n\\ttitle = {Low-cost mobile platform and sensor suite for remote radiation surveying},\\n\\tbooktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Anderson, Blake and Sharp, Andrew and Pryor, Mitch},\\n\\tmonth = nov,\\n\\tyear = {2014},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Anderson, B.\",\"Sharp, A.\",\"Pryor, M.\"],\"key\":\"anderson_low-cost_2014\",\"id\":\"anderson_low-cost_2014\",\"bibbaseid\":\"anderson-sharp-pryor-lowcostmobileplatformandsensorsuiteforremoteradiationsurveying-2014\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Reno, NV\",\"title\":\"Implementation of flexible automation for neutron radiography applications\",\"booktitle\":\"Proceedings of the ANS Embedded Topical on Decommissioning and Remote Systems\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hashem\"],\"firstnames\":[\"Joseph\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2014\",\"bibtex\":\"@inproceedings{hashem_implementation_2014,\\n\\taddress = {Reno, NV},\\n\\ttitle = {Implementation of flexible automation for neutron radiography applications},\\n\\tbooktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Hashem, Joseph and Pryor, Mitch and Landsberger, Sheldon},\\n\\tmonth = nov,\\n\\tyear = {2014},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hashem, J.\",\"Pryor, M.\",\"Landsberger, S.\"],\"key\":\"hashem_implementation_2014\",\"id\":\"hashem_implementation_2014\",\"bibbaseid\":\"hashem-pryor-landsberger-implementationofflexibleautomationforneutronradiographyapplications-2014\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Reno, NV\",\"title\":\"Evaluating automation for material reduction in gloveboxes using plutonium surrogates\",\"booktitle\":\"Proceedings of the ANS Embedded Topical on Decommissioning and Remote Systems\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Peterson\"],\"firstnames\":[\"Clinton\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2014\",\"bibtex\":\"@inproceedings{peterson_evaluating_2014,\\n\\taddress = {Reno, NV},\\n\\ttitle = {Evaluating automation for material reduction in gloveboxes using plutonium surrogates},\\n\\tbooktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Peterson, Clinton and Pryor, Mitch and Landsberger, Sheldon},\\n\\tmonth = nov,\\n\\tyear = {2014},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Peterson, C.\",\"Pryor, M.\",\"Landsberger, S.\"],\"key\":\"peterson_evaluating_2014\",\"id\":\"peterson_evaluating_2014\",\"bibbaseid\":\"peterson-pryor-landsberger-evaluatingautomationformaterialreductioningloveboxesusingplutoniumsurrogates-2014\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Reno, NV\",\"title\":\"User-centered interface for scalable, ergonomic robotic teleoperation\",\"booktitle\":\"Proceedings of the ANS Embedded Topical on Decommissioning and Remote Systems\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Thompson\"],\"firstnames\":[\"Jack\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2014\",\"bibtex\":\"@inproceedings{thompson_user-centered_2014,\\n\\taddress = {Reno, NV},\\n\\ttitle = {User-centered interface for scalable, ergonomic robotic teleoperation},\\n\\tbooktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Thompson, Jack and Pryor, Mitch},\\n\\tmonth = nov,\\n\\tyear = {2014},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Thompson, J.\",\"Pryor, M.\"],\"key\":\"thompson_user-centered_2014\",\"id\":\"thompson_user-centered_2014\",\"bibbaseid\":\"thompson-pryor-usercenteredinterfaceforscalableergonomicroboticteleoperation-2014\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"College Station, PA\",\"title\":\"Feasibility for industrial robots used in non-destructive testing applications\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hashem\"],\"firstnames\":[\"Nicholas\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2014\",\"bibtex\":\"@inproceedings{hashem_feasibility_2014,\\n\\taddress = {College Station, PA},\\n\\ttitle = {Feasibility for industrial robots used in non-destructive testing applications},\\n\\tpublisher = {ANS},\\n\\tauthor = {Hashem, Nicholas and Pryor, Mitch},\\n\\tmonth = apr,\\n\\tyear = {2014},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hashem, N.\",\"Pryor, M.\"],\"key\":\"hashem_feasibility_2014\",\"id\":\"hashem_feasibility_2014\",\"bibbaseid\":\"hashem-pryor-feasibilityforindustrialrobotsusedinnondestructivetestingapplications-2014\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Washington DC\",\"title\":\"Automating x-ray and neutron non-destructive testing application\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hashem\"],\"firstnames\":[\"Joseph\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hunter\"],\"firstnames\":[\"James\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2013\",\"bibtex\":\"@inproceedings{hashem_automating_2013,\\n\\taddress = {Washington DC},\\n\\ttitle = {Automating x-ray and neutron non-destructive testing application},\\n\\tpublisher = {ANS},\\n\\tauthor = {Hashem, Joseph and Hunter, James and Pryor, Mitch},\\n\\tmonth = nov,\\n\\tyear = {2013},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hashem, J.\",\"Hunter, J.\",\"Pryor, M.\"],\"key\":\"hashem_automating_2013\",\"id\":\"hashem_automating_2013\",\"bibbaseid\":\"hashem-hunter-pryor-automatingxrayandneutronnondestructivetestingapplication-2013\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Thesis\",\"title\":\"A shape primitive-based grasping strategy using visual object recognition in confined, hazardous environments\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/23635\",\"abstract\":\"Grasping can be a complicated process for robotics due to the replication of human fine motor skills and typically high degrees of freedom in robotic hands. Robotic hands that are underactuated provide a method by which grasps can be executed without the onerous task of calculating every fingertip placement. The general shape configuration modes available to underactuated hands lend themselves well to an approach of grasping by shape primitives, and especially so when applied to gloveboxes in the nuclear domain due to the finite number of objects anticipated and the safe assumption that objects in the set are rigid. Thus, the object set found in a glovebox can be categorized as a small set of primitives such as cylinders, cubes, and bowls/hemispheres, etc. These same assumptions can also be leveraged for reliable identification and pose estimation within a glovebox. This effort develops and simulates a simple, but robust and effective grasp planning algorithm for a 7DOF industrial robot and three fingered dexterous, but underactuated robotic hand. The proposed grasping algorithm creates a grasp by generating a vector to the object from the base of the robot and manipulating that vector to be in a suitable starting location for a grasp. The grasp preshapes are selected to match shape primitives and are built-in to the Robotiq gripper used for algorithm demonstration purposes. If a grasp is found to be unsuitable via an inverse kinematics solution check, the algorithm procedurally generates additional grasps to try based on object geometry until a solution can be found or all possibilities are exhausted. The algorithm was tested and found capable of generating valid grasps for visually identified objects, and can recalculate grasps if one is found to be incompatible with the current kinematics of the robotic arm.\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Brabec\"],\"firstnames\":[\"Cheryl\",\"Lynn\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2013\",\"bibtex\":\"@phdthesis{brabec_shape_2013,\\n\\ttype = {Thesis},\\n\\ttitle = {A shape primitive-based grasping strategy using visual object recognition in confined, hazardous environments},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/23635},\\n\\tabstract = {Grasping can be a complicated process for robotics due to the replication of human fine motor skills and typically high degrees of freedom in robotic hands. Robotic hands that are underactuated provide a method by which grasps can be executed without the onerous task of calculating every fingertip placement. The general shape configuration modes available to underactuated hands lend themselves well to an approach of grasping by shape primitives, and especially so when applied to gloveboxes in the nuclear domain due to the finite number of objects anticipated and the safe assumption that objects in the set are rigid. Thus, the object set found in a glovebox can be categorized as a small set of primitives such as cylinders, cubes, and bowls/hemispheres, etc. These same assumptions can also be leveraged for reliable identification and pose estimation within a glovebox. This effort develops and simulates a simple, but robust and effective grasp planning algorithm for a 7DOF industrial robot and three fingered dexterous, but underactuated robotic hand. The proposed grasping algorithm creates a grasp by generating a vector to the object from the base of the robot and manipulating that vector to be in a suitable starting location for a grasp. The grasp preshapes are selected to match shape primitives and are built-in to the Robotiq gripper used for algorithm demonstration purposes. If a grasp is found to be unsuitable via an inverse kinematics solution check, the algorithm procedurally generates additional grasps to try based on object geometry until a solution can be found or all possibilities are exhausted. The algorithm was tested and found capable of generating valid grasps for visually identified objects, and can recalculate grasps if one is found to be incompatible with the current kinematics of the robotic arm.},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Brabec, Cheryl Lynn},\\n\\tmonth = dec,\\n\\tyear = {2013},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Brabec, C. L.\"],\"key\":\"brabec_shape_2013\",\"id\":\"brabec_shape_2013\",\"bibbaseid\":\"brabec-ashapeprimitivebasedgraspingstrategyusingvisualobjectrecognitioninconfinedhazardousenvironments-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/23635\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":15,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"Automated conceptual design of manufacturing workcells in radioactive environments\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/21429\",\"abstract\":\"The design of manufacturing systems in hazardous environments is complex, requiring interdisciplinary knowledge to determine which components and operators (human or robotic) are feasible. When conceptualizing designs, some options may be overlooked or unknowingly infeasible due to the design engineers' lack of knowledge in a particular field or ineffective communication of requirements between disciplines. To alleviate many of these design issues, we develop a computational design tool to automate the synthesis of conceptual manufacturing system designs and optimization of preliminary layouts. To generate workcell concepts for manufacturing processes, we create a knowledge-based system (KBS) that performs functional modeling using a common language, a generic component database, and a rule set. The KBS produces high-level task plans for specific manufacturing processes and allocates needed material handling tasks between compatible human and/or robotic labor. We develop an extended pattern search (EPS) algorithm to optimize system layouts based on worker dose and cycle time minimization using the functions and sequencing of generated task plans. The KBS and EPS algorithm were applied to the design of glovebox processing systems at Los Alamos National Laboratory (LANL). Our computational design tool successfully generates design concepts with varied task allocation and processing sub-tasks and layouts with favorable manipulation workspaces. This work establishes a framework for automated conceptual design while providing designers with a beneficial tool for designing manufacturing systems in an interdisciplinary and highly constrained domain.\",\"language\":\"en_US\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Williams\"],\"firstnames\":[\"Joshua\",\"Murry\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2013\",\"keywords\":\"Dissertation\",\"bibtex\":\"@phdthesis{williams_automated_2013,\\n\\ttype = {Dissertation},\\n\\ttitle = {Automated conceptual design of manufacturing workcells in radioactive environments},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/21429},\\n\\tabstract = {The design of manufacturing systems in hazardous environments is complex, requiring interdisciplinary knowledge to determine which components and operators (human or robotic) are feasible. When conceptualizing designs, some options may be overlooked or unknowingly infeasible due to the design engineers' lack of knowledge in a particular field or ineffective communication of requirements between disciplines. To alleviate many of these design issues, we develop a computational design tool to automate the synthesis of conceptual manufacturing system designs and optimization of preliminary layouts. To generate workcell concepts for manufacturing processes, we create a knowledge-based system (KBS) that performs functional modeling using a common language, a generic component database, and a rule set. The KBS produces high-level task plans for specific manufacturing processes and allocates needed material handling tasks between compatible human and/or robotic labor. We develop an extended pattern search (EPS) algorithm to optimize system layouts based on worker dose and cycle time minimization using the functions and sequencing of generated task plans. The KBS and EPS algorithm were applied to the design of glovebox processing systems at Los Alamos National Laboratory (LANL). Our computational design tool successfully generates design concepts with varied task allocation and processing sub-tasks and layouts with favorable manipulation workspaces. This work establishes a framework for automated conceptual design while providing designers with a beneficial tool for designing manufacturing systems in an interdisciplinary and highly constrained domain.},\\n\\tlanguage = {en\\\\_US},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Williams, Joshua Murry},\\n\\tmonth = aug,\\n\\tyear = {2013},\\n\\tkeywords = {Dissertation},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Williams, J. M.\"],\"key\":\"williams_automated_2013-1\",\"id\":\"williams_automated_2013-1\",\"bibbaseid\":\"williams-automatedconceptualdesignofmanufacturingworkcellsinradioactiveenvironments-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/21429\"},\"keyword\":[\"Dissertation\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"Dissertation\",\"title\":\"Requirements for effective collision detection on industrial serial manipulators\",\"url\":\"https://repositories.lib.utexas.edu/handle/2152/21585\",\"abstract\":\"Human-robot interaction (HRI) is the future of robotics. It is essential in the expanding markets, such as surgical, medical, and therapy robots. However, existing industrial systems can also benefit from safe and effective HRI. Many robots are now being fitted with joint torque sensors to enable effective human-robot collision detection. Many existing and off-the-shelf industrial robotic systems are not equipped with these sensors. This work presents and demonstrates a method for effective collision detection on a system with motor current feedback instead of joint torque sensors. The effectiveness of this system is also evaluated by simulating collisions with human hands and arms. Joint torques are estimated from the input motor currents. The joint friction and hysteresis losses are estimated for each joint of an SIA5D 7 Degree of Freedom (DOF) manipulator. The estimated joint torques are validated by comparing to joint torques predicted by the recursive application of Newton-Euler equations. During a pick and place motion, the estimation error in joint 2 is less than 10 Newton meters. Acceleration increased the estimation uncertainty resulting in estimation errors of 20 Newton meters over the entire workspace. When the manipulator makes contact with the environment or a human, the same technique can be used to estimate contact torques from motor current. Current-estimated contact torque is validated against the calculated torque due to a measured force. The error in contact force is less than 10 Newtons. Collision detection is demonstrated on the SIA5D using estimated joint torques. The effectiveness of the collision detection is explored through simulated collisions with the human hands and arms. Simulated collisions are performed both for a typical pick and place motion as well as trajectories that transverse the entire workspace. The simulated forces and pressures are compared to acceptable maximums for human hands and arms. During pick and place motions with vertical and lateral end effector motions at 10mm/s and 25mm/s, the maximum forces and pressures remained below acceptable levels. At and near singular configurations some collisions can be difficult to detect. Fortunately, these configurations are generally avoided for kinematic reasons.\",\"language\":\"en_US\",\"urldate\":\"2017-11-12\",\"school\":\"The University of Texas at Austin\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Schroeder\"],\"firstnames\":[\"Kyle\",\"Anthony\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2013\",\"keywords\":\"Dissertation\",\"bibtex\":\"@phdthesis{schroeder_requirements_2013,\\n\\ttype = {Dissertation},\\n\\ttitle = {Requirements for effective collision detection on industrial serial manipulators},\\n\\turl = {https://repositories.lib.utexas.edu/handle/2152/21585},\\n\\tabstract = {Human-robot interaction (HRI) is the future of robotics.  It is essential in the expanding markets, such as surgical, medical, and therapy robots.  However, existing industrial systems can also benefit from safe and effective HRI.  Many robots are now being fitted with joint torque sensors to enable effective human-robot collision detection.  Many existing and off-the-shelf industrial robotic systems are not equipped with these sensors.  This work presents and demonstrates a method for effective collision detection on a system with motor current feedback instead of joint torque sensors.  The effectiveness of this system is also evaluated by simulating collisions with human hands and arms. Joint torques are estimated from the input motor currents.  The joint friction and hysteresis losses are estimated for each joint of an SIA5D 7 Degree of Freedom (DOF) manipulator.  The estimated joint torques are validated by comparing to joint torques predicted by the recursive application of Newton-Euler equations.  During a pick and place motion, the estimation error in joint 2 is less than 10 Newton meters.  Acceleration increased the estimation uncertainty resulting in estimation errors of 20 Newton meters over the entire workspace. When the manipulator makes contact with the environment or a human, the same technique can be used to estimate contact torques from motor current.  Current-estimated contact torque is validated against the calculated torque due to a measured force.  The error in contact force is less than 10 Newtons.  Collision detection is demonstrated on the SIA5D using estimated joint torques. The effectiveness of the collision detection is explored through simulated collisions with the human hands and arms.  Simulated collisions are performed both for a typical pick and place motion as well as trajectories that transverse the entire workspace.  The simulated forces and pressures are compared to acceptable maximums for human hands and arms.  During pick and place motions with vertical and lateral end effector motions at 10mm/s and 25mm/s, the maximum forces and pressures remained below acceptable levels.  At and near singular configurations some collisions can be difficult to detect.  Fortunately, these configurations are generally avoided for kinematic reasons.},\\n\\tlanguage = {en\\\\_US},\\n\\turldate = {2017-11-12},\\n\\tschool = {The University of Texas at Austin},\\n\\tauthor = {Schroeder, Kyle Anthony},\\n\\tmonth = aug,\\n\\tyear = {2013},\\n\\tkeywords = {Dissertation},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Schroeder, K. A.\"],\"key\":\"schroeder_requirements_2013\",\"id\":\"schroeder_requirements_2013\",\"bibbaseid\":\"schroeder-requirementsforeffectivecollisiondetectiononindustrialserialmanipulators-2013\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://repositories.lib.utexas.edu/handle/2152/21585\"},\"keyword\":[\"Dissertation\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Austin, TX\",\"title\":\"Development Of An Interdisciplinary Graduate Program For Automation In Nuclear Applications\",\"copyright\":\"All rights reserved\",\"url\":\"https://peer.asee.org/5106\",\"urldate\":\"2017-11-08\",\"publisher\":\"ASEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitchell\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Landsberger\"],\"firstnames\":[\"Sheldon\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2009\",\"pages\":\"14.477.1–14.477.9\",\"bibtex\":\"@inproceedings{pryor_development_2009,\\n\\taddress = {Austin, TX},\\n\\ttitle = {Development {Of} {An} {Interdisciplinary} {Graduate} {Program} {For} {Automation} {In} {Nuclear} {Applications}},\\n\\tcopyright = {All rights reserved},\\n\\turl = {https://peer.asee.org/5106},\\n\\turldate = {2017-11-08},\\n\\tpublisher = {ASEE},\\n\\tauthor = {Pryor, Mitchell and Landsberger, Sheldon},\\n\\tmonth = jun,\\n\\tyear = {2009},\\n\\tpages = {14.477.1--14.477.9},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pryor, M.\",\"Landsberger, S.\"],\"key\":\"pryor_development_2009\",\"id\":\"pryor_development_2009\",\"bibbaseid\":\"pryor-landsberger-developmentofaninterdisciplinarygraduateprogramforautomationinnuclearapplications-2009\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://peer.asee.org/5106\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Boston, MA\",\"title\":\"Requirements for Modular Dual-Arm Robot Architecture for use in Deactivation and Decommissioning Tasks\",\"abstract\":\"Numerous nuclear facilities must be dismantled at DOE nuclear material processing sites. Tasks associated with Deactivation and Decommissioning (D&D) require long duration activity with a wide range of tools (for example drills, chisels, saws, etc.) requiring tool change outs in complete operational scenarios. For example, a large part of the dismantlement scenario involves the transport, sorting, and packaging of heavy metal (lead, steel) and carbon radiation shielding pieces cut by the remote robotics technology. This paper addresses the requirements of a wide range of Deactivation and Decommissioning (D&D) tasks to be performed using remote robotics technology.\",\"booktitle\":\"ANS Annual Meeting\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Cox\"],\"firstnames\":[\"Daniel\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cetin\"],\"firstnames\":[\"Murat\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"Delbert\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"1999\",\"bibtex\":\"@inproceedings{cox_requirements_1999,\\n\\taddress = {Boston, MA},\\n\\ttitle = {Requirements for {Modular} {Dual}-{Arm} {Robot} {Architecture} for use in {Deactivation} and {Decommissioning} {Tasks}},\\n\\tabstract = {Numerous nuclear facilities must be dismantled at DOE nuclear material processing sites. Tasks associated with Deactivation and Decommissioning (D\\\\&D) require long duration activity with a wide range of tools (for example drills, chisels, saws, etc.) requiring tool change outs in complete operational scenarios. For example, a large part of the dismantlement scenario involves the transport, sorting, and packaging of heavy metal (lead, steel) and carbon radiation shielding pieces cut by the remote robotics technology. This paper addresses the requirements of a wide range of Deactivation and Decommissioning (D\\\\&D) tasks to be performed using remote robotics technology.},\\n\\tbooktitle = {{ANS} {Annual} {Meeting}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Cox, Daniel and Cetin, Murat and Pryor, Mitch and Tesar, Delbert},\\n\\tmonth = jun,\\n\\tyear = {1999},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Cox, D.\",\"Cetin, M.\",\"Pryor, M.\",\"Tesar, D.\"],\"key\":\"cox_requirements_1999\",\"id\":\"cox_requirements_1999\",\"bibbaseid\":\"cox-cetin-pryor-tesar-requirementsformodulardualarmrobotarchitectureforuseindeactivationanddecommissioningtasks-1999\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"A Knowledge-Based Approach for the Automated Design of Robotic/Human Manufacturing Workcells in Hazardous Environments\",\"url\":\"http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830292\",\"doi\":\"10.1115/DETC2013-12670\",\"urldate\":\"2014-06-10\",\"booktitle\":\"ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference\",\"publisher\":\"American Society of Mechanical Engineers\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Williams\"],\"firstnames\":[\"Joshua\",\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\",\"W.\"],\"suffixes\":[]}],\"month\":\"August\",\"year\":\"2013\",\"pages\":\"7–17\",\"bibtex\":\"@inproceedings{williams_knowledge-based_2013,\\n\\ttitle = {A {Knowledge}-{Based} {Approach} for the {Automated} {Design} of {Robotic}/{Human} {Manufacturing} {Workcells} in {Hazardous} {Environments}},\\n\\turl = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830292},\\n\\tdoi = {10.1115/DETC2013-12670},\\n\\turldate = {2014-06-10},\\n\\tbooktitle = {{ASME} 2013 {International} {Design} {Engineering} {Technical} {Conferences} and {Computers} and {Information} in {Engineering} {Conference}},\\n\\tpublisher = {American Society of Mechanical Engineers},\\n\\tauthor = {Williams, Joshua M. and Pryor, Mitch W.},\\n\\tmonth = aug,\\n\\tyear = {2013},\\n\\tpages = {7--17},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Williams, J. M.\",\"Pryor, M. 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These functions contribute to a complex and discontinuous yet practical representation of the hazards found in a manipulator's workspace. The hazard model is a smoothed and scaled representation of the actual physical hazard sampled discretely over the robot's workspace. This research is primarily motivated to reduce damage to manipulators working in high-radiation environments, but is easily extended to other spatial hazards including heat sources, overlapping workspaces, etc. The gradient of the hazard function is used to generate a force that can be included by an artificial potential field motion planner easing its integration with other existing techniques used for obstacle avoidance, target acquisition, etc. The motion planner additionally scales the robot's velocity in proportion to the magnitude of the hazard model and determines the path. This results in a motion influenced in the direction of greatest hazard reduction at a speed that reduces the time the robot is subject to abnormally high hazard. These techniques are demonstrated on a port-deployed glovebox manipulator in a simulated hazardous environment. Over the course of a demonstration task, the radiation exposure to the robot is reduced by over 50%.\",\"booktitle\":\"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"O'Neil\"],\"firstnames\":[\"B.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Brabec\"],\"firstnames\":[\"C.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"M.\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2012\",\"keywords\":\"artificial potential field motion planner, collision avoidance, continuous space functions, hazard model, hazard reduction, hazardous areas, hazardous workspace modeling, heat sources, high-radiation environments, industrial manipulators, manipulator workspace, motion planner, motion planning approach, obstacle avoidance, port-deployed glovebox manipulator, radiation effects, radiation exposure, robot velocity, scaled representation, simulated hazardous environment, spatial hazard functions, target acquisition\",\"pages\":\"1–6\",\"bibtex\":\"@inproceedings{oneil_hazardous_2012,\\n\\ttitle = {Hazardous workspace modeling for manipulators using spatial hazard functions},\\n\\tdoi = {10.1109/SSRR.2012.6523880},\\n\\tabstract = {This paper describes an approach to motion planning that includes hazards individually characterized as continuous functions of space. These functions contribute to a complex and discontinuous yet practical representation of the hazards found in a manipulator's workspace. The hazard model is a smoothed and scaled representation of the actual physical hazard sampled discretely over the robot's workspace. This research is primarily motivated to reduce damage to manipulators working in high-radiation environments, but is easily extended to other spatial hazards including heat sources, overlapping workspaces, etc. The gradient of the hazard function is used to generate a force that can be included by an artificial potential field motion planner easing its integration with other existing techniques used for obstacle avoidance, target acquisition, etc. The motion planner additionally scales the robot's velocity in proportion to the magnitude of the hazard model and determines the path. This results in a motion influenced in the direction of greatest hazard reduction at a speed that reduces the time the robot is subject to abnormally high hazard. These techniques are demonstrated on a port-deployed glovebox manipulator in a simulated hazardous environment. Over the course of a demonstration task, the radiation exposure to the robot is reduced by over 50\\\\%.},\\n\\tbooktitle = {2012 {IEEE} {International} {Symposium} on {Safety}, {Security}, and {Rescue} {Robotics} ({SSRR})},\\n\\tauthor = {O'Neil, B. and Brabec, C. and Pryor, M.},\\n\\tmonth = nov,\\n\\tyear = {2012},\\n\\tkeywords = {artificial potential field motion planner, collision avoidance, continuous space functions, hazard model, hazard reduction, hazardous areas, hazardous workspace modeling, heat sources, high-radiation environments, industrial manipulators, manipulator workspace, motion planner, motion planning approach, obstacle avoidance, port-deployed glovebox manipulator, radiation effects, radiation exposure, robot velocity, scaled representation, simulated hazardous environment, spatial hazard functions, target acquisition},\\n\\tpages = {1--6},\\n}\\n\\n\\n\\n\",\"author_short\":[\"O'Neil, B.\",\"Brabec, C.\",\"Pryor, 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C.\"],\"key\":\"tadepalli_customized_2009\",\"id\":\"tadepalli_customized_2009\",\"bibbaseid\":\"tadepalli-pryor-booth-customizedinstructioninawebbasedfirstyearclassmaintainingpresenceandtheimportanceoftransitionusingcontentmanagementtools-2009\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://peer.asee.org/customized-instruction-in-a-web-based-first-year-class-maintaining-presence-and-the-importance-of-transition-using-content-management-tools\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":15,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Austin, TX\",\"title\":\"Evaluating Academic Procrastination In A Personalized System Of Instruction Based Curriculum\",\"url\":\"https://peer.asee.org/evaluating-academic-procrastination-in-a-personalized-system-of-instruction-based-curriculum\",\"urldate\":\"2018-12-29\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Tadepalli\"],\"firstnames\":[\"Srikanth\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Booth\"],\"firstnames\":[\"Cameron\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitchell\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2009\",\"pages\":\"14.589.1–14.589.15\",\"bibtex\":\"@inproceedings{tadepalli_evaluating_2009,\\n\\taddress = {Austin, TX},\\n\\ttitle = {Evaluating {Academic} {Procrastination} {In} {A} {Personalized} {System} {Of} {Instruction} {Based} {Curriculum}},\\n\\turl = {https://peer.asee.org/evaluating-academic-procrastination-in-a-personalized-system-of-instruction-based-curriculum},\\n\\turldate = {2018-12-29},\\n\\tauthor = {Tadepalli, Srikanth and Booth, Cameron and Pryor, Mitchell},\\n\\tmonth = jun,\\n\\tyear = {2009},\\n\\tpages = {14.589.1--14.589.15},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Tadepalli, S.\",\"Booth, C.\",\"Pryor, M.\"],\"key\":\"tadepalli_evaluating_2009\",\"id\":\"tadepalli_evaluating_2009\",\"bibbaseid\":\"tadepalli-booth-pryor-evaluatingacademicprocrastinationinapersonalizedsystemofinstructionbasedcurriculum-2009\",\"role\":\"author\",\"urls\":{\"Paper\":\"https://peer.asee.org/evaluating-academic-procrastination-in-a-personalized-system-of-instruction-based-curriculum\"},\"metadata\":{\"authorlinks\":{}},\"downloads\":14,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Framework for Use of Generalized Force and Torque Data in Transitional Levels of Autonomy\",\"isbn\":\"978-3-642-25489-5\",\"doi\":\"10.1007/978-3-642-25489-5_43\",\"abstract\":\"Manipulation of hazardous materials requires the use of robotics to limit exposure of human operators to the danger. In order to improve manipulator effectiveness while ensuring reliability and redundancy, layers of control are implemented in increments. Each level of autonomy is established such that should a fault occur, the control system can be operated at a lower level of autonomy. Force and torque data can be used as both a structural element of a level of autonomy and for fault detection. This paper presents a framework for the use of generalized force and torque data for improving manipulator safety, operational effectiveness, and world model augmentation. The framework is applied to a demonstration of the automated door opening.\",\"language\":\"en\",\"booktitle\":\"Intelligent Robotics and Applications\",\"publisher\":\"Springer Berlin Heidelberg\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Schroeder\"],\"firstnames\":[\"Kyle\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"editor\":[{\"propositions\":[],\"lastnames\":[\"Jeschke\"],\"firstnames\":[\"Sabina\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Liu\"],\"firstnames\":[\"Honghai\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Schilberg\"],\"firstnames\":[\"Daniel\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2011\",\"keywords\":\"autonomy, force control, position based force control\",\"pages\":\"442–451\",\"bibtex\":\"@inproceedings{schroeder_framework_2011,\\n\\ttitle = {Framework for {Use} of {Generalized} {Force} and {Torque} {Data} in {Transitional} {Levels} of {Autonomy}},\\n\\tisbn = {978-3-642-25489-5},\\n\\tdoi = {10.1007/978-3-642-25489-5_43},\\n\\tabstract = {Manipulation of hazardous materials requires the use of robotics to limit exposure of human operators to the danger. In order to improve manipulator effectiveness while ensuring reliability and redundancy, layers of control are implemented in increments. Each level of autonomy is established such that should a fault occur, the control system can be operated at a lower level of autonomy. Force and torque data can be used as both a structural element of a level of autonomy and for fault detection. This paper presents a framework for the use of generalized force and torque data for improving manipulator safety, operational effectiveness, and world model augmentation. The framework is applied to a demonstration of the automated door opening.},\\n\\tlanguage = {en},\\n\\tbooktitle = {Intelligent {Robotics} and {Applications}},\\n\\tpublisher = {Springer Berlin Heidelberg},\\n\\tauthor = {Schroeder, Kyle and Pryor, Mitch},\\n\\teditor = {Jeschke, Sabina and Liu, Honghai and Schilberg, Daniel},\\n\\tmonth = dec,\\n\\tyear = {2011},\\n\\tkeywords = {autonomy, force control, position based force control},\\n\\tpages = {442--451},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Schroeder, K.\",\"Pryor, M.\"],\"editor_short\":[\"Jeschke, S.\",\"Liu, H.\",\"Schilberg, D.\"],\"key\":\"schroeder_framework_2011\",\"id\":\"schroeder_framework_2011\",\"bibbaseid\":\"schroeder-pryor-frameworkforuseofgeneralizedforceandtorquedataintransitionallevelsofautonomy-2011\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"autonomy\",\"force control\",\"position based force control\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":8,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Ann Arbor, MI\",\"title\":\"A Modular Approach to Incremental Improvements in Manipulator Automation\",\"booktitle\":\"Proceeding of the ANS Winter Student Conference\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"O'Neil\"],\"firstnames\":[\"Brian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Schroeder\"],\"firstnames\":[\"Kyle\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Williams\"],\"firstnames\":[\"Joshua\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2010\",\"note\":\"(awareded conference best paper)\",\"bibtex\":\"@inproceedings{oneil_modular_2010,\\n\\taddress = {Ann Arbor, MI},\\n\\ttitle = {A {Modular} {Approach} to {Incremental} {Improvements} in {Manipulator} {Automation}},\\n\\tbooktitle = {Proceeding of the {ANS} {Winter} {Student} {Conference}},\\n\\tpublisher = {ANS},\\n\\tauthor = {O'Neil, Brian and Schroeder, Kyle and Williams, Joshua and Pryor, Mitch},\\n\\tmonth = apr,\\n\\tyear = {2010},\\n\\tnote = {(awareded conference best paper)},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"O'Neil, B.\",\"Schroeder, K.\",\"Williams, J.\",\"Pryor, M.\"],\"key\":\"oneil_modular_2010\",\"id\":\"oneil_modular_2010\",\"bibbaseid\":\"oneil-schroeder-williams-pryor-amodularapproachtoincrementalimprovementsinmanipulatorautomation-2010\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Washington DC\",\"title\":\"Improved Grasping Strategies for Flexible Manufacturing and Mobile Manipulation\",\"booktitle\":\"Proceedings of the 2009 ANS Winter Meeting\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hulse\"],\"firstnames\":[\"Aaron\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kulkarni\"],\"firstnames\":[\"Amit\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"O'Neil\"],\"firstnames\":[\"Brian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2009\",\"bibtex\":\"@inproceedings{hulse_improved_2009,\\n\\taddress = {Washington DC},\\n\\ttitle = {Improved {Grasping} {Strategies} for {Flexible} {Manufacturing} and {Mobile} {Manipulation}},\\n\\tbooktitle = {Proceedings of the 2009 {ANS} {Winter} {Meeting}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Hulse, Aaron and Kulkarni, Amit and O'Neil, Brian and Pryor, Mitch},\\n\\tmonth = nov,\\n\\tyear = {2009},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Hulse, A.\",\"Kulkarni, A.\",\"O'Neil, B.\",\"Pryor, M.\"],\"key\":\"hulse_improved_2009\",\"id\":\"hulse_improved_2009\",\"bibbaseid\":\"hulse-kulkarni-oneil-pryor-improvedgraspingstrategiesforflexiblemanufacturingandmobilemanipulation-2009\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Albuquerque, NM\",\"title\":\"Software Framework for Mobile Manipulation\",\"abstract\":\"The paper details the development of a mobile manipulation system using state of the art commercial hardware and manipulator control software developed by the Robotics Research Group (RRG) at The University of Texas at Austin and mobile platform control software developed by Idaho National Laboratory (INL). A manipulator and mobile platform independent mobile manipulation software was developed using INL’s Robotic Intelligence Kernel (RIK) for navigation and RRG’s Operational Software Components for Advanced Robotics (OSCAR) for manipulation. The specific development included the integration of an OSCAR based Motion Planner (MP) with RIK along with new sensor integration and development of a Human Robot Interface (HRI) that supports arm control. Two different mobile manipulation systems were developed, one at RRG and the other at INL. Experiments were conducted at both sites to show the value of this research effort.\",\"booktitle\":\"Proceedings of the ANS 2nd International Joint Topical Meeting on Robotics & Remote Systems\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Kulkarni\"],\"firstnames\":[\"Amit\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kapoor\"],\"firstnames\":[\"Chetan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kinoshita\"],\"firstnames\":[\"Robert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Atherton\"],\"firstnames\":[\"John\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Whetten\"],\"firstnames\":[\"Jon\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Nielsen\"],\"firstnames\":[\"Curtis\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2008\",\"bibtex\":\"@inproceedings{kulkarni_software_2008,\\n\\taddress = {Albuquerque, NM},\\n\\ttitle = {Software {Framework} for {Mobile} {Manipulation}},\\n\\tabstract = {The paper details the development of a mobile\\nmanipulation system using state of the art commercial\\nhardware and manipulator control software developed by\\nthe Robotics Research Group (RRG) at The University of\\nTexas at Austin and mobile platform control software\\ndeveloped by Idaho National Laboratory (INL). A\\nmanipulator and mobile platform independent mobile\\nmanipulation software was developed using INL’s\\nRobotic Intelligence Kernel (RIK) for navigation and\\nRRG’s Operational Software Components for Advanced Robotics (OSCAR) for manipulation. The specific development included the integration of an OSCAR based Motion Planner (MP) with RIK along with new sensor integration and development of a Human Robot Interface (HRI) that supports arm control. Two different mobile manipulation systems were developed, one at RRG and the other at INL. Experiments were conducted at both sites to show the value of this research effort.},\\n\\tbooktitle = {Proceedings of the {ANS} 2nd {International} {Joint} {Topical} {Meeting} on {Robotics} \\\\& {Remote} {Systems}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Kulkarni, Amit and Kapoor, Chetan and Pryor, Mitch and Kinoshita, Robert and Atherton, John and Whetten, Jon and Nielsen, Curtis and Pryor, Mitch},\\n\\tmonth = mar,\\n\\tyear = {2008},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Kulkarni, A.\",\"Kapoor, C.\",\"Pryor, M.\",\"Kinoshita, R.\",\"Atherton, J.\",\"Whetten, J.\",\"Nielsen, C.\",\"Pryor, M.\"],\"key\":\"kulkarni_software_2008\",\"id\":\"kulkarni_software_2008\",\"bibbaseid\":\"kulkarni-kapoor-pryor-kinoshita-atherton-whetten-nielsen-pryor-softwareframeworkformobilemanipulation-2008\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Collision avoidance techniques for tele-operated and autonomous manipulators in overlapping workspaces\",\"doi\":\"10.1109/ROBOT.2008.4543651\",\"abstract\":\"This paper describes the integration of several techniques for cooperative control of both tele-operated and autonomous redundant manipulators with overlapping workspaces. Motivating this research is a tele-operated surgical manipulator(s) supported by autonomous robot(s) that insert/remove items from the surgical workspace. The dynamic and unpredictable location of obstacles in a small workspace requires a complete strategy to avoid collisions when completing critical tasks and minimizes the need for user (i.e. the surgeon) intervention to make path planning decisions or resolve impasse situations. Three techniques are integrated into the decision-making for the manipulators: an intelligent and intuitive EEF velocity scaling, coordinated null-space optimization across affected manipulators, and collision detection. Central to all three techniques is an estimated time- to-collision formulation that combines distances between objects with their higher order properties, thus only objects currently moving towards each other are included in the collision avoidance techniques. The use of multiple techniques derived from the terms of a single metric results in a computationally efficient strategy for tele-operated and autonomous manipulators sharing the same workspace.\",\"booktitle\":\"2008 IEEE International Conference on Robotics and Automation\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Spencer\"],\"firstnames\":[\"A.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kapoor\"],\"firstnames\":[\"C.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"D.\"],\"suffixes\":[]}],\"month\":\"May\",\"year\":\"2008\",\"keywords\":\"Collision avoidance, EEF velocity scaling, Manipulator dynamics, Motion detection, Path planning, Real time systems, Robot kinematics, Robotics and automation, Surgery, Surges, USA Councils, autonomous redundant manipulator, collision avoidance, collision avoidance technique, collision detection, cooperative control, cooperative systems, coordinated null-space optimization, estimated time-to-collision formulation, manipulators, medical robotics, teleoperated surgical manipulator, telerobotics\",\"pages\":\"2910–2915\",\"bibtex\":\"@inproceedings{spencer_collision_2008,\\n\\ttitle = {Collision avoidance techniques for tele-operated and autonomous manipulators in overlapping workspaces},\\n\\tdoi = {10.1109/ROBOT.2008.4543651},\\n\\tabstract = {This paper describes the integration of several techniques for cooperative control of both tele-operated and autonomous redundant manipulators with overlapping workspaces. Motivating this research is a tele-operated surgical manipulator(s) supported by autonomous robot(s) that insert/remove items from the surgical workspace. The dynamic and unpredictable location of obstacles in a small workspace requires a complete strategy to avoid collisions when completing critical tasks and minimizes the need for user (i.e. the surgeon) intervention to make path planning decisions or resolve impasse situations. Three techniques are integrated into the decision-making for the manipulators: an intelligent and intuitive EEF velocity scaling, coordinated null-space optimization across affected manipulators, and collision detection. Central to all three techniques is an estimated time- to-collision formulation that combines distances between objects with their higher order properties, thus only objects currently moving towards each other are included in the collision avoidance techniques. The use of multiple techniques derived from the terms of a single metric results in a computationally efficient strategy for tele-operated and autonomous manipulators sharing the same workspace.},\\n\\tbooktitle = {2008 {IEEE} {International} {Conference} on {Robotics} and {Automation}},\\n\\tauthor = {Spencer, A. and Pryor, M. and Kapoor, C. and Tesar, D.},\\n\\tmonth = may,\\n\\tyear = {2008},\\n\\tkeywords = {Collision avoidance, EEF velocity scaling, Manipulator dynamics, Motion detection, Path planning, Real time systems, Robot kinematics, Robotics and automation, Surgery, Surges, USA Councils, autonomous redundant manipulator, collision avoidance, collision avoidance technique, collision detection, cooperative control, cooperative systems, coordinated null-space optimization, estimated time-to-collision formulation, manipulators, medical robotics, teleoperated surgical manipulator, telerobotics},\\n\\tpages = {2910--2915},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Spencer, A.\",\"Pryor, M.\",\"Kapoor, C.\",\"Tesar, D.\"],\"key\":\"spencer_collision_2008\",\"id\":\"spencer_collision_2008\",\"bibbaseid\":\"spencer-pryor-kapoor-tesar-collisionavoidancetechniquesforteleoperatedandautonomousmanipulatorsinoverlappingworkspaces-2008\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Collision avoidance\",\"EEF velocity scaling\",\"Manipulator dynamics\",\"Motion detection\",\"Path planning\",\"Real time systems\",\"Robot kinematics\",\"Robotics and automation\",\"Surgery\",\"Surges\",\"USA Councils\",\"autonomous redundant manipulator\",\"collision avoidance\",\"collision avoidance technique\",\"collision detection\",\"cooperative control\",\"cooperative systems\",\"coordinated null-space optimization\",\"estimated time-to-collision formulation\",\"manipulators\",\"medical robotics\",\"teleoperated surgical manipulator\",\"telerobotics\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":7,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Washington DC\",\"title\":\"A Multi-sensor Architecture for Condition-Based Maintenance in Intelligent Actuators\",\"booktitle\":\"Proceedings of the ANS Annual Winter Meeting\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Krishnamoorthy\"],\"firstnames\":[\"Ganesh\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"Delbert\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]}],\"month\":\"November\",\"year\":\"2007\",\"bibtex\":\"@inproceedings{krishnamoorthy_multi-sensor_2007,\\n\\taddress = {Washington DC},\\n\\ttitle = {A {Multi}-sensor {Architecture} for {Condition}-{Based} {Maintenance} in {Intelligent} {Actuators}},\\n\\tbooktitle = {Proceedings of the {ANS} {Annual} {Winter} {Meeting}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Krishnamoorthy, Ganesh and Tesar, Delbert and Pryor, Mitch},\\n\\tmonth = nov,\\n\\tyear = {2007},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Krishnamoorthy, G.\",\"Tesar, D.\",\"Pryor, M.\"],\"key\":\"krishnamoorthy_multi-sensor_2007\",\"id\":\"krishnamoorthy_multi-sensor_2007\",\"bibbaseid\":\"krishnamoorthy-tesar-pryor-amultisensorarchitectureforconditionbasedmaintenanceinintelligentactuators-2007\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"San Diego, CA\",\"title\":\"Metrology Methodologies from High Precision Applications\",\"booktitle\":\"Proceedings of the 2005 ANS Annual Meeting\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kang\"],\"firstnames\":[\"Seong-Ho\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"Delbert\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"2005\",\"bibtex\":\"@inproceedings{pryor_metrology_2005,\\n\\taddress = {San Diego, CA},\\n\\ttitle = {Metrology {Methodologies} from {High} {Precision} {Applications}},\\n\\tbooktitle = {Proceedings of the 2005 {ANS} {Annual} {Meeting}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Pryor, Mitch and Kang, Seong-Ho and Tesar, Delbert},\\n\\tmonth = jun,\\n\\tyear = {2005},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pryor, M.\",\"Kang, S.\",\"Tesar, D.\"],\"key\":\"pryor_metrology_2005\",\"id\":\"pryor_metrology_2005\",\"bibbaseid\":\"pryor-kang-tesar-metrologymethodologiesfromhighprecisionapplications-2005\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"New Orleans, LA\",\"title\":\"Kinematic Model and Metrology System for Modular Robot Calibration\",\"volume\":\"3\",\"doi\":\"10.1109/ROBOT.2004.1307500\",\"abstract\":\"In this paper, a metrology method is presented to calibrate modular robots. It is to perform metrology at the modular level and measure the kinematic parameters of each module so that the acquired information may be used for obtaining an \\\"as built\\\" model every time either a modular robot is reconfigured or maintenance has been made. Based on the product-of-exponentials formula and the modified dyad kinematics, two calibration models with or without the interface error compensation are proposed. The success of this method is based on two key technologies; the first key is an accurate and interchangeable standardized interface and the second key is to develop a state-of-the-art 3-D metrology system which is accurate, flexible, and easy to use. This paper presents these topics with kinematic models for modular robot calibration.\",\"booktitle\":\"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004\",\"publisher\":\"IEEE\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Kang\"],\"firstnames\":[\"Seong-Ho\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"M.\",\"W.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"D.\"],\"suffixes\":[]}],\"month\":\"April\",\"year\":\"2004\",\"keywords\":\"Calibration, Computational geometry, Global Positioning System, Intelligent actuators, Intelligent robots, Kinematics, Metrology, Performance evaluation, Robotic assembly, Time measurement, calibration, interchangeable standardized interface, interface error compensation, kinematic model, measurement, metrology system, modified dyad kinematics, modular robot calibration, product-of-exponentials formula, robot kinematics, state-of-the-art 3D metrology system\",\"pages\":\"2894–2899 Vol.3\",\"bibtex\":\"@inproceedings{kang_kinematic_2004,\\n\\taddress = {New Orleans, LA},\\n\\ttitle = {Kinematic {Model} and {Metrology} {System} for {Modular} {Robot} {Calibration}},\\n\\tvolume = {3},\\n\\tdoi = {10.1109/ROBOT.2004.1307500},\\n\\tabstract = {In this paper, a metrology method is presented to calibrate modular robots. It is to perform metrology at the modular level and measure the kinematic parameters of each module so that the acquired information may be used for obtaining an \\\"as built\\\" model every time either a modular robot is reconfigured or maintenance has been made. Based on the product-of-exponentials formula and the modified dyad kinematics, two calibration models with or without the interface error compensation are proposed. The success of this method is based on two key technologies; the first key is an accurate and interchangeable standardized interface and the second key is to develop a state-of-the-art 3-D metrology system which is accurate, flexible, and easy to use. This paper presents these topics with kinematic models for modular robot calibration.},\\n\\tbooktitle = {{IEEE} {International} {Conference} on {Robotics} and {Automation}, 2004. {Proceedings}. {ICRA} '04. 2004},\\n\\tpublisher = {IEEE},\\n\\tauthor = {Kang, Seong-Ho and Pryor, M. W. and Tesar, D.},\\n\\tmonth = apr,\\n\\tyear = {2004},\\n\\tkeywords = {Calibration, Computational geometry, Global Positioning System, Intelligent actuators, Intelligent robots, Kinematics, Metrology, Performance evaluation, Robotic assembly, Time measurement, calibration, interchangeable standardized interface, interface error compensation, kinematic model, measurement, metrology system, modified dyad kinematics, modular robot calibration, product-of-exponentials formula, robot kinematics, state-of-the-art 3D metrology system},\\n\\tpages = {2894--2899 Vol.3},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Kang, S.\",\"Pryor, M. W.\",\"Tesar, D.\"],\"key\":\"kang_kinematic_2004\",\"id\":\"kang_kinematic_2004\",\"bibbaseid\":\"kang-pryor-tesar-kinematicmodelandmetrologysystemformodularrobotcalibration-2004\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"Calibration\",\"Computational geometry\",\"Global Positioning System\",\"Intelligent actuators\",\"Intelligent robots\",\"Kinematics\",\"Metrology\",\"Performance evaluation\",\"Robotic assembly\",\"Time measurement\",\"calibration\",\"interchangeable standardized interface\",\"interface error compensation\",\"kinematic model\",\"measurement\",\"metrology system\",\"modified dyad kinematics\",\"modular robot calibration\",\"product-of-exponentials formula\",\"robot kinematics\",\"state-of-the-art 3D metrology system\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":7,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"title\":\"Extended Generalized Impedance Control for Redundant Manipulators\",\"volume\":\"4\",\"doi\":\"10.1109/CDC.2003.1271658\",\"abstract\":\"An impedance control method for redundant manipulators called an extended generalized impedance control is developed. It is based on an extended task space formulation and generalized impedance control. With generalized impedance control, the manipulator's end-effector position and force tracking abilities can be balanced by properly adjusting impedance parameters. Null space motion is controlled by tracking a minimal parameterization of null space velocity. Redundancy is then exploited by specifying a desired null space velocity trajectory that optimizes a performance index. The control algorithm is implemented as part of OSCAR (Operational Software Components for Advanced Robotics), keeping with the generality concept. Therefore, it can be easily deployed with any serial manipulator. The effectiveness of the proposed controller is illustrated by computer simulations of a complex 10-DOF spatial manipulator performing a cutting task.\",\"booktitle\":\"42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pholsiri\"],\"firstnames\":[\"C.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rabindran\"],\"firstnames\":[\"D.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"M.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kapoor\"],\"firstnames\":[\"C.\"],\"suffixes\":[]}],\"month\":\"December\",\"year\":\"2003\",\"keywords\":\"10 DOF spatial manipulator, 10 degrees of freedom spatial manipulator, Force control, Impedance, Manipulators, Motion control, Null space, OSCAR, Orbital robotics, Performance analysis, Software algorithms, Tracking, Velocity control, computer simulations, digital simulation, end effectors, extended generalized impedance control, extended task space formulation, force tracking ability, impedance parameters, manipulators end effector position, motion control, null space motion, null space velocity, operational software components for advanced robotics, performance index, position control, redundant manipulators, serial manipulator, software tools, velocity control\",\"pages\":\"3331–3336 vol.4\",\"bibtex\":\"@inproceedings{pholsiri_extended_2003,\\n\\ttitle = {Extended {Generalized} {Impedance} {Control} for {Redundant} {Manipulators}},\\n\\tvolume = {4},\\n\\tdoi = {10.1109/CDC.2003.1271658},\\n\\tabstract = {An impedance control method for redundant manipulators called an extended generalized impedance control is developed. It is based on an extended task space formulation and generalized impedance control. With generalized impedance control, the manipulator's end-effector position and force tracking abilities can be balanced by properly adjusting impedance parameters. Null space motion is controlled by tracking a minimal parameterization of null space velocity. Redundancy is then exploited by specifying a desired null space velocity trajectory that optimizes a performance index. The control algorithm is implemented as part of OSCAR (Operational Software Components for Advanced Robotics), keeping with the generality concept. Therefore, it can be easily deployed with any serial manipulator. The effectiveness of the proposed controller is illustrated by computer simulations of a complex 10-DOF spatial manipulator performing a cutting task.},\\n\\tbooktitle = {42nd {IEEE} {International} {Conference} on {Decision} and {Control} ({IEEE} {Cat}. {No}.{03CH37475})},\\n\\tauthor = {Pholsiri, C. and Rabindran, D. and Pryor, M. and Kapoor, C.},\\n\\tmonth = dec,\\n\\tyear = {2003},\\n\\tkeywords = {10 DOF spatial manipulator, 10 degrees of freedom spatial manipulator, Force control, Impedance, Manipulators, Motion control, Null space, OSCAR, Orbital robotics, Performance analysis, Software algorithms, Tracking, Velocity control, computer simulations, digital simulation, end effectors, extended generalized impedance control, extended task space formulation, force tracking ability, impedance parameters, manipulators end effector position, motion control, null space motion, null space velocity, operational software components for advanced robotics, performance index, position control, redundant manipulators, serial manipulator, software tools, velocity control},\\n\\tpages = {3331--3336 vol.4},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pholsiri, C.\",\"Rabindran, D.\",\"Pryor, M.\",\"Kapoor, C.\"],\"key\":\"pholsiri_extended_2003\",\"id\":\"pholsiri_extended_2003\",\"bibbaseid\":\"pholsiri-rabindran-pryor-kapoor-extendedgeneralizedimpedancecontrolforredundantmanipulators-2003\",\"role\":\"author\",\"urls\":{},\"keyword\":[\"10 DOF spatial manipulator\",\"10 degrees of freedom spatial manipulator\",\"Force control\",\"Impedance\",\"Manipulators\",\"Motion control\",\"Null space\",\"OSCAR\",\"Orbital robotics\",\"Performance analysis\",\"Software algorithms\",\"Tracking\",\"Velocity control\",\"computer simulations\",\"digital simulation\",\"end effectors\",\"extended generalized impedance control\",\"extended task space formulation\",\"force tracking ability\",\"impedance parameters\",\"manipulators end effector position\",\"motion control\",\"null space motion\",\"null space velocity\",\"operational software components for advanced robotics\",\"performance index\",\"position control\",\"redundant manipulators\",\"serial manipulator\",\"software tools\",\"velocity control\"],\"metadata\":{\"authorlinks\":{}},\"downloads\":7,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Seattle, WA\",\"title\":\"Prototyping D&D Tasks Using a Dual-arm Robotic System\",\"abstract\":\"The University of Texas at Austin is conducting research in the development and application of robotic systems for various Deactivation and Decommissioning (D&D) tasks. This research includes the development of modular robotic hardware that scales from simple 1-2 Degree Of Freedom (DOF) systems to complex dual-arm systems. Research is also being pursued in the development of the required control software for such systems with an emphasis on generality, the man-machine interface, obstacle avoidance, and decision-making for enhanced performance. This paper describes prototyping a D&D type task with operational software (called OSCAR), a dual-arm robotic system (a 17 DOF system from Robotics Research Corp.), and tooling based on D&D application requirements. A material size reduction task is chosen for this prototype application. This task involves the use of one arm of the dual-arm robot to hold and position the work piece while the other arm uses off-the-shelf tooling (a cutting saw appropriately modified for computer control and commercially available tool changers) to cut the work piece. Necessary hardware developments for the demonstration included the integration of tool changers, crash protection devices, force/torque sensors, and the associated electronic instrumentation and wiring. OSCAR software modules were used to build the low-level control software that included redundant kinematics, robot servo-control interfacing, and the man-machine interface. Additional software was developed for path planning and application programming. A 3D-graphical model was developed for system design and off-line programming and verification. The system is implemented using off-the-shelf components including PC hardware, the Windows NT operating system, and commercial data acquisition hardware, tool changers, and crash protection devices. The demonstration discussed in this paper accomplishes the goal of performing a relatively complex and useful dual-arm task while reducing development time and hardware costs. Aspects of integrating off-the-shelf components and modular software are presented. Future work and enhancements are also discussed including improved task planning, programming features, force control, motion planning, tool integration, an improved man-machine interface, and the seamless integration of obstacle avoidance.\",\"booktitle\":\"Proceeding of the ANS Topical Meeting on Robotics and Automation\",\"publisher\":\"ANS\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Harden\"],\"firstnames\":[\"Troy\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitchell\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Rajan\"],\"firstnames\":[\"Ratheesh\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Yoo\"],\"firstnames\":[\"Jae\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kapoor\"],\"firstnames\":[\"Chetan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"Delbert\"],\"suffixes\":[]}],\"month\":\"March\",\"year\":\"2001\",\"pages\":\"1–11\",\"bibtex\":\"@inproceedings{harden_prototyping_2001,\\n\\taddress = {Seattle, WA},\\n\\ttitle = {Prototyping {D}\\\\&{D} {Tasks} {Using} a {Dual}-arm {Robotic} {System}},\\n\\tabstract = {The University of Texas at Austin is conducting research in the development and application of robotic systems for various Deactivation and Decommissioning (D\\\\&D) tasks. This research includes the development of modular robotic hardware that scales from simple 1-2 Degree Of Freedom (DOF) systems to complex dual-arm systems. Research is also being pursued in the development of the required control software for such systems with an  emphasis on generality, the man-machine interface, obstacle avoidance, and decision-making for enhanced performance. This paper describes prototyping a D\\\\&D type task with operational software (called OSCAR), a dual-arm robotic system (a 17 DOF system from Robotics Research Corp.), and tooling based on D\\\\&D application requirements.\\nA material size reduction task is chosen for this prototype application. This task involves the use of one arm of the dual-arm robot to hold and position the work piece while the other arm uses off-the-shelf tooling (a cutting saw appropriately modified for computer control and commercially available tool changers) to cut the work piece. Necessary hardware developments for the demonstration included the integration of tool changers, crash protection devices, force/torque sensors, and the associated electronic instrumentation and wiring. OSCAR software modules were used to build the low-level control software that included redundant kinematics, robot servo-control interfacing, and the man-machine interface. Additional software was developed for path planning and application programming. A 3D-graphical model was developed\\nfor system design and off-line programming and verification. The system is implemented using off-the-shelf components including PC hardware, the Windows NT operating system, and commercial data acquisition hardware, tool changers, and crash protection devices. The demonstration discussed in this paper accomplishes the goal of performing a relatively complex and useful dual-arm task while reducing development time and hardware costs. Aspects of integrating off-the-shelf components and modular software are presented. Future work and enhancements are also discussed including improved task planning, programming features, force control, motion planning, tool  integration, an improved man-machine interface, and the seamless integration of obstacle avoidance.},\\n\\tbooktitle = {Proceeding of the {ANS} {Topical} {Meeting} on {Robotics} and {Automation}},\\n\\tpublisher = {ANS},\\n\\tauthor = {Harden, Troy and Pryor, Mitchell and Rajan, Ratheesh and Yoo, Jae and Kapoor, Chetan and Tesar, Delbert},\\n\\tmonth = mar,\\n\\tyear = {2001},\\n\\tpages = {1--11},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Harden, T.\",\"Pryor, M.\",\"Rajan, R.\",\"Yoo, J.\",\"Kapoor, C.\",\"Tesar, D.\"],\"key\":\"harden_prototyping_2001\",\"id\":\"harden_prototyping_2001\",\"bibbaseid\":\"harden-pryor-rajan-yoo-kapoor-tesar-prototypingddtasksusingadualarmroboticsystem-2001\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Las Vegas, NV\",\"title\":\"Manipulator Performance Criteria Based on Kinematic, Dynamic, and Compliance Models\",\"abstract\":\"Currently, few criteria are available that identify a redundant robot’s ‘optimal’ configuration. Criteria developers have been compelled to design computationally efficient metrics in order to maintain necessary control cycle rates. This requirement is diminishing in importance with increasing computer performance, allowing designers to implement more complex and effective criteria into the manipulator’s control algorithms. This paper presents a wide variety of criteria that will aid in pinpointing optimal configurations in redundant manipulators. In developing these criteria, the counterproductive (but often necessary) requirement of minimizing the computation rate per criterion is largely ignored. These new criteria are intended for two purposes: (1) the trajectory optimization of redundant manipulators and (2) design optimization for configuring link and joint modules in any manipulator. The criteria presented are derived from the geometric (both 1st and 2nd order), dynamic, and compliance models of a manipulator. All criteria are simulated on a 7DOF serial manipulator, and several results are presented here.\",\"booktitle\":\"Proceedings of the ASME Design Engineering Technical Conferences\",\"publisher\":\"ASME\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[\"van\"],\"lastnames\":[\"Doren\"],\"firstnames\":[\"Matthew\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"Delbert\"],\"suffixes\":[]}],\"month\":\"September\",\"year\":\"1999\",\"pages\":\"1–9\",\"bibtex\":\"@inproceedings{pryor_manipulator_1999,\\n\\taddress = {Las Vegas, NV},\\n\\ttitle = {Manipulator {Performance} {Criteria} {Based} on {Kinematic}, {Dynamic}, and {Compliance} {Models}},\\n\\tabstract = {Currently, few criteria are available that identify a redundant robot’s ‘optimal’ configuration. Criteria developers have been compelled to design computationally efficient metrics in order to maintain necessary control cycle rates. This requirement is diminishing in importance with increasing computer\\nperformance, allowing designers to implement more complex and effective criteria into the manipulator’s control algorithms. This paper presents a wide variety of criteria that will aid in pinpointing optimal configurations in redundant manipulators. In developing these criteria, the counterproductive (but often necessary) requirement of minimizing the computation rate per criterion is largely ignored.\\nThese new criteria are intended for two purposes: (1) the trajectory optimization of redundant manipulators and (2) design optimization for configuring link and joint modules in any manipulator. The criteria presented are derived from the geometric (both 1st and 2nd order), dynamic, and compliance models of a manipulator. All criteria are simulated on a 7DOF serial manipulator, and several results are presented here.},\\n\\tbooktitle = {Proceedings of the {ASME} {Design} {Engineering} {Technical} {Conferences}},\\n\\tpublisher = {ASME},\\n\\tauthor = {Pryor, Mitch and van Doren, Matthew and Tesar, Delbert},\\n\\tmonth = sep,\\n\\tyear = {1999},\\n\\tpages = {1--9},\\n}\\n\\n\\n\\n\",\"author_short\":[\"Pryor, M.\",\"van Doren, M.\",\"Tesar, D.\"],\"key\":\"pryor_manipulator_1999\",\"id\":\"pryor_manipulator_1999\",\"bibbaseid\":\"pryor-vandoren-tesar-manipulatorperformancecriteriabasedonkinematicdynamicandcompliancemodels-1999\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"address\":\"Oulu, Finland\",\"title\":\"Experiments of Cooperative Manipulation for Dual-arm Robotic Operations\",\"abstract\":\"Initial experiments in cooperative manipulation are performed with a test-bed comprised of a fully anthropomorphic, seventeen degree-of-freedom, dual-arm robotic system. The system is equipped with an updated computer hardware and software platform. A reusable and general architecture of the operational software layer for the test-bed has been implemented and used for the experiments. A series of experiments in which different control strategies are used as extensions to the operational software layer is described. Results of initial experiments are provided.\",\"booktitle\":\"Proceedings of the 10th World Congress on the Theory of Machines and Mechanisms\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Cox\"],\"firstnames\":[\"Daniel\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Cetin\"],\"firstnames\":[\"Murat\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Pryor\"],\"firstnames\":[\"Mitch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tesar\"],\"firstnames\":[\"Delbert\"],\"suffixes\":[]}],\"month\":\"June\",\"year\":\"1999\",\"bibtex\":\"@inproceedings{cox_experiments_1999,\\n\\taddress = {Oulu, Finland},\\n\\ttitle = {Experiments of {Cooperative} {Manipulation} for {Dual}-arm {Robotic} {Operations}},\\n\\tabstract = {Initial experiments in cooperative manipulation are performed with a test-bed comprised of a\\nfully anthropomorphic, seventeen degree-of-freedom, dual-arm robotic system. The system is\\nequipped with an updated computer hardware and software platform. A reusable and general\\narchitecture of the operational software layer for the test-bed has been implemented and used\\nfor the experiments. A series of experiments in which different control strategies are used as\\nextensions to the operational software layer is described. Results of initial experiments are\\nprovided.},\\n\\tbooktitle = {Proceedings of the 10th {World} {Congress} on the {Theory} of {Machines} and {Mechanisms}},\\n\\tauthor = {Cox, Daniel and Cetin, Murat and Pryor, Mitch and Tesar, Delbert},\\n\\tmonth = jun,\\n\\tyear = {1999},\\n}\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\\n\",\"author_short\":[\"Cox, D.\",\"Cetin, M.\",\"Pryor, M.\",\"Tesar, D.\"],\"key\":\"cox_experiments_1999\",\"id\":\"cox_experiments_1999\",\"bibbaseid\":\"cox-cetin-pryor-tesar-experimentsofcooperativemanipulationfordualarmroboticoperations-1999\",\"role\":\"author\",\"urls\":{},\"metadata\":{\"authorlinks\":{}},\"downloads\":0,\"html\":\"\"}],\n      metadata: {\"authorlinks\":{}},\n      ownerID: undefined\n    };\n  </script>\n\n  <script type=\"text/javascript\">\n  var site$;\n  if (typeof $ != 'undefined') {\n    console.log('existing jquery: storing and then restoring');\n    site$ = $;\n    $ = null;\n  }\n  </script>\n\n  <script src=\"https://ajax.googleapis.com/ajax/libs/jquery/2.2.4/jquery.min.js\">\n  </script>\n  <script type=\"text/javascript\">\n  if (site$) {\n    console.log('existing jquery: avoiding conflict and restoring');\n    bb$ = $.noConflict(true);\n    $ = site$;\n  } else {\n    bb$ = $;\n  }\n  </script>\n\n  <script src=\"//bibbase.org/js/bibbase.min.js\"\n          type=\"text/javascript\">\n  </script>\n\n  <script type=\"text/javascript\"\n          src=\"https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML\">\n  </script>\n  <script type=\"text/x-mathjax-config\">\n    MathJax.Hub.Config({tex2jax: {inlineMath: [['$','$'], ['\\\\(','\\\\)']]},\n                        skipTags: [\"body\"],\n                        processClass: \"bibbase_paper\"});\n  </script>\n\n  <style>\n  @media print {\n    .dontprint {\n        display: none !important;\n    }\n\n  .bibbase_group {\n    background-color: #E0E0E0;\n    font-style: italic;\n    font-size: larger;\n    text-shadow: 0px 0px 3px #FFFFFF;\n    border-radius: 4px 4px 4px 4px;\n    -moz-border-radius: 4px 4px 4px 4px;\n    -webkit-border-radius: 4px;\n    padding: 5px 40px 5px;\n    margin-top: 10px;\n    margin-bottom: 5px;\n    cursor: pointer;\n  }\n\n  .bibbase_paper {\n    margin-bottom: 5px;\n  }\n\n  }\n  </style>\n\n  \n  <div style=\"float: right; margin-right: 10px; margin-top: 10px; text-align: right; font-size: 12px\">\n    generated by\n    <a href=\"//bibbase.org\"\n       onclick=\"trackOutboundLink('bibbase', 'logo clicked', window.location.href, '//bibbase.org'); return false;\">\n      <img src=\"//bibbase.org/img/logo.svg\"\n           style=\"vertical-align: middle; margin-left: 3px; height: 16px;\"/\n           alt=\"bibbase.org\"\n           title=\"BibBase – The easiest way to maintain your publications page.\"\n        ></a>\n    \n  </div>\n  \n\n  <div id=\"bibbase_header\" class=\"dontprint\" style=\"\">\n\n    <ul class=\"nav nav-pills\" style=\"margin: 0px;\">\n\n      <li class=\"dropdown\" id=\"groupby_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\">\n          Group by\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li class=\"groupby year\"><a onclick=\"groupby('year')\">\n            Year</a>\n        </li>\n        <li class=\"groupby author\"><a onclick=\"groupby('author_short')\">\n            Author</a>\n        </li>\n        <li class=\"groupby type\"><a onclick=\"groupby('type')\">\n            Type</a>\n        </li>\n        <li class=\"groupby keyword\"><a onclick=\"groupby('keyword')\">\n            Keyword</a>\n        </li>\n        <li class=\"groupby downloads\"><a onclick=\"groupby('downloads')\">\n            Downloads</a>\n        </li>\n      </ul>\n      </li>\n\n\n      <li class=\"dropdown\" id=\"menu_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\" alt=\"controls\">\n          <i class=\"fa fa-reorder\" alt=\"controls\"></i>\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li>\n          <a onclick=\"toggleAll()\">\n            <i class=\"fa fa-chevron-down fa-fw\"></i> Expand/Collapse All\n          </a>\n        </li>\n        <li>\n          <a download=\"246442\" href=\"data:text/bibtex;base64,@inproceedings{akita_improved_2024,
	address = {New York, NY, USA},
	series = {{TAHRI} '24},
	title = {Improved {Situational} {Awareness} and {Performance} with {Dynamic} {Task}-{Based} {Overlays} for {Teleoperation}},
	isbn = {9798400716614},
	url = {https://dl.acm.org/doi/10.1145/3648536.3648544},
	doi = {10.1145/3648536.3648544},
	abstract = {Teleoperation remains an essential mode of robot control, especially in hazardous, uncertain environments. However, it presents multiple challenges such as latency, limited depth perception and constrained field of view. In this work, we introduce dynamic 2D GUI designs that leverage psychophysics principles to align with human perception and decision-making. These designs seamlessly integrate depth information, force feedback, and system status by overlaying real-time task-relevant data onto either 2D or 3D views. To assess their effectiveness, we compare them with HMD displays. The results indicate superior user task performance, marked by fewer “control mode” switches, reduced errors and collisions, and a 100\% task completion rate. Furthermore, users reported heightened task confidence levels and improved situational awareness when using the dynamic 2D GUI designs.},
	urldate = {2024-06-18},
	booktitle = {Proceedings of the 2024 {International} {Symposium} on {Technological} {Advances} in {Human}-{Robot} {Interaction}},
	publisher = {Association for Computing Machinery},
	author = {Akita, Emmanuel and Zaidner, Guy and Pryor, Mitch},
	month = may,
	year = {2024},
	keywords = {Mobile Manipulator, Situational Awareness, Teleoperation},
	pages = {65--73},
}





@inproceedings{regal_ar-star_2024,
	address = {Boulder, CO, USA},
	title = {{AR}-{STAR}: {An} {Augmented} {Reality} {Tool} for {Online} {Modification} of {Robot} {Point} {Cloud} {Data}},
	isbn = {9798400703232},
	url = {https://utnuclearroboticspublic.github.io/ar-affordances/},
	doi = {https://doi.org/10.1145/3610978.3640571},
	booktitle = {Companion of the 2024 {ACM}/{IEEE} {International} {Conference} on {Human}-{Robot} {Interaction} ({HRI})},
	publisher = {ACM},
	author = {Regal, Frank and Swanbeck, Steven and Parra Gill, Fabian and Pryor, Mitch},
	month = mar,
	year = {2024},
}





@inproceedings{regal_augmented_2023,
	address = {Detroit, MI, USA},
	title = {Augmented {Reality} {User} {Interface} for {Command}, {Control}, and
Supervision of {Large} {Multi}-{Agent} {Teams}},
	url = {https://utnuclearroboticspublic.github.io/Augmented-Robot-Environment/},
	booktitle = {2023 {IEEE}/{RSJ} {IROS} {Second} {International} {Horizons} of an {Extended} {Robotics} {Reality} ({XR}-{ROB}) {Workshop}},
	publisher = {https://arxiv.org/abs/2401.05665},
	author = {Regal, Frank and Suarez, Chris and Parra, Fabian and Pryor, Mitch},
	month = oct,
	year = {2023},
}





@inproceedings{regal_using_2023,
	address = {Detroit, MI, USA},
	title = {Using {Single} {Demonstrations} to {Define} {Autonomous} {Manipulation} {Contact} {Tasks} in {Unstructured} {Environments} via {Object} {Affordances}},
	url = {https://utnuclearroboticspublic.github.io/ar-affordances/},
	doi = {https://doi.org/10.1109/IROS55552.2023.10342493},
	booktitle = {Proceedings of the 2023 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})},
	publisher = {IEEE},
	author = {Regal, Frank and Pettinger, Adam and Duncan, John A. and Parra, Fabian and Akita, Emmanuel and Navarro, Alex and Pryor, Mitch},
	month = oct,
	year = {2023},
}





@mastersthesis{meza_centralized_2023,
	address = {Austin},
	title = {Centralized {Task} {Offloading} on {Distributed} {Remote} {Robot} {Agent}(s) - {Simultaneous} {Localization} and {Mapping}},
	school = {The University of Texas at Austin},
	author = {Meza, Daniel I},
	month = dec,
	year = {2023},
}





@inproceedings{regal_using_2023,
	address = {Detroit, MI, USA},
	title = {Using {Augmented} {Reality} to {Assess} and {Modify} {Mobile}
Manipulator {Surface} {Repair} {Plans}},
	url = {https://utnuclearroboticspublic.github.io/ar-star/},
	booktitle = {2023 {IEEE}/{RSJ} {IROS} {Second} {International} {Horizons} of an {Extended} {Robotics} {Reality} ({XR}-{ROB}) {Workshop}},
	publisher = {https://arxiv.org/abs/2311.00988},
	author = {Regal, Frank and Swanbeck, Steven and Parra, Fabian and Rosenbaum, Jared and Pryor, Mitch},
	month = oct,
	year = {2023},
}





@phdthesis{allevato_multimodal_2020,
	address = {Austin, TX},
	type = {{PhD} {Dissertation}},
	title = {Multimodal sensor learning for perception and task planning in hazardous environments},
	school = {The University of Texas at Austin},
	author = {Allevato, Adam},
	month = may,
	year = {2020},
}





@phdthesis{horn_study_2022,
	address = {Austin, TX},
	type = {{PhD} {Dissertation}},
	title = {Study on the effects of robot behaviors and their interactions on human trust},
	school = {The University of Texas at Austin},
	author = {Horn, Matthew},
	month = dec,
	year = {2022},
}





@phdthesis{oridate_velocity-based_2021,
	address = {Austin, TX},
	type = {{PhD} {Dissertation}},
	title = {Velocity-based robot motion planner for under-constrained trajectories with part-specific geometric variances},
	school = {The University of Texas at Austin},
	author = {Oridate, Ademola},
	month = dec,
	year = {2021},
}





@phdthesis{pettinger_remote_2023,
	address = {Austin, TX},
	type = {{PhD} {Dissertation}},
	title = {Remote robotic manipulation task execution using affordance primitives},
	school = {The University of Texas at Austin},
	author = {Pettinger, Adam},
	month = may,
	year = {2023},
}





@phdthesis{symmank_spatio-temporal_2023,
	address = {Austin, TX},
	type = {{PhD} {Dissertation}},
	title = {Spatio-temporal object persistence modeling and semantics for long-term robot navigation},
	school = {The University of Texas at Austin},
	author = {Symmank, Meredith},
	month = nov,
	year = {2023},
}





@inproceedings{pryor_radiation_2023,
	address = {London, UK},
	title = {Radiation {Surveys} in {Active} {Nuclear} {Facilities} with {Heterogeneous} {Collaborative} {Mobile} {Robots}},
	booktitle = {{IEEE}/{ICRA} {Workshop} on {Heterogeneous} multi-robot cooperation for exploration and science in extreme environments},
	author = {Pryor, Mitch and Navarro, Alex and Panthi, Janak and Torres, Kevin and Tebben, Mary and I Meza, Daniel and Horan, Caleb and Macris, Alex},
	month = jun,
	year = {2023},
}













@phdthesis{allevato_multimodal_2020,
	type = {{PhD} {Dissertation}},
	title = {Multimodal sensor learning for perception and task planning in hazardous environments},
	school = {The University of Texas at Austin},
	author = {Allevato, Adam},
	month = may,
	year = {2020},
}





@mastersthesis{navarro_sensor-aligned_2023,
	title = {Sensor-{Aligned} {Coverage} {Planning} for {Mobile} {Robots} in {Complex} {3D} {Environments}},
	school = {The University of Texas at Austin},
	author = {Navarro, Alex},
	month = may,
	year = {2023},
}





@mastersthesis{kesler_assessment_2022,
	title = {Assessment of a {Velocity}-{Based} {Robot} {Motion} {Planner} for {Surface} {Preparation} with {Geometric} {Uncertainty}},
	school = {The University of Texas at Austin},
	author = {Kesler, Dalton},
	month = aug,
	year = {2022},
}





@mastersthesis{nambiar_autonomous_2021,
	title = {Autonomous {Search} for {Gas} {Source} {Localization}},
	school = {The University of Texas at Austin},
	author = {Nambiar, Zahin},
	month = aug,
	year = {2021},
}





@mastersthesis{jennings_manipulator_2021,
	title = {Manipulator {Control} in {Collaborative} {Assembly}},
	school = {The University of Texas at Austin},
	author = {Jennings, Mark},
	month = aug,
	year = {2021},
}





@mastersthesis{abeyta_self_2021,
	title = {Self {Exploration} and {Mapping} for {Indoor} {Robotic} {Applications}},
	school = {The University of Texas at Austin},
	author = {Abeyta, Adrian},
	month = may,
	year = {2021},
}





@article{anderson_optimization_2023,
	title = {Optimization {Strategies} for {Bayesian} {Source} {Localization} {Algorithms}},
	volume = {Vol 20},
	doi = {http://doi.org/10.1109/TASE.2022.3154228},
	number = {1},
	journal = {IEEE Transactions on Automation Science and Engineering},
	author = {Anderson, Blake and Pehlivanturk, Can and Pryor, Mitch},
	month = jan,
	year = {2023},
	pages = {pp 394--403},
}





@inproceedings{petlowany_gaze-based_2023,
	address = {Boston, MA},
	title = {Gaze-{Based} {Augmented} {Reality} {Interfaces} for {Micro}- and {Macro}-{Scale} {Tasks}},
	booktitle = {Proceedings of the {ASME} {International} {Design} \& {Engineering} {Technical} {Conference}},
	publisher = {ASME},
	author = {Petlowany, Christina and Pryor, Mitch},
	month = aug,
	year = {2023},
}





@inproceedings{akita_object_2023,
	address = {Busan, South Korea},
	title = {Object {Identification} {Using} {Augmented} {Reality} {With} {Haptic} {Feedback}},
	booktitle = {Proceedings of the 32nd {IEEE} {International} {Conference} on {Robot} and {Human} {Interactive} {Communication} ({IEEE}/{RO}-{MAN})},
	publisher = {IEEE},
	author = {Akita, Emmanuel and Regal, Frank and Torres, Kevin and Majewicz Fey, Ann and Pryor, Mitch},
	month = aug,
	year = {2023},
}





@article{valner_unified_2022,
	title = {Unified {Meaning} {Representation} {Format} ({UMRF})-{A} {Task} {Description} and {Execution} {Formalism} for {HRI}},
	volume = {11},
	doi = {https://doi.org/10.1145/3522580},
	number = {4},
	journal = {ACM Transactions on Human-Robot Interaction (THRI)},
	author = {Valner, Robert and Wanna, Selma and Kruusamae, Karl and Pryor, Mitch},
	month = aug,
	year = {2022},
	pages = {1--25},
}





@inproceedings{tankasala_accelerating_2023,
	address = {Philadelphia, PA, USA},
	title = {Accelerating trajectory generation for quadrotors using transformers},
	url = {https://proceedings.mlr.press/v211/tankasala23a.html},
	booktitle = {Proceedings of {Learning} for {Dynamics} and {Control} {Conference}},
	publisher = {Proceedings of Machine Learning Research},
	author = {Tankasala, Srinath and Pryor, Mitch},
	month = jun,
	year = {2023},
}





@inproceedings{navarro_autonomous_2022,
	address = {Los Alamos National Laboratory, USA},
	title = {Autonomous {Alpha} {Radiation} {Survey} {Using} {Mobile} {Robotic} {Platforms}},
	author = {Navarro, Alex and Torres, Kevin and Hatler, Caleb and Tebben, Mary and Panthi, Janak and Meza, Daniel I. and Pryor, Mitch},
	month = aug,
	year = {2022},
}





@article{pettinger_versatile_2022,
	title = {A {Versatile} {Affordance} {Modeling} {Framework} {Using} {Screw} {Primitives} to {Increase} {Autonomy} {During} {Manipulation} {Contact} {Tasks}},
	volume = {7},
	url = {https://ieeexplore.ieee.org/abstract/document/9794598},
	doi = {https://doi.org/10.1109/LRA.2022.3181732},
	number = {3},
	journal = {IEEE Robotics and Automation Letters},
	author = {Pettinger, Adam and Alambeigi, Farshid and Pryor, Mitch},
	month = jul,
	year = {2022},
	pages = {7224--7231},
}





@inproceedings{allevato_model_2021,
	address = {Virtual},
	title = {Model and {Controller} {Adaption} while {Learning} {Human} {Preferences}},
	booktitle = {Proceedings of the 35th {AAAI} {Conference} on {Artificial} {Intelligence}},
	publisher = {Proceedings of the 35th AAAI Conference on Artificial Intelligence},
	author = {Allevato, Adam and Pryor, Mitch and Thomaz, Andrea},
	month = mar,
	year = {2021},
}





@inproceedings{anderson_optimization_2022,
	address = {Kyoto, Japan},
	title = {Optimization strategies for {Bayesian} source localization algorithms},
	publisher = {IEEE International Conference on Intelligent Robots and Systems (IROS), In Press},
	author = {Anderson, Blake and Pehlivanturk, Can and Pryor, Mitch},
	year = {2022},
}





@article{anderson_optimization_2022,
	title = {Optimization strategies for {Bayesian} source localization algorithms},
	url = {10.1109/TASE.2022.3154228},
	doi = {10.1109/TASE.2022.3154228},
	journal = {IEEE Transactions on Automation Science and Engineering},
	author = {Anderson, Blake and Pehlivanturk, Can and Pryor, Mitch},
	year = {2022},
	pages = {pages 1--10},
}





@inproceedings{tankasala_smooth_2022,
	address = {London, UK},
	title = {Smooth {Near} {Time} {Optimal} {Trajectory} generation for {Drones}},
	booktitle = {Proceedings of the {European} {Control} {Conference} 2022},
	publisher = {Proceedings of the European Control Conference 2022},
	author = {Tankasala, Srinath and Pehlivanturk, Can and Bakolas, Efstathios and Pryor, Mitch},
	month = jul,
	year = {2022},
}





@inproceedings{tankasala_near_2022,
	address = {Dubrovnik, Croatia},
	title = {Near {Minimum} {Time} {Trajectory} generation for {Surveying} using {UAVs}},
	booktitle = {Proceedings of the {International} {Conference} of {Unmanned} {Aerial} {Systems} 2022},
	publisher = {Proceedings of the International Conference of Unmanned Aerial Systems 2022},
	author = {Tankasala, Srinath and Pehlivanturk, Can and Pryor, Mitch},
	month = jun,
	year = {2022},
}





@inproceedings{regal_augre_2022,
	address = {Naples, Italy},
	title = {{AugRE}: {Augmented} {Robot} {Environment} to {Facilitate} {Human}-{Robot} {Teaming} and {Communication}},
	booktitle = {31st {IEEE} {International} {Conference} on {Robot} \& {Human} {Interactive} {Communication} ({RO}-{MAN})},
	publisher = {IEEE},
	author = {Regal, Frank and Petlowany, Christina and Sice, Corrie Van and Suarez, Chris and Anderson, Blake and Pryor, Mitch},
	year = {2022},
}





@article{allevato_iterative_2020,
	title = {Iterative residual tuning for system identification and sim-to-real robot learning},
	volume = {44},
	url = {https://link.springer.com/article/10.1007/s10514-020-09925-w},
	number = {7},
	journal = {Autonomous Robots},
	author = {Allevato, Adam and Short, Elaine and Pryor, Mitch and Thomaz, Andrea},
	month = sep,
	year = {2020},
	pages = {1167--1182},
}





@article{allevato_multi-parameter_2020,
	title = {Multi-parameter real-world system identification using iterative residual tuning},
	doi = {https://doi.org/10.1115/1.4050679},
	journal = {ASME Journal of Mechanisms and Robotics},
	author = {Allevato, Adam and Pryor, Mitch and Thomaz, Andrea},
	month = sep,
	year = {2020},
}





@inproceedings{allevato_multi-parameter_2020,
	address = {St. Louis, MO},
	title = {Multi-parameter real-world system identification using iterative residual tuning},
	url = {https://doi.org/10.1115/1.4050679},
	doi = {https://doi.org/10.1115/1.4050679},
	booktitle = {Proceedings of the {ASME} {International} {Design} and {Technical} {Conference}},
	author = {Allevato, Adam and Pryor, Mitch and Thomaz, Andrea},
	month = aug,
	year = {2020},
}





@inproceedings{allevato_learning_2020,
	address = {Corvallis, OR},
	title = {Learning labeled robot affordance models by using simulation and crowdsourcing},
	url = {http://roboticsproceedings.org/rss16/p037.pdf},
	author = {Allevato, Adam and Short, Elaine and Pryor, Mitch and Thomaz, Andrea},
	month = jul,
	year = {2020},
}





@inproceedings{allevato_tunenet_2019,
	address = {Osaka, Japan},
	title = {{TuneNet}: {One}-{Shot} {Simulation} {Tuning} for {Physics} {Prediction} and {Robot} {Task} {Planning}},
	shorttitle = {{1G}-04},
	url = {http://proceedings.mlr.press/v100/allevato20a.html},
	author = {Allevato, Adam and Short, Elaine Schaertl and Pryor, Mitch and Thomaz, Andrea},
	month = oct,
	year = {2019},
}





@inproceedings{allevato_tunenet_2020,
	title = {Tunenet: {One}-shot residual tuning for system identification and sim-to-real robot task transfer},
	url = {https://arxiv.org/abs/1907.11200},
	booktitle = {Conference on {Robot} {Learning}},
	publisher = {PMLR},
	author = {Allevato, Adam and Short, Elaine and Pryor, Mitch and Thomaz, Andrea},
	month = may,
	year = {2020},
	pages = {445--455},
}





@inproceedings{pettinger_reducing_2020,
	address = {Nevada, USA},
	title = {Reducing the {Teleoperator}'s {Cognitive} {Burden} for {Complex} {Contact} {Tasks} {Using} {Affordance} {Primitives}},
	url = {http://dx.doi.org/10.1109/IROS45743.2020.9341576},
	doi = {http://dx.doi.org/10.1109/IROS45743.2020.9341576},
	booktitle = {Proceedings of the {IEEE} {International} {Conference} on {Robots} and {Systems}},
	publisher = {IEEE},
	author = {Pettinger, Adam and Elliot, Cassidy and Fan, Pete and Pryor, Mitch},
	month = oct,
	year = {2020},
}





@inproceedings{oridate_robot_2021,
	address = {Virtual},
	title = {Robot {Motion} {Planner} for {Under}-constrained {Trajectories} with {Part}-{Specific} {Geometric} {Variances}},
	url = {https://idetc.secure-platform.com/a/solicitations/159/sessiongallery},
	booktitle = {Proceedings of the {ASME} 2021 {International} {Design} and {Engineering} {Technical} {Conference}},
	publisher = {ASME},
	author = {Oridate, Ademola and Pryor, Mitch and Seepersad, Carolyn},
	month = aug,
	year = {2021},
	pages = {1--9},
}





@inproceedings{valner_temoto_2021,
	address = {Virtual},
	title = {{TeMoto}: {A} {Software} {Framework} for {Supporting} {Mixed}-{Modality} {Command} {Inputs} {Necessary} for {Integration} of {Nonverbal}-{HRI}},
	url = {https://humanrobotinteraction.org/2021/workshops/},
	booktitle = {{ACM}/{IEEE} {International} {Conference} on {HRI} {Workshop}: {Exploring} {Applications} for {Autonomous} {Non}-{Verbal} {Human} {Robot} {Interactions}},
	publisher = {IEEE},
	author = {Valner, Robert and Wanna, Selma and Pryor, Mitch and Kruusamae, Karl},
	month = mar,
	year = {2021},
}





@inproceedings{horn_non-verbal_2021,
	address = {Virtual},
	title = {Non-{Verbal} {Behaviors} and {Hidden} {Hazards}: an {Interactions} {Study}},
	url = {https://humanrobotinteraction.org/2021/workshops/},
	booktitle = {{ACM}/{IEEE} {International} {Conference} on {HRI} {Workshop}: {Exploring} {Applications} for {Autonomous} {Non}-{Verbal} {Human} {Robot} {Interactions}},
	publisher = {IEEE},
	author = {Horn, Matthew and Pryor, Mitch},
	month = mar,
	year = {2021},
}





@article{allevato_iterative_2020,
	title = {Iterative {Residual} {Tuning} for {System} {Identification} and {Sim}-to-{Real} {Robot} {Learning}},
	volume = {44},
	doi = {https://doi.org/10.1007/s10514-020-09925-w},
	journal = {Autonomous Robots},
	author = {Allevato, Adam and Shaertl Short, Elaine Shaertl and Pryor, Mitch and Thomaz, Andrea Lockerd},
	month = jun,
	year = {2020},
	pages = {1167--1182},
}





@article{hashem_design_2021,
	title = {Design of a {Computed} {Tomography} {Automation} {Architecture}},
	volume = {11},
	doi = {https://doi.org/10.3390/app11062858},
	number = {6},
	journal = {Journal of Applied Sciences},
	author = {Hashem, Nicholas and Pryor, Mitchell and Haas, Derek and Hunter, James},
	month = mar,
	year = {2021},
	pages = {2858},
}





@article{andrew_virtual_2020,
	title = {Virtual fixture generation for task planning with geometries},
	volume = {21},
	doi = {https://doi.org/10.1115/1.4049993},
	journal = {ASME Journal of Computing and Information Science in Engineering},
	author = {Andrew, Sharp and Pryor, Mitch},
	month = dec,
	year = {2020},
	pages = {1--16},
}





@article{anderson_mobile_2020,
	title = {Mobile {Robotic} {Radiation} {Surveying} with {Recursive} {Bayesian} {Estimation} and {Attenuation} {Modelling}},
	doi = {10.1109/TASE.2020.3036808},
	journal = {IEEE Transactions on Automation Science and Engineering},
	author = {Anderson, Blake and Pryor, Mitch and Abeyta, Adrian and Landsberger, Sheldon},
	month = nov,
	year = {2020},
	note = {Print ISSN: 1545-5955
Electronic ISSN: 1558-3783},
	pages = {1--15},
}









@mastersthesis{suarez_3d_2019,
	title = {A {3D} obstacle detection system for a complex mobile robot in a hazardous underground tunnel environment},
	url = {https://repositories.lib.utexas.edu/handle/2152/77434},
	abstract = {This thesis presents a 3D obstacle detection system developed for use in the H-Canyon Air Exhaust (HCAEX) tunnel project.  The HCAEX tunnel is a harsh environment with positive, negative, and hanging obstacles along with a muddy uneven floor.  The mobile platform developed to explore this tunnel is highly complex and requires advanced knowledge of its state relative to the environment.  A LiDAR sensor was identified and a Robot Operating System (ROS) package was developed to detect obstacles in 3D while accounting for the challenges presented by the project.  Tests were performed in two outdoor environments and an HCAEX mock tunnel environment.  Results showed that the obstacle detection system correctly identified obstacles in the environments at both roll and pitch states up to 45°, though further refinement and implementation can be performed.},
	language = {en},
	urldate = {2020-05-08},
	author = {Suarez, Christopher William},
	month = may,
	year = {2019},
	doi = {http://dx.doi.org/10.26153/tsw/4523},
	doi = {http://dx.doi.org/10.26153/tsw/4523},
	note = {Accepted: 2019-10-25T14:56:12Z},
}





@phdthesis{anderson_development_2020,
	type = {Dissertation},
	title = {Development of {Mobile} {Platform} for {Inventory} and {Inspection} {Applications} in {Nuclear} {Environments}},
	school = {The University of Texas at Austin},
	author = {Anderson, R. Blake},
	month = may,
	year = {2020},
}





@inproceedings{anderson_mobile_2019,
	title = {Mobile {Robotic} {Radiation} {Surveying} {Using} {Recursive} {Bayesian} {Estimation}},
	doi = {http://doi.org/10.1109/COASE.2019.8843064},
	abstract = {Nuclear facilities require wide-area surveys and remote response to the detection of abnormal radiation levels. These typically require a large number of measurement locations using fixed search patterns. Such approaches are time-consuming, require extended radiation exposure, and are difficult to routinely replicate by technicians. This paper presents an automated method of detecting and locating single or multiple small gamma-ray sources in an unstructured environment, requiring significantly fewer measurements than traditional methods and without a need for post-processing. A mobile robot can collect higher-precision data than practically possible by a human and removes the technician from the radiation area. This is enabled by addressing complexities that previously made automation difficult including supervisory control, obstacle avoidance, sensor positioning over a large height range, recognizing environmental complexities (shielding, etc and modifying survey parameters based on aberrant readings. The developed solution uses a mobile platform with a height-adjustable (up to 2.44 meters) radiation detector. Recursive Bayesian Estimation (RBE) is used to update a probability distribution of the location and intensity of source(s) after each measurement. The likelihood function is determined using radiation transport and detector models. Isotopic identification via a gamma library search aids data analysis by distinguishing counts from different sources. Computation considerations are discussed including predicting and localizing multiple sources.},
	booktitle = {2019 {IEEE} 15th {International} {Conference} on {Automation} {Science} and {Engineering} ({CASE})},
	author = {Anderson, Blake and Pryor, Mitch and Landsberger, Sheldon},
	month = aug,
	year = {2019},
	note = {ISSN: 2161-8089},
	keywords = {Bayes methods, Detectors, Estimation, Hardware, Probability and Statistical Methods, Robot sensing systems, Robotics in Hazardous Fields, Uncertainty, abnormal radiation levels, automated method, collision avoidance, data analysis, detector models, environmental complexities, fixed search patterns, gamma library search, gamma-ray sources, height range, height-adjustable, higher-precision data, measurement locations, mobile platform, mobile robot, mobile robotic radiation surveying, mobile robots, nuclear facilities, probability, radiation area, radiation detection, radiation exposure, radiation transport, recursive Bayesian Estimation, recursive Bayesian estimation, remote response, search problems, supervisory control, survey parameters, wide-area surveys},
	pages = {1187--1192},
}





@mastersthesis{pettinger_development_2019,
	title = {Development of an {Elastic} and {Compliant} {Manipulator} to {Perform} {Contact} {Tasks} in {Hazardous} and {Uncertain} {Environments}},
	school = {The University of Texas at Austin},
	author = {Pettinger, Adam},
	month = may,
	year = {2019},
}





@article{chan_development_2020,
	title = {Development and {Validation} of a {Scenario}-{Based} {Drilling} {Simulator} for {Training} and {Evaluating} {Human} {Factors}},
	volume = {50},
	doi = {10.1109/THMS.2020.2969014},
	number = {4},
	journal = {EEE Transactions on Human-Machine Systems},
	author = {Chan, Hong-Chih and Lee, Melissa and Saini, Gurtej and Pryor, Mitch and Van Oort, Eric},
	month = aug,
	year = {2020},
	pages = {327--336},
}





@article{valner_unified_2020,
	title = {Unified {Meaning} {Representation} {Format} ({UMRF}) - {A} {Task} {Description} and {Execution} {Formalism} for {HRI}},
	journal = {Transactions on Human Robot Interactions},
	author = {Valner, Robert and Wanna, Selma and Pryor, Mitch and Kruusamae, Karl},
	month = oct,
	year = {2020},
}





@inproceedings{sharp_operator_2017,
	title = {Operator training for preferred manipulator trajectories in a glovebox},
	doi = {10.1109/ARSO.2017.8025193},
	abstract = {We consider the problem of operator comfort levels with manipulator trajectories in heavily constrained, co-robotic environments. To reduce anxiety and improve user comfort, a trajectory learning system is trained using a set of specified environmental features associated with a waste sorting task. A Trajectory Preference Perceptron was used to learn desired operator feature weights via iterative suboptimal but improved trainer feedback thus relieving the operator of the burden of providing optimal feedback. The object feature weights are stored and updated to handle a fluid environmental scene. A pool of robotics students spanning a range of experience from novice undergraduates to doctoral candidates provided qualitative results to evaluate the method's effectiveness.},
	booktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},
	author = {Sharp, Andrew and Horn, Matthew W. and Pryor, Mitch},
	month = mar,
	year = {2017},
	note = {ISSN: 2162-7576},
	keywords = {Collision avoidance, Grippers, Hardware, Manipulators, Training, Trajectory, anxiety reduction, control engineering education, data gloves, environmental features, feedback, fluid environmental scene, glovebox, heavily constrained corobotic environment, iterative learning control, iterative suboptimal, learning systems, manipulator trajectories, manipulators, operator comfort level, operator feature weights, operator training, optimal feedback, robotics students, suboptimal control, telerobotics, trainer feedback, training, trajectory control, trajectory learning system training, trajectory preference perceptron, user comfort, waste sorting task},
	pages = {1--6},
}





@inproceedings{vunder_temoto2_2018,
	address = {Phoenix, AZ},
	title = {{TeMoto2}: {Source} {Agnostic} {Command}-to-{Task} {Architecture} {Enabling} {Increased} {Autonomy} in {Remote} {Systems}},
	url = {https://www.xcdsystem.com/wmsym/2018/015.html#18370},
	booktitle = {Proceeding of the 2018 {Waste} {Management} {Symposium}},
	author = {Vunder, Veiko and Valner, Robert and Pryor, Mitch and Kruusamäe, Karl and Zelenak, Andy},
	month = mar,
	year = {2018},
	note = {Conference Superior Paper},
}





@inproceedings{pitsch_self-navigating_2018,
	address = {Phoenix, AZ},
	title = {Self-navigating robotic assistant for long-term wide area floor contamination monitoring},
	url = {https://www.xcdsystem.com/wmsym/2018/015.html#18370},
	doi = {https://www.xcdsystem.com/wmsym/2018/126.html#18213},
	booktitle = {Proceeding of the 2018 {Waste} {Management} {Symposium}},
	author = {Pitsch, Meredith and Anderson, Blake and Dewey, Zachary and Pryor, Mitch},
	month = mar,
	year = {2018},
}





@inproceedings{zelenak_dual-arm_2018,
	address = {Galveston, TX},
	title = {Dual-arm manipulation using {TeMoto} interface utilized for remote completion of tasks in hazardous environments},
	url = {https://www.sprintrobotics.org/list-of-conference-presentations/},
	publisher = {Sprint Robotics},
	author = {Zelenak, Andy and Pryor, Mitch and Barnes, Allison and Potapinski, Russell},
	month = nov,
	year = {2018},
}





@inproceedings{pitsch_autonomous_2018,
	address = {Galveston, TX},
	title = {Autonomous mobile sensor survey system for uncertain, changing environments},
	url = {https://www.sprintrobotics.org/list-of-conference-presentations/},
	publisher = {Sprint Robotics},
	author = {Pitsch, Meredith and von Sternberg, Alex and Pryor, Mitch},
	month = nov,
	year = {2018},
}





@inproceedings{pitsch_obstacle_2019,
	title = {Obstacle {Persistent} {Adaptive} {Map} {Maintenance} for {Autonomous} {Mobile} {Robots} using {Spatio}-temporal {Reasoning}},
	doi = {10.1109/COASE.2019.8843095},
	abstract = {Mobile robotic systems operate in increasingly realistic scenarios even as users have increased expectations for the duration of autonomous tasks. Mobile robots face unique challenges when operating in environments that change over time, where systems must maintain an accurate representation of the environment with respect to both spatial and temporal dimensions. This paper describes a spatio-temporal technique for extending the autonomy of a mobile robot in a changing environment. This new technique called Obstacle Persistent Adaptive Map Maintenance (OPAMM) uses navigation data collected during normal operations to perform periodic self-maintenance of its environment model. OPAMM implements a probabilistic feature persistence model to predict the survival state of obstacles and update the world model. Maintaining an accurate world model is necessary for extending the long-term autonomy of robots in realistic scenarios. Results show that robots using OPAMM had localizations scores higher than other methods, thus reducing long-term localization degradation.},
	booktitle = {2019 {IEEE} 15th {International} {Conference} on {Automation} {Science} and {Engineering} ({CASE})},
	author = {Pitsch, Meredith L. and Pryor, Mitchell W.},
	month = aug,
	year = {2019},
	note = {ISSN: 2161-8089},
	keywords = {Automation, Computer aided software engineering, Conferences, OPAMM, autonomous mobile robots, autonomous tasks, changing environment, environment model, long-term localization degradation, mobile robotic systems, mobile robots, obstacle persistent adaptive map maintenance, periodic self-maintenance, probabilistic feature persistence model, spatial dimensions, spatio-temporal reasoning, spatio-temporal technique, temporal dimensions, temporal reasoning},
	pages = {1023--1028},
}





@phdthesis{mcmahon_perception_2019,
	type = {Thesis},
	title = {Perception pipeline for remote tunnel inspection rover},
	url = {https://repositories.lib.utexas.edu/handle/2152/78529},
	abstract = {Architectural structures require routine structural inspections, and these checks are increasingly performed by remote robotic systems. Inspections often meet all of the traditional "three D's" of robotics - Dull, Dirty, and Dangerous - and may be highly suited to automation. Underground tunnel systems present a particularly important opportunity for robots because these systems may have environmental hazards which make human deployment untenable. Unfortunately, tunnels are also a challenging environment for robots because they feature high self-similarity which makes localization along the tunnel axis difficult, in particular for cases where rough terrain renders odometry information unreliable. 
 
Here a platform-agnostic pipeline is presented for tunnel mapping and inspection. This system features tools to automatically segment the various concrete surfaces of the tunnel and individually analyze them for damage. A novel feature-based registration routine is also presented to overcome the localization challenges inherent in tunnels. The pipeline was validated using a LiDAR-based sensor tree and its performance in terms of registration and depth mapping accuracy was extensively tested. The registration methods utilized here do not depend on odometry or the use of registration targets and were shown to outperform contemporary approaches which are standard in industry.},
	language = {en},
	urldate = {2020-05-10},
	author = {McMahon, Conor Alexander},
	month = may,
	year = {2019},
	doi = {http://dx.doi.org/10.26153/tsw/5585},
	doi = {http://dx.doi.org/10.26153/tsw/5585},
	note = {Accepted: 2019-11-21T16:49:02Z},
}





@misc{oridate_improving_2019,
	address = {Austin, TX},
	type = {Invited {Talk}},
	title = {Improving the strength of additively manufactured concrete structures via intra and inter-layer fiber reinforcement},
	abstract = {Additive manufacturing of concrete structures (via an extrusion-based process) enables the construction of structures with more complex geometries than a traditional (casting) process would allow. Engineers and designers can take advantage of this possibility to design structures with more appealing aesthetics or better optimized for strength, thermal insulation and other desired properties while minimizing material use and weight. However, this process poses a number of challenges due to layering effects. One such challenge is the compromise in strength of structures due to insufficient reinforcement and inter-layer adhesion. This research seeks to minimize this effect by exploring the use of fibers as inclusions in the concrete mix and as reinforcement between layers. Reinforced walls are tested using a four-point bending test and the results show a significant increase in strength compared to walls without reinforcement.},
	author = {Oridate, Ademola and Uitz, Oliver and Aleem, Ali and Seepersad, Carolyn and Pryor, Mitch and Clayton, Patricia},
	month = aug,
	year = {2019},
}





@misc{pryor_add_2020,
	address = {Detroit, MI},
	type = {Presentation},
	title = {Add new {SAE} title},
	abstract = {Add abstract here},
	author = {Pryor, Mitch},
	month = jun,
	year = {2020},
}





@misc{anderson_sensor_2015,
	address = {Seattle, WA},
	type = {Poster},
	title = {Sensor fusion for autonomous remote inventory validation},
	author = {Anderson, Blake and Allevato, Adam and von Sternberg, Alex and Thompson, Jack and Pryor, Mitch},
	month = may,
	year = {2015},
}





@misc{pryor_robotics_2019,
	address = {Austin, TX},
	type = {Invited {Talk}},
	title = {Robotics: {Transformational} {Tools} for {Industry}, {Mobility}, and {More}},
	url = {https://www.austinforum.org/events.html},
	author = {Pryor, Mitch and Jared, Carl},
	month = jul,
	year = {2019},
}





@misc{allevato_learning_2019,
	address = {Freiburg, Germay},
	type = {Poster},
	title = {Learning {A} {Human}-{Centered} {Representation} of {Robot} {Affordance} {Models}},
	url = {https://sites.google.com/view/rss19-learning-and-reasoning},
	author = {Allevato, Adam and Short, Elaine and Pryor, Mitch and Thomaz, Andrea},
	month = jun,
	year = {2019},
}









@inproceedings{sharp_semiautonomous_2017,
	title = {Semiautonomous dual-arm mobile manipulator system with intuitive supervisory user interfaces},
	copyright = {All rights reserved},
	doi = {10.1109/ARSO.2017.8025195},
	abstract = {This paper presents the VaultBot dual-arm mobile manipulator and its integration with Robot Operating System, MoveIt!, and RViz, and thus demonstrate how two chronic issues with similar systems were addressed: overly complex integration and user control. Multiple levels of semi-autonomous control were developed for the base, manipulator(s), and coordinated motions involving both. Lower levels of autonomy are always available to increase operator comfort. In order to combat cognitive load increases from context switching the control methods take a human-centered approach by automatically adjusting perspective to keep tasks visualized relative to the operator. Sensor data is fused into a single window alongside the current robot state. These approaches are considered highly intuitive and can be used as effectively as socially well-established mouse-based interactive markers for teleoperation in even high-precision tasks.},
	booktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},
	author = {Sharp, A. and Kruusamäe, K. and Ebersole, B. and Pryor, M.},
	month = mar,
	year = {2017},
	keywords = {Hardware, Levels of autonomy, Manipulators, Mobile communication, MoveIt!, ROS, ROS-I, RViz, Robot kinematics, Robot sensing systems, Service robots, VaultBot dual-arm mobile manipulator, high-precision, human-centered approach, human-robot interaction, industrial manipulators, intuitive supervisory user interfaces, manipulators, mobile robots, motion coordination, mouse-based interactive markers, overly complex integration, robot operating system, robot programming, scalable, semi-autonomous behavoirs, semiautonomous dual-arm mobile manipulator system, sensor data fusion, sensor fusion, teleoperation, telerobotics, user control, user interfaces},
	pages = {1--6},
}





@inproceedings{hashem_demonstrating_2016,
	address = {Pittsburgh, PA},
	title = {Demonstrating autonomous and robust sorting in a glovebox environment},
	publisher = {ANS},
	author = {Hashem, Joseph and Landsberger, Sheldon and Pryor, Mitch},
	month = aug,
	year = {2016},
}





@phdthesis{pryor_complex_1999,
	type = {Thesis},
	title = {Complex task completion with redundant serial manipulators},
	copyright = {Copyright is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.},
	language = {eng},
	urldate = {2020-05-10},
	author = {Pryor, Mitchell Wayne},
	month = dec,
	year = {1999},
}





@phdthesis{pryor_task-based_2002,
	type = {Dissertation},
	title = {Task-based resource allocation for improving the reusability of redundant manipulators},
	copyright = {Copyright is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.},
	url = {https://repositories.lib.utexas.edu/handle/2152/11118},
	abstract = {Because of its increased range of resources, a redundant/reconfigurable 
robot has the potential to be deployed for a variety of applications saving time and 
money. This work provides decision tools which increase the utility of deployed 
manipulators by operating them intuitively and economically in terms of a 
broader set of tasks while maximizing performance. System utility is expanded 
by developing a general decision making strategy that decreases the burden on 
operators who have little or no robotics expertise yet must operate the system. 
This utility function is a Redundancy Resolution Strategy. (RRS) 
The RRS uses a generalized, parametric system manipulator model and a 
large set of criteria to compare the capabilities of the infinite number of joint 
configurations available. The RRS then selects and prioritizes a subset of criteria 
that are appropriate in a given situation by evaluating critical boundaries 
associated with manipulator constraints and/or task description. The RRS is 
paired with a Redundancy Resolution Technique (RRT) which determines, in real- 
 vii 
time, the best configuration in terms of the selected criteria. Together, the criteria 
and these components are the Decision Making System (DMS). 
Most DMS components have received attention at the University of Texas 
and elsewhere, but the RRS and component integration has been largely dismissed 
as implementation detail. This ‘detail’ is largely responsible for the lack of 
success in deploying redundant/reconfigurable systems. If the advantages of 
these systems are to be realized, we must apply physically meaningful criteria to 
determine the best allocation of redundant resources by creating a procedure to 
select a subset of appropriate criteria. The selected criteria must improve 
performance so that a larger number of tasks are possible. The burden on the 
operator, task completion time, and time required to prepare for a new task all 
must be reduced. The life of the manipulator is also increased by using resources 
efficiently. By managing resource allocation correctly, the RRS can also remove 
the need for intervention by an expensive ‘robotics expert.’ The selected RRT, 
reviewed performance criteria, and proposed RRS are implemented using existing 
operational software and used to complete several complex simulated tasks.},
	language = {eng},
	urldate = {2020-05-10},
	author = {Pryor, Mitchell Wayne},
	month = may,
	year = {2002},
	note = {Accepted: 2011-05-05T19:36:07Z
Artwork Medium: electronic
Interview Medium: electronic},
}





@phdthesis{steinfeld_criteria_2009,
	type = {Thesis},
	title = {Criteria based evaluation of stopping trajectories in serial manipulators},
	url = {https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2009-12-397},
	abstract = {In the past few years, there has been a large push towards adapting traditional industrial manipulators to other, more consumer-centric applications [1]. These include not only house and elderly care, but also towards medical applications that manipulators may be especially suited for, such as rehabilitation of patients who have suffered neurological trauma [2]. Impeding this push are the strict safety requirements necessary to certify a manipulator for use. These requirements include low speed operation and preventing humans from entering the manipulator workspace [3]. These restrictions effectively prevent a manipulator from being used in many of these applications. Previous work done in manipulator safety research has focused on improving the system’s knowledge of its environment and controlling the manipulator’s motion to keep away from potential hazards. These methods are extremely important in terms of avoiding potential collisions but provide little insight into the situation that occurs once a hazard occurs and the manipulator is forced to react. In order to improve upon the ability to evaluate a manipulator’s overall safety, this report establishes a framework to evaluate the capacity of a manipulator to safely “halt” itself. Two sets of criteria are presented in this report. The first set seeks to
quantify both the potential of the manipulator to avoid a collision during the stopping motion and the potential severity of the collision. The second set of criteria quantifies the effect of the stopping motion at the actuator level, allowing the operator to identify potential hardware faults and the capacity to which the actuators are performing. A framework for mapping the manipulator’s actuator parameters for the gear reduction ratio and the motor torque to the potential safety criteria performance is formulated to allow the manipulator designer to match task requirements to the manipulator design. Finally, an examination of the effects on operating parameters such as manipulator configuration, end-effector load, and operating speed is presented with a 6DOF industrial manipulator. This analysis showed that the operating speed of the manipulator is the most important determinant of the safety performance, with the distance traveled by the manipulator increasing by a factor of 15 for all configurations when the speed is increased only by a factor of four. Recommendations for the application of these criteria are presented to the reader as well.},
	language = {eng},
	urldate = {2020-05-10},
	author = {Steinfeld, Bryan Christopher},
	month = dec,
	year = {2009},
	note = {(reader)},
}





@phdthesis{hoss_case-based_2016,
	type = {Thesis},
	title = {Case-based drilling curricula using integrated {HIL} simulator and remote collaboration center},
	url = {https://repositories.lib.utexas.edu/handle/2152/44625},
	abstract = {The university educational system has raised many concerns in recent years regarding the effectiveness of its curricula and implementation. The focus on course-based training in engineering programs does not provide students sufficient opportunities to apply the attained knowledge and skills to demonstrate their competency. To address this deficiency of academia, industry spends millions of dollars building development programs and on-the-job training. This creates an opportunity for the universities to address this deficiency and increase their students’ marketability, while also addressing problem solving in their curricula. Inspired by a successful program developed and offered at Harvard Business School, the advantages and disadvantages of the case-based method was investigated. It was concluded that the students can benefit the most from a combination of existing educational and case-based curricula elements. Further research expressed the engineering students’ interest and positive feedbacks towards utilization of this method supported by statistical analysis. The aviation industry experienced a great training cost reduction and eliminated the on-the-training accidents after adopting simulators to train their workforce. This encouraged the Drilling \& Automation team at University of Texas at Austin to develop the existing surface simulator further and utilize it as a tool to train the next generation of engineers to carry out the appropriate performance at the time of failure and emergencies. By considering various effective skills development methods such as Triadic method and Kolb’s Four-Stage Learning Cycle, ten case-based laboratories were designed and proposed. These open-ended student-led laboratories provide the opportunity for students to experience life-like challenges associated with drilling operations using a realistic up-to-date virtual drilling simulator. Students are divided in teams and assigned to different roles (drilling engineer, remote supervising engineer, etc.) where they are required to make decisions and communicate with one another. This creates a realistic work environment where depending on difficulty of each case, different amounts of stress are experienced. To implement the proposed laboratories, down-hole physics models were identified and developed. These mathematical models were then simulated in MATLAB programing language and integrated with one another to form the down-hole simulator. An Application Program Interface, API, was developed to access the surface simulator data and to connect the surface and the down-hole simulators. The integrated developed simulator has potential for future research including automated rig design.},
	author = {Hoss, Ashton Ashkan},
	month = dec,
	year = {2016},
}





@phdthesis{leonard_first-principles_2014,
	type = {Thesis},
	title = {A first-principles directional drilling simulator for control design},
	url = {https://repositories.lib.utexas.edu/handle/2152/33523},
	abstract = {A directional drilling simulator was constructed using a re-formulation of first-principles classical mechanics in order to serve as a platform for advanced control design. Dedicated focus was placed on building a modular solution that would interface with an existing Supervisory Control And Data Acquisition (SCADA) architecture. Model complexity was restricted to include only the features required to make an immediate step change in tool face control performance through more accurate determination of torsional dead time and time constant values. Development of this simulator advanced the art of drilling automation by building a foundation upon which developers may design novel control schemes using big data gathered in the modern oilfield. 
This first-principles model is supported by theoretical formulation of equations of motion that capture fundamental behavior of the drill string during both rotary and slide drilling operations. Wellbore trajectory was interpolated between survey points using the Minimum Curvature Method, and a semi-soft-string drill string model was assumed. Equations of motion were derived using energy methods captured in both Hamiltonian and Lagrangian mechanics and solved using the finite-element method. Transient dynamic solutions were obtained using Newmark integration methods.  
A sensitivity analysis was conducted to determine which parameters played the most influential roles in dynamic drill string behavior for various operational scenarios and to what extent those parameters influenced torsional dead time and time constant calculations. The torsional time constant was chosen as a measure of correlation between case studies, due to the significant role this value plays in state-of-the-art tool face control algorithms. Simulation results were validated using field data collected from rigs using a SCADA system to operate in various shale plays in North America. Results from field tests were used to compare torsional time constant values calculated using manually-determined, simulation-based, and analytical methods and investigate directional drilling performance over a range of operational scenarios.  
Simulation-based time constant calculation results were consistently more accurate than analytically-determined values when compared to manually-tuned values. The first-principles directional drilling simulator developed for this study will be adopted by the existing SCADA system in order to standardize and improve slide drilling performance.},
	language = {en},
	urldate = {2020-05-10},
	author = {Leonard, Rebecca Leigh},
	month = dec,
	year = {2014},
	doi = {10.15781/T23424},
	note = {Accepted: 2016-03-04T18:44:49Z},
}





@phdthesis{hulse_redundancy_2007,
	type = {Thesis},
	title = {Redundancy resolution for mobile manipulation},
	copyright = {Copyright © is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.},
	url = {https://repositories.lib.utexas.edu/handle/2152/46331},
	abstract = {Mobile manipulation provides avenues to deploy dexterous, precise manipulators into environments that are not suited for fixed-base manipulators. To do this, complex decision making and control methods need to be implemented to properly allocate system resources to the task requirements and environmental constraints. This report presents a foundation from which complex decision making and control can be implemented on mobile manipulation systems. Currently, mobile manipulator modeling techniques vary widely and often contain a loss of generality. A readily deployable modeling technique that can incorporate multiple mobile platform and manipulator types is needed. The proposed modeling method combines the rate kinematic formulations of mobile platforms with rate kinematic formulations of manipulators in order to create a single kinematic model for the combined system. This modeling technique allows for preexisting Redundancy Resolution Techniques (RRTs) and performance criteria developed for manipulators to be used on mobile manipulation systems. The combined kinematic model is also useful for new performance criteria generation and inverse kinematics. Existing inverse kinematics techniques such as Resolved Rate can be implemented on the unified kinematic model to find input solutions to a given output. Mobile manipulation systems are redundant with respect to the end effector leading to the need for a decision making structure in order to properly allocate its resources. Currently, outside of UTRRRG mobile manipulation redundancy resolution is limited to incorporating small numbers of performance criteria. Gradient Projection (GP) is typically used to resolve the redundancy of these systems limiting the criteria selection to be smooth and continuous. This research provides a modeling technique and two new mobile manipulation specific RRTs that can be directly implemented with the Direct Search (DS) RRT to better generate appropriate solutions for given requirements. When implemented with DS, Mobile Manipulation Generate Options (MMGO) provides improved solutions for mobile manipulators over the existing Simple perturbation strategy without a computational performance hit. Mobile Manipulation Configuration Control (MMCC) is a method of separately prescribing a mobile platform path from the manipulator end effector path. It is often beneficial to be able to incorporate mobile robot path planners with mobile manipulation systems to avoid constraints while maintaining the task requirements of the end effector. This work also develops three new performance criteria which are specific to mobile manipulation. The proposed performance criteria include Wheel Slip Avoidance (WSA), Tip Over Avoidance (TOA), and Static Stability Availability (SSA). These criteria are checks to ensure a solution generated by a DS technique does not cause the mobile manipulator to slip on the ground or tip over. Combining existing RRTs and performance criteria with these new mobile manipulation specific RRTs and performance criteria provides a strong basis for developing complex Decision Making Strategies for mobile manipulation systems.},
	language = {eng},
	urldate = {2020-05-10},
	author = {Hulse, Aaron Michael},
	month = dec,
	year = {2007},
	note = {(reader)},
}









@inproceedings{zelenak_gaussian-based_2014,
	title = {Gaussian-based adaptive fuzzy control},
	doi = {10.1109/NORBERT.2014.6893857},
	abstract = {Fuzzy logic controllers are well known for robustness and performance, and it has been proven that fuzzy logic controllers can approximate an optimal controller with arbitrary accuracy. However, adapting fuzzy rule bases towards an optimal solution has proven challenging. This paper describes a new adaptive algorithm for a fuzzy logic controller. Previously studied adaptive algorithms such as Lyapunov methods and neural-network methods effectively reduce error, but they are complex and potentially distort the rule base so that it loses robustness. The proposed method “shapes” the fuzzy rule base as a normal distribution to maintain robustness. The algorithm is tested on a robotic clamping operation; in three experiments, it reduced the error variance by 35\%, 44\%, and 53\%.},
	booktitle = {2014 {IEEE} {Conference} on {Norbert} {Wiener} in the 21st {Century} ({21CW})},
	author = {Zelenak, A. and Pryor, M.},
	month = jun,
	year = {2014},
	keywords = {Controls},
	pages = {1--8},
}





@inproceedings{swint_integrated_2004,
	address = {Pittsburgh, PA},
	title = {Integrated {Teleoperation} and {Automation} for {Remote} {Operations}},
	abstract = {This paper presents a demonstration of a novel approach to human-machine interface that seamlessly combines user-controlled teleoperation and software automation in varying degrees. This combination allows increased productivity in complex and uncertain environments. Additionally, a new software architecture was implemented to free the development of the human-machine interface components from that of the hardware control components},
	booktitle = {Proceedings of the 2004 {ANS} {Annual} {Meeting}},
	publisher = {ANS},
	author = {Swint, Ethan and Kapoor, Chetan and Taylor, Ross and Chang, Kyogun and Pholsiri, Josh and Rabindran, Dinesh and Pryor, Mitch and Tesar, Delbert},
	month = jun,
	year = {2004},
	keywords = {Teleoperation},
	pages = {1--7},
}





@inproceedings{kapoor_software_1998,
	address = {Gaithersburg, MD},
	title = {A {Software} {Architecture} for {Multi}-criteria {Decision} {Making} for {Sdvanced} {Robotics}},
	doi = {10.1109/ISIC.1998.713718},
	abstract = {Presents a framework that facilitates the development of multi-criteria decision-making software for redundant manipulator control. This software architecture is based on object-oriented design and it meets the requirements of generality, extensibility, computational efficiency, and reduction in program development time. Analysis, design, and implementation were the three steps in the development of this architecture. Analysis involved the study of the multi-criteria decision-making domain. This included the information flow between different criteria and also their fusion. The design phase involved extracting the commonalties of various criteria and the specification of abstractions that could best model these criteria. The application of this philosophy led to the development of an architecture that is robot independent, scaleable, supports standardized interfaces, and is applicable to real-time control and simulation. This architecture is demonstrated using a sample application for controlling a 10 DOF manipulator.},
	booktitle = {Proceedings of the 1998 {IEEE} {International} {Symposium} on {Intelligent} {Control} ({ISIC}) held jointly with {IEEE} {International} {Symposium} on {Computational} {Intelligence} in {Robotics} and {Automation} ({CIRA}) {Intell}},
	publisher = {IEEE},
	author = {Kapoor, C. and Cetin, M. and Pryor, M. and Cocca, C. and Harden, T. and Tesar, D.},
	month = sep,
	year = {1998},
	keywords = {Kinematics, Manipulators, OSCAR, Redundancy, Software architecture},
	pages = {525--530},
}





@inproceedings{pryor_reusable_1997,
	address = {Albuquerqie, NM},
	title = {A {Reusable} {Software} {Architecture} for {Manual} {Controller} {Integration}},
	volume = {4},
	url = {https://ieeexplore.ieee.org/document/606890},
	doi = {10.1109/ROBOT.1997.606890},
	abstract = {This paper examines the commonalities of manual controllers used in robotics for teleoperation. These include devices ranging from simple joysticks to force-reflecting controllers. The similarities in functionality and behaviour of these controllers is further exploited to develop a reusable software architecture for manual controller interfacing. The development of this architecture is based on object-oriented design. The application of this design philosophy led to the development of a hierarchy of software components that are manual controller independent and also have a standardized interface. Reusability of these components is supported through generality and extensibility. The key design requirements for this architecture were: open-system, reusable, application independent, extensive error-handling and safety checking, applicability to real-time control and simulation, and reduction in program development time. This paper discusses the software analysis and design issues that were faced to meet the architecture requirements. Further, this architecture is demonstrated using four different manual controllers and a teleoperated dual-arm robotic manipulator.},
	booktitle = {Proceedings of {International} {Conference} on {Robotics} and {Automation}},
	publisher = {IEEE},
	author = {Pryor, M. and Kapoor, C. and Hooper, R. and Tesar, D.},
	month = apr,
	year = {1997},
	keywords = {Manual Controllers, OSCAR, Software Architecture, Telerobotics},
	pages = {3583--3588 vol.4},
}





@article{pryor_generalized_2002,
	title = {Generalized software components for reconfiguring hyper-redundant manipulators},
	volume = {7},
	issn = {1941-014X},
	doi = {10.1109/TMECH.2002.806229},
	abstract = {An application of Operational Software Components for Advanced Robotics (OSCAR) - a generalized robotic software framework - for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing, and criteria-based decision making. The developed application allows an operator to interactively reconfigure modular chains into parallel mechanisms, gait structures, and multiarm systems while maintaining full kinematic control of each chain. Examples using spatial systems with various geometries are presented with application pseudocode to illustrate high-level program development using OSCAR.},
	number = {4},
	journal = {IEEE/ASME Transactions on Mechatronics},
	author = {Pryor, Mitch and Taylor, Ross and Kapoor, Chetan and Tesar, Delbert},
	month = dec,
	year = {2002},
	note = {Conference Name: IEEE/ASME Transactions on Mechatronics},
	keywords = {Kinematics, Manipulators, OSCAR, Reduncancy, modular chains, self-reconfigurable robots},
	pages = {475--478},
}





@phdthesis{anderson_development_2015,
	type = {Thesis},
	title = {Development of mobile platform for inventory and inspection applications in nuclear environments},
	url = {https://repositories.lib.utexas.edu/handle/2152/35317},
	abstract = {The efforts made towards deploying a mobile robotic system at Los Alamos National Laboratory are detailed in this thesis. The platform application is non-contact tasks related to inspection, inventory, and radiation surveying. It is intended for a Special Nuclear Material storage facility featuring a high radiation environment and a variety of storage modes.
New robotic capabilities have been developed using several mobile platforms to address the requirements of this application. Many of challenges are common to any warehouse application, such as autonomous task planning, vision, navigation, and inventory data management. Others are specific to a nuclear laboratory environment, such as radiation measurement and analysis, response to radioactive contamination, criticality safety, and restrictive security measures. This thesis describes the progress made towards meeting these challenges, outstanding issues, and future work that is necessary to complete the project.
Nuclear facilities are under ever-increasing demands to reduce worker radiation exposure. Since the vault is a high radiation area, it is one of the first targets at Los Alamos for the application of novel solutions. The deployment of this system promises to enhance worker safety by reducing their presence inside the vault and therefore total occupational dose. As robotic systems become more trusted in the nuclear weapons complex, it also has the potential to reduce total operator labor by performing time-consuming tasks autonomously.},
	language = {en},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Anderson, Blake},
	month = dec,
	year = {2015},
	doi = {10.15781/T2MV7X},
}





@phdthesis{kendrick_design_2006,
	type = {Thesis},
	title = {The design of a hingeline electro-mechanical actuator},
	copyright = {Copyright © is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.},
	url = {https://repositories.lib.utexas.edu/handle/2152/30375},
	abstract = {Aircraft control mechanisms, such as those that operate the flaps, ailerons, rudders, etc., are almost exclusively driven by hydraulic-based systems. Their popularity in flight control systems is not unfounded; hydraulic actuators are quite torque-dense and benefit from decades of development bringing operating performance to a high level. On the other hand the infrastructure to support this system increases weight, adds system development complexity, and reduces aircraft maintainability [Jensen et al, 2000]. Based on recent Electro-Mechanical Actuator (EMA) development and design efforts at the Robotics Research Group (RRG), a new opportunity exists to replace current hydraulic flight control systems with those powered by electricity through a national program [Tesar, 2005]. A literature review of the topic found a 30 year old effort by AiResearch to develop a similarly powered hingeline actuator with given traditional performance goals (torque capacity, redundancy, output speed, reliability). In this report,a thorough analysis is performed on each major component group to quantitatively evaluate this baseline device. Using component technologies developed at RRG, this report proposes a dual torque-summing electromechanical actuator, each with a star compound / hypocyclic combined gear train, designed to exceed the performance of the original (1976) AiResearch project. This preliminary design exercise includes a layout of the entire actuator along with an appropriate analysis of major components including bearings, gear train, motor, housing, and release mechanism. The performance of this gear train is critical to overall actuator success and fundamental analytics have already been developed in this area [Park and Tesar, 2005]. Finite Element Analysis on the gear train and housing provide early design feedback and verification of actuator performance characteristics. In particular, simulation results show the gear stiffness, load sharing, and torque capacities exceed analytical estimates. Finally, four different comparisons are presented that evaluate configuration variations of the two designs based on applicable performance criteria. Results show the RRG fault-tolerant actuator has a marked improvement over the baseline in average stiffness (14.2x), reflected inertia (3.2x) and nominal torque density (3.4x). The chapter next lists actuator test methods and aircraft qualification standards. Finally, a summary of future work is detailed in a ten step outline to bring this EMA technology to a level of early deployment in a large range of aircraft systems.},
	language = {eng},
	urldate = {2020-05-10},
	author = {Kendrick, Kevin Stuart},
	month = may,
	year = {2006},
	note = {(reader)},
}









@phdthesis{zheng_control_2018,
	type = {Thesis},
	title = {Control of high precision roll-to-roll manufacturing systems},
	url = {https://repositories.lib.utexas.edu/handle/2152/74302},
	abstract = {The flexible electronic industry has been growing rapidly over the past decade. One of the barriers to commercialization is the high cost of manufacturing micro- and nano-scale printed electronics using traditional methods. Roll-to-roll manufacturing has been identified as a method of achieving low cost and high throughput. 
 A dynamic model of a roll-to-roll system is presented. In all roll-to-roll applications, tension and velocity must be accurately controlled to desired reference trajectories to ensure a quality finished product. Additionally, a registration error model is presented for the control design. Minimization of the registration is the primary objective for flexible electronics, but web tension and velocity cannot be neglected. The model is needed in order to formulate a methodology that can simultaneously control tension, velocity, and registration error in the presence of disturbances.
 Micro and nano-scale features are susceptible to damage from friction between the web and the roller. Therefore, tension estimation techniques is highly desired to eliminate load cells from the system. The reduced order observer, extended Kalman filter, and an unknown input observer is presented.
 Development of tension and velocity control strategies have historically revolved around decentralized SISO control schemes. In order to achieve higher precision, a centralized MIMO strategy is proposed and compared to decentralized SISO. The advantage of the MIMO controller improved handling of the tension velocity coupling in roll-to-roll systems. The tension observer is introduced to the control design and evaluated for overall effectiveness.  
 In simulation, the centralized MIMO control with the unknown input observer demonstrated superior tension and velocity tracking as well as minimal registration error. Development of the proposed MIMO control strategy can enable flexible electronic fabrication using roll-to-roll manufacturing.},
	language = {en},
	urldate = {2020-05-10},
	author = {Zheng, Grant},
	month = dec,
	year = {2018},
	note = {(reader)},
}





















@phdthesis{pitsch_spatio-temporal_2019,
	type = {Thesis},
	title = {Spatio-temporal map maintenance for extending autonomy in long-term mobile robotic tasks},
	url = {https://repositories.lib.utexas.edu/handle/2152/72719},
	abstract = {Working in hazardous environments requires routine inspections in order to meet safety standards. Dangerous quantities of nuclear contamination can exist in infinitesimally small volumes. In order to confidently inspect a nuclear environment for radioactive sources, especially those which emit alpha radiation, technicians must carefully maintain detectors at a consistent velocity and distance from a source. Technicians must also take careful records of which areas have been surveyed or not are important so that no area is left unmonitored. This is a difficult, exhausting task when the coverage area is larger than an office space. An autonomous mobile robotic platform with Complete Coverage Path Planning (CCPP) can reduce dangerous exposure to humans and provide better information for Radiological Control Technicians (RCT). The developed robotic system - or RCTbot - is designed for long-term deployment with little human correction, intervention, or maintenance required. To do this, the RCTbot creates a map of the environment, continually updates it based on multiple sensor inputs, and searches its map for contamination. In nuclear environments, the areas of interest often remain spatially constant throughout the duration of an inspection and are considered temporally static. The RCTbot monitors temporally static environments but adapts to dynamic changes over time. It then uses its sensor data to update and maintain its map so no manual human intervention is necessary. The spatio-temporal map maintenance (STMM) is agnostic to the survey type, so the RCTbot system is viable for application domain other than nuclear.},
	language = {en},
	urldate = {2020-05-10},
	author = {Pitsch, Meredith Leeann},
	month = jan,
	year = {2019},
	doi = {10.15781/T2HD7PD3M},
	note = {Accepted: 2019-02-01T20:40:23Z},
}





















@phdthesis{lee_modular_2019,
	type = {Thesis},
	title = {Modular supervisory controller for complex systems},
	url = {https://repositories.lib.utexas.edu/handle/2152/73907},
	abstract = {Automation for the oil and gas industry is driven by the need to improve efficiency, productivity, consistency, and personnel safety, while reducing cost. Fully automated systems alleviate the physical toll on human operators and allow them to focus on monitoring unsafe well events and machinery maintenance. Complex systems like drilling rigs and snubbing units require supervisory controllers that can safely coordinate equipment and processes, overcome interoperability challenges and allow for functional scalability without sacrificing safety, security, and consistency of operations. The primary objective of this report is to explore the feasibility of developing a modular supervisory controller architecture which addresses these concerns by modifying and extending existing architectures. Such modifications include the use of non-homogeneous models in sub-system modules, including discrete event models for control and physics-based models for collision avoidance, addition of a system compilation module (Meta Module) to identify simple design errors, and implementation of an algorithm for synthesis of modules and filters to replace missing sub-systems. This report discusses the implementation results of the modular supervisory control architecture (modMFSM) on a simplified two-machine drilling system for assessment of design practices. Simulations for three test cases were executed to assess the ability of the controller to correctly perform error-free operations, detect and react to possible collisions, and adapt to missing equipment. The report then discusses the possibilities of extending the modMFSM architecture to control large complex systems such as drilling rigs, using snubbing operations as an example.},
	language = {en},
	urldate = {2020-05-10},
	author = {Lee, Melissa Mei Yun},
	month = feb,
	year = {2019},
	doi = {http://dx.doi.org/10.26153/tsw/1039},
	doi = {http://dx.doi.org/10.26153/tsw/1039},
	note = {Accepted: 2019-04-01T20:28:14Z},
}





















@phdthesis{park_fundamental_2005,
	type = {Dissertation},
	title = {Fundamental development of hypocycloidal gear transmissions},
	url = {https://repositories.lib.utexas.edu/handle/2152/2334},
	abstract = {text},
	language = {eng},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Park, Sang-Hyun},
	month = dec,
	year = {2005},
	note = {(committee member)},
	keywords = {Dissertation},
}





@phdthesis{kang_robust_2004,
	type = {Dissertation},
	title = {Robust metrology procedures for modular robotic systems using indoor {GPS} coordinate measuring system},
	url = {https://repositories.lib.utexas.edu/handle/2152/1341},
	abstract = {An OAS or a modular reconfigurable system is a collection of individual link and 
joint modules with standardized interfaces that can be reconfigured on demand into 
different geometries ranging from mobile platforms and 6 degrees of freedom (DOF) 
manipulator arms to 40 DOF manufacturing robotic cells. Such systems will allow 
flexible manufacturing, rapid repair, and upgrade, but these benefits have yet to be 
realized. A significant barrier is the presence of error between the ideal frame and the 
actual frame. While the repeatability of a typical robot can be 0.005", its accuracy may 
not be better than 0.1" due to configuration, load, model error, etc. Teaching or 
calibrating a robotic device is, therefore, required in industries to improve its accuracy for 
high-value added precision operations. The associated costs are extremely high. This fact 
trumps other modular technology benefits. 
Robot metrology is a solution to overcome these problems by increasing the 
absolute pose accuracy in the same order of magnitude as its repeatability. Despite the 
advancement of traditional metrology techniques, System Metrology for Monolithic  
Systems (SMMS) has proven to be too cumbersome, costly, and time-consuming for 
practical usage on modular systems. These obstacles suggest a strong need for a new look 
at robot metrology. Robust Metrology for Modular Systems (RMMS) (the metrology of 
robots that are composed of modules) is much more tractable, as a consequence of the 
reduced number of parameters in each module addressed by this metrology approach. 
In this dissertation, a highly advanced interface called ‘RRG Interface’ has been 
introduced. An advanced metrology system has been developed including a coordinate 
measuring system based on a state-of-the-art technology called “indoor GPS (Global 
Positioning System)” and a fully automatic loading mechanism with pure force 
generating capability. A hand-held probe called the ‘3D Probe’ has been developed. The 
impact of nonlinear compliance is examined. Based on the developed optimal measuring 
strategies, the metrology system has been applied to OAS metrologies and experimental 
results are presented. Kinematic modeling formulations are presented including 
geometric and compliance parameters. The performance of a 6 DOF modular system is 
predicted and a 22 time improvement over the best industrial practice has been made.},
	language = {eng},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Kang, Seong Ho},
	month = dec,
	year = {2004},
	note = {(committee member)},
	keywords = {Dissertation},
}





@phdthesis{chang_physical_2006,
	type = {Dissertation},
	title = {Physical modeling of tools necessary for robot manipulation},
	url = {https://repositories.lib.utexas.edu/handle/2152/2473},
	abstract = {Previous research on modeling general processes has focused on physical and 
empirical modeling of dedicated process machines which have sufficient stiffness and 
accuracy. For example, machining centers have relatively high stiffness and exhibit 
negligible deflections. Robot manipulators have low stiffness which easily allows 
undesirable deflections under large reaction forces. Also, models for intuitive decision 
surfaces for users, decision making systems, or system controllers have not been 
embedded or otherwise deployed effectively. 
The objective of this research is to suggest graphical and parametric models of 
robotic processes suited for intuitive user friendly graphs and modeling nonlinear systems 
and to initiate a program which proves usefulness of performance maps. Performance 
maps are primitive surface representations which can be used to create decision surfaces. 
General robotic processes considered are robotic drilling, grinding, deburring, chiseling, 
sawing, peg insertion, force-fit insertion, forming for assembly, screw fastening, and 
riveting. 
To achieve the objective, a framework for in-depth parametric and analytic 
modeling of robotic processes is presented. First, relevant process parameters such as 
process operating variables, system condition parameters, and process performance  
criteria are defined. Process operating variables are the robot controller inputs. System 
condition parameters are process parameters which define system constraints and 
characteristics. Process performance criteria are critical parameters to define, anticipate, 
and evaluate product quality, system stability, economic performance, and system 
performance. 
Second, performance maps which describe the graphical relationship of the 
relevant process parameters are developed. A performance map is the surface 
representation of a process performance criterion as a function of process operating 
variable(s), system condition parameter(s), or other process performance criteria. Third, 
the application of performance maps of robotic drilling is simulated, to illustrate their 
advantages. Whether robot deflections generated during the process satisfy tolerance 
requirements or not is evaluated and suitable robot postures are recommended. 
Pertinent literature is extensively reviewed to recognize current research trends in 
modeling and parameterizing relevant process parameters. Approximately, 100 
performance maps were created as graphical and parametric models based on process 
performance. Two performance envelopes were developed. Proper robot postures were 
suggested to drill a hole with constant feed-rate or bounded ranges of that feed-rate.},
	language = {eng},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Chang, Kyogun},
	month = may,
	year = {2006},
	note = {(committee member)},
	keywords = {Dissertation},
}





@phdthesis{rabindran_differential-based_2009,
	type = {Dissertation},
	title = {A differential-based parallel force/velocity actuation concept : theory and experiments},
	shorttitle = {A differential-based parallel force/velocity actuation concept},
	url = {https://repositories.lib.utexas.edu/handle/2152/6899},
	abstract = {Robots are now moving from their conventional confined habitats such as factory floors to human environments where they assist and physically interact with people. The requirement for inherent mechanical safety is overarching in such human-robot interaction systems. We propose a dual actuator called Parallel Force/Velocity Actuator 
(PFVA) that combines a Force Actuator (FA) (low velocity input) and a Velocity Actuator (VA) (high velocity input) using a differential gear train. In this arrangement mechanical safety can be achieved by limiting the torque on the FA and thus making it a backdriveable input. In addition, the kinematic redundancy in the drive can be used to control output velocity while satisfying secondary operational objectives. Our research focus was on three areas: (i) scalable parametric design of the PFVA, (ii) analytical modeling of the PFVA and experimental testing on a single-joint prototype, and (iii) generalized model formulation for PFVA-driven serial robot manipulators. In our analysis, the ratio of velocity ratios between the FA and the VA, called the relative scale factor, emerged as a purely geometric and dominant design parameter. Based on a dimensionless parametric design of PFVAs using power-flow and load distributions between the inputs, a prototype was designed and built using commercial-off-the-shelf components. Using controlled experiments, two performance-limiting phenomena in our prototype, friction and dynamic coupling between the two inputs, were identified. Two other experiments were conducted to characterize the operational performance of the actuator in velocity-mode and in what we call ‘torque-limited’ mode (i.e. when the FA input can be backdriven). Our theoretical and experimental results showed that the PFVA can be mechanical safe to both slow collisions and impacts due to the backdriveability of the FA. Also, we show that its kinematic redundancy can be effectively utilized to mitigate low-velocity friction and backlash in geared mechanisms. The implication at the system level of our actuator level analytical and experimental work was studied using a generalized dynamic modeling framework based on kinematic influence coefficients. Based on this dynamic model, three design case studies for a PFVA-driven serial planar 3R manipulator were presented. The major contributions of this research include (i) mathematical models and physical understanding for over six fundamental design and operational parameters of the PFVA, based on which approximately ten design and five operational guidelines were laid out, (ii) analytical and experimental proof-of-concept for the mechanical safety feature of the PFVA and the effective utilization of its kinematic redundancy, (iii) an experimental methodology to characterize the dynamic coupling between the inputs in a differential-summing mechanism, and (iv) a generalized dynamic model formulation for PFVA-driven serial robot manipulators with emphasis on distribution of output loads between the FA and VA input-sets.},
	language = {eng},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Rabindran, Dinesh},
	month = may,
	year = {2009},
	note = {(committee member)},
	keywords = {Dissertation},
}









@phdthesis{sharma_reactive_2019,
	type = {Thesis},
	title = {Reactive synthesis of action planners},
	url = {https://repositories.lib.utexas.edu/handle/2152/74526},
	abstract = {An increase in the level of autonomy marks one of the fundamental focuses of current robotic systems. This involves the ability of a robot to reason about its environment and plan its motion in order to carry out assigned tasks. For all tasks, it generally involves abstractions into discrete, logical actions, where each discrete action defines a particular capability of the robot. 
 
The problem of synthesis of correct-by-construction action planners has been considered in this work. Action Description Language (ADL) is used to model the actions. These ADL definitions are then translated to Linear Temporal Logic (LTL). LTL based specifications are further used for the reactive synthesis of the strategy.   
 
This work largely focuses on expressiveness which consists of a definition of the actions and system/environment behavior. Classical ADL semantics cannot handle multiple agents or non-determinism. A natural extension of ADL (referred to as ADLnE in this document) has been proposed which can handle dynamic environments, non-determinism, and multiple agents. 
 
The proposed work can be seen as an extension to generic search based action planners. One such A* search-based method, Goal Oriented Action Planner (GOAP) has been considered which is based on ADL semantics and is limited by deterministic, single agent modeling. Through examples, it has been established that for deterministic, single agent and static (or at best quasi-static) systems, the proposed strategy matches that of GOAP. For dynamic and multi-agent situations, a reactive action plan is synthesized (if feasible) that is guaranteed to satisfy the formal specification, i.e. achieve the goal.},
	language = {en},
	urldate = {2020-05-10},
	author = {Sharma, Nitish},
	month = feb,
	year = {2019},
	doi = {http://dx.doi.org/10.26153/tsw/1646},
	doi = {http://dx.doi.org/10.26153/tsw/1646},
	note = {Accepted: 2019-05-09T18:36:39Z},
}













@phdthesis{paredes_simplifying_2018,
	type = {Masters {Report}},
	title = {Simplifying peripheral integration in {ROS} for manufacturing},
	url = {https://repositories.lib.utexas.edu/handle/2152/67263},
	abstract = {This report summarizes the design and implementation of software to reduce the effort spent integrating peripheral devices into robotic workcells. The motivating application is completion of multiple manufacturing tasks undertaken by Los Alamos National Laboratory (LANL) as part of the Plutonium Sustainment Program. Pit manufacturing in LANL is currently completed inside gloveboxes to protect technicians from radioative contamination. This causes ergonomic strain on operators who must move delicate, heavy objects with their arms fully extended. Furthermore, there is an interest in using the current research-oriented manufacturing capabilities to allow for production scale manufacturing while minimizing infrastructure investments. The project undertaken is a demonstration using modern technology to eliminate human handling of radioactive components and creating a quicker and safer automated manufacturing process. To accomplish this, a multi-use manufacturing glovebox was developed and demonstrated using a Yaskawa SIA5 7 Degree-of-Freedom (DoF) industrial manipulator, Robotiq [superscript TM] three finger gripper, five speed drill press, and three-jaw chuck. The goal is to perform multiple manufacturing tasks in a single glovebox to improve throughput while minimizing infrastructure, integration, and logistical complexity. Actions decisions for these devices include data from Force-Torque sensors, pressure sensors, a 3D depth camera, and sensors (encoders, etc.) on the robot. While the peripheral devices are implemented task agnostically, the manufacturing task demonstration utilizing these peripherals include - but are not limited to - drilling, press fitting, and polishing. Aluminum props were used due to their relatively low cost and because fcc [delta] -phase plutonium alloys exhibit some similar mechanical properties to aluminum [14]. To automate the drilling task a Moog Animatics Smartmotor was integrated with the drill press. The 3-jaw chuck was also automated using an Arduino mega 2560 board with a VNH5019 motor driver shield and the ability to measure the current drawn by the DC motor. Object information is relayed by the 3-D depth camera using an object detection algorithm developed at the University of Texas. A finite state machine ensures that operators are unable to perform tasks that would jeopardize plutonium castings and botch subsequent tasks. To achieve the necessary peripheral integration and reduce the burden on future developers responsible for executing related tasks, a software architecture is presented and was developed and written in C++ using the Robot Operating System (ROS) to control the manipulator, the peripherals above, and easily add additional peripherals in the future. A general approach was taken to developing a complete ROS peripheral architecture, and development focused on aspects of the framework suited for industrial devices such as actuators and sensors. Successful implementation into the glovebox manufacturing project validates the proposed software’s potential to minimize the learning curve and standardize implementation of peripherals thus reducing integration time and effort via re-use and extensibility.},
	language = {en},
	urldate = {2020-05-10},
	author = {Paredes, Edwin S.},
	month = jun,
	year = {2018},
	doi = {10.15781/T29C6SK02},
	note = {Accepted: 2018-08-09T17:26:47Z},
}





















@phdthesis{han_automated_2016,
	type = {Thesis},
	title = {Automated computer vision system for real-time drilling cuttings monitoring},
	url = {https://repositories.lib.utexas.edu/handle/2152/72723},
	abstract = {In rotary drilling operations, cuttings are continuously transported to the surface by drilling fluid. Real-time monitoring of cuttings and cavings is crucial for early detection and remediation of drilling problems such as stuck pipe, lost circulation, high torque and drag, reduction in rate of penetration, and other wellbore instability issues. These incidents are large contributors to drilling-related Non-Productive Time (NPT). At the current stage, a mud logger performs monitoring manually. This work proposes to use computer vision techniques to automate this procedure. To achieve this application, specific requirements should be established to design an automated machine vision system to maintain drilling safety and speed.  Cuttings ramp has been identified as an ideal location to perform the measurement, where cuttings and caving are sliding down a slope at a steady speed. To accomplish this task, an intelligent image processing system must be able to track cuttings speed, measure volume, analyze size, and generate a surface model. Through a detailed review and testing of available 3D sensing techniques, a system consisting of a 2D high-resolution camera and 3D laser profile scanner was designed. By implementing image processing techniques, the cuttings speed on the ramp was estimated which was then synchronized to the 3D depth data from a laser scanner. Finally, the volume of moving cuttings was estimated and a 3D surface profile was reconstructed using point cloud data.  Experimental results in the lab environment validated that such a system can be applied to quantify cuttings volume, size distribution, and reconstruct a 3D profile of cuttings and cavings. This measured result can be stored for further analysis. Overall, this work established a foundation for the design of a sophisticated real-time monitoring system for hole cleaning and wellbore risk reduction.},
	language = {en},
	urldate = {2020-05-10},
	author = {Han, Runqi},
	month = aug,
	year = {2016},
	doi = {10.15781/T20G3HJ9R},
	note = {Accepted: 2019-02-01T23:51:29Z},
}





@phdthesis{gallegos_demonstration_2019,
	type = {Thesis},
	title = {A demonstration and comparative analysis of haptic performance using a {Gough}-{Stewart} platform as a wearable haptic feedback device},
	url = {https://repositories.lib.utexas.edu/handle/2152/75803},
	abstract = {In many hazardous work environments, contact tasks ranging from manufacturing to disassembly to emergency response are performed by industrial manipulators. Due to the hazardous and complex nature of these environments, teleoperation is often employed. When such is the case, the operator is left to interpret a large amount of data during task completion due to the complexity of modern robotic systems and the possible complexity of the tasks. This information is usually processed visually but can lead to sensory overload. To mitigate this, the information processing can also be distributed through other modes of sensory such as auditory or haptic. The University of Texas at Austin's TeMoto hands-free interface reduces the burden on the operator of commanding remote systems by enabling the use of gestural and verbal commands to complete a range of tasks, but the removal of a mechanical interactive device from the operator interface complicates the inclusion of haptic feedback. In this work, a standalone Gough-Stewart platform previously configured as a wearable haptic feedback device for the Nuclear and Applied Robotics Group at the University of Texas at Austin provides real-time haptic feedback to the unconstrained hand(s) of the operator. In doing so, this haptic interface can be employed with the intent of enhancing situational awareness and minimizing operator stress by imparting forces and torques to the user based on those imparted on the end-effector of the industrial manipulator. While multiple technical issues and human factor issues must be addressed, this effort focuses on integrating the system and evaluating its performance for various industrial manipulator designs and sensor modalities. After testing various digital signal processing techniques, functionality was demonstrated among one series-elastic and two rigid industrial manipulators, each with different force/torque data acquisition characteristics and a comparative analysis in haptic performance was performed. Furthermore, it was demonstrated with the TeMoto hands-free teleoperation system. Overall, the demonstrations and experiments performed in this work prove the system to be a viable, hardware agnostic means of haptic feedback and a strong basis for future efforts},
	language = {en},
	urldate = {2020-05-10},
	author = {Gallegos, Lucas Eddie},
	month = apr,
	year = {2019},
	doi = {http://dx.doi.org/10.26153/tsw/2905},
	doi = {http://dx.doi.org/10.26153/tsw/2905},
	note = {Accepted: 2019-09-10T21:58:40Z},
}





















@phdthesis{petlowany_task-trajectory_2019,
	type = {Thesis},
	title = {Task-{Trajectory} {Analysis} {Package} in the {Robot} {Operating} {System}},
	url = {https://repositories.lib.utexas.edu/handle/2152/78518},
	abstract = {For many manufacturing tasks, such as welding and cutting, the task trajectory, or path, is known a priori in the object's reference frame. What is
not known is whether or not the robot can reach the entirety of the trajectory
given the relative location of the object frame to the robot's base frame and its
reachable and/or dexterous workspace. The problem increases in complexity with each additional object in the robot's workspace. Some robots need to perform tasks in cluttered or confined environments, such as a glovebox, and the ability to know if and where the manipulator can perform a certain task is crucial for both design and operation. This thesis describes the development, design, and implementation of a Task-Trajectory Analysis Package (T-TAP) within the Robot Operating System (ROS) framework.

Reachability has been extensively discussed in the literature, but current reachability visualization tools do not account for task data, and instead describe the robot's global workspace and thus take a long time to compute. Such tools may be useful for designing robotic systems, but their value diminishes when analyzing a specific task and environment. T-TAP focuses on the task space and is capable of producing real-time or near real-time feedback about the validity of a path. The results are shown in an easy-to-interpret visualization of the path points and their relative quality as measured using selected performance metrics.

T-TAP contains several capabilities. The first, and simplest, validates
reachability for discrete points along the trajectory. An inverse kinematic
(IK) solver is used to plan from one trajectory point to the next. The user
can use standard ROS IK solvers or utilize their own IK solver. Next, T-TAP
uses the Jacobian to analyze the system's performance as it completes the proposed trajectory. It ensures that joint and velocity limits are not violated, singularities are avoided, and is extensible to include additional user-defined performance metrics.

T-TAP requires no prior computations, is hardware agnostic, and can
be run entirely in simulation. It can reduce the time required to place and
plan a trajectory by an order of magnitude. It is designed to work seamlessly with existing ROS path-planning packages. The operator needs only to send the path to T-TAP and T-TAP will analyze the trajectory. This information will allow the operator to intelligently adjust the path so that it is reachable and viable.},
	language = {en},
	urldate = {2020-05-10},
	author = {Petlowany, Christina Elisabeth},
	month = may,
	year = {2019},
	doi = {http://dx.doi.org/10.26153/tsw/5579},
	doi = {http://dx.doi.org/10.26153/tsw/5579},
	note = {Accepted: 2019-11-20T23:58:11Z},
}





@phdthesis{brabec_directional_2020,
	type = {Dissertation},
	title = {Directional neutron surveys on a semiautonomous robot for a radiological vault},
	school = {The University of Texas at Austin},
	author = {Brabec, Cheryl},
	month = may,
	year = {2020},
	keywords = {Dissertation},
}





@article{hashem_mev_2018,
	title = {{MeV} photon imaging with robotic sample positioning at a research reactor},
	volume = {318},
	issn = {1588-2780},
	url = {https://doi.org/10.1007/s10967-018-6151-3},
	doi = {10.1007/s10967-018-6151-3},
	abstract = {This paper summarizes the development and demonstration of an X-ray and gamma-ray radiography capability using a TRIGA MARK-II reactor. Photons are a combination of Bremsstrahlung X-rays and gamma rays from fission and radioactive decay. The energy spectrum of the facility was analyzed with a NaI(Tl) scintillator detector. A digital X-ray camera for use with MeV-range photons images a duplex wire-type penetrameter to analyze unsharpness and spatial resolution. An industrial manipulator precisely positions the sample, which allows objects to have larger dimensions than the detector’s field-of-view. Future work includes performing computed tomography to create 3-dimensional representations of objects.},
	language = {en},
	number = {1},
	urldate = {2020-05-10},
	journal = {Journal of Radioanalytical and Nuclear Chemistry},
	author = {Hashem, Nicholas R. and Haas, Derek A. and Pryor, Mitchell W.},
	month = oct,
	year = {2018},
	pages = {599--604},
}





@article{mehta_operator_2018,
	title = {Operator situation awareness and physiological states during offshore well control scenarios},
	volume = {55},
	issn = {0950-4230},
	url = {http://www.sciencedirect.com/science/article/pii/S0950423018301840},
	doi = {10.1016/j.jlp.2018.07.010},
	abstract = {Incident reviews of oil spill events (both large and small) suggest that human error is a contributor to 50\% of well control incidents (primarily kicks). The purpose of this study was to examine operator situation awareness (SA) and associated physiological load, using heart rate and heart rate variability (HRV), during different simulated offshore well control scenarios (drilling and tripping) and criticality levels (failure presented or not). Ten trained participants completed four scenarios (tripping non-failure, tripping failure, drilling non-failure, and drilling-failure) in an experimental session, lasting ∼6 h. Measures were obtained for each scenario, including speed and accuracy of the task performance, composite scores obtained from the Situational Awareness Rating Technique (SART), and operator heart rate and heart rate variability measures. Greater errors were found in kick-related failure events, and drilling scenarios were associated with longer reaction times. Participants perceived lower SA levels during drilling scenarios, and the was observed for lowest SA during drilling failure scenarios. Finally, while physiological responses did not differ significantly for any of the four scenarios, elevated heart rate was observed with drilling and failure-related scenarios. High variability in participant covert and overt responses may increase the challenges associated with classifying high-risk well control scenarios. It is critical that scenario planners understand and recognize the variability in driller situation awareness and associated physiological load when planning for alternative future scenarios.},
	language = {en},
	urldate = {2020-05-10},
	journal = {Journal of Loss Prevention in the Process Industries},
	author = {Mehta, Ranjana K. and Peres, S. Camille and Shortz, Ashley E. and Hoyle, Wimberly and Lee, Melissa and Saini, Gurtej and Chan, Hong-Chih and Pryor, Mitchell W.},
	month = sep,
	year = {2018},
	keywords = {Drilling, Heart rate, Heart rate variability, Kick, Loss of circulation, Operator performance},
	pages = {332--337},
}













@article{hashem_automating_2018,
	title = {Automating {High}-{Precision} {X}-{Ray} and {Neutron} {Imaging} {Applications} {With} {Robotics}},
	volume = {15},
	issn = {1558-3783},
	doi = {10.1109/TASE.2017.2675709},
	abstract = {Los Alamos National Laboratory and the University of Texas at Austin recently implemented a robotically controlled nondestructive testing (NDT) system for X-ray and neutron imaging. This system is intended to address the need for accurate measurements for a variety of parts and, be able to track measurement geometry at every imaging location, and is designed for high-throughput applications. This system was deployed in a beam port at a nuclear research reactor and in an operational inspection X-ray bay. The nuclear research reactor system consisted of a precision industrial seven-axis robot, 1.1-MW TRIGA research reactor, and a scintillator-mirror-camera-based imaging system. The X-ray bay system incorporated the same robot, a 225-keV microfocus X-ray source, and a custom flat panel digital detector. The robotic positioning arm is programmable and allows imaging in multiple configurations, including planar, cylindrical, as well as other user defined geometries that provide enhanced engineering evaluation capability. The imaging acquisition device is coupled with the robot for automated image acquisition. The robot can achieve target positional repeatability within 17 μm in the 3-D space. Flexible automation with nondestructive imaging saves costs, reduces dosage, adds imaging techniques, and achieves better quality results in less time. Specifics regarding the robotic system and imaging acquisition and evaluation processes are presented. This paper reviews the comprehensive testing and system evaluation to affirm the feasibility of robotic NDT, presents the system configuration, and reviews results for both X-ray and neutron radiography imaging applications.},
	number = {2},
	journal = {IEEE Transactions on Automation Science and Engineering},
	author = {Hashem, Joseph A. and Pryor, Mitch and Landsberger, Sheldon and Hunter, James and Janecky, David R.},
	month = apr,
	year = {2018},
	note = {Conference Name: IEEE Transactions on Automation Science and Engineering},
	keywords = {Austin, Autonomous system, Collision avoidance, Inspection, Los Alamos National Laboratory, NDT, Radiography, Service robots, TRIGA research reactor, University of Texas, X-ray imaging, automated image acquisition, calibration, cameras, collision avoidance, computed tomography (CT), custom flat panel digital detector, electron volt energy 225 keV, flexible automation, helical scanning, high-precision X-ray automation, imaging acquisition device, industrial seven-axis robot, measurement geometry, microfocus X-ray imaging source, microfocus X-ray source, microsensors, mirrors, mobile robots, motion control, neutron detection, neutron imaging application, neutron radiography imaging applications, nondestructive imaging, nondestructive testing, nondestructive testing (NDT), nuclear research reactor system, operational inspection X-ray bay system, path planning, power 1.1 MW, precision movement, radiation damage, radiography, robotic positioning arm, robotically controlled nondestructive testing system, scintillation, scintillation counters, scintillator-mirror-camera-based imaging system, software communication},
	pages = {663--674},
}





@article{valner_temoto_2018,
	title = {{TeMoto}: {Intuitive} {Multi}-{Range} {Telerobotic} {System} with {Natural} {Gestural} and {Verbal} {Instruction} {Interface}},
	volume = {7},
	copyright = {http://creativecommons.org/licenses/by/3.0/},
	shorttitle = {{TeMoto}},
	url = {http://www.mdpi.com/2218-6581/7/1/9},
	doi = {10.3390/robotics7010009},
	abstract = {Teleoperated mobile robots, equipped with object manipulation capabilities, provide safe means for executing dangerous tasks in hazardous environments without putting humans at risk. However, mainly due to a communication delay, complex operator interfaces and insufficient Situational Awareness (SA), the task productivity of telerobots remains inferior to human workers. This paper addresses the shortcomings of telerobots by proposing a combined approach of (i) a scalable and intuitive operator interface with gestural and verbal input, (ii) improved Situational Awareness (SA) through sensor fusion according to documented best practices, (iii) integrated virtual fixtures for task simplification and minimizing the operator’s cognitive burden and (iv) integrated semiautonomous behaviors that further reduce cognitive burden and negate the impact of communication delays, execution latency and/or failures. The proposed teleoperation system, TeMoto, is implemented using ROS (Robot Operating System) to ensure hardware agnosticism, extensibility and community access. The operator’s command interface consists of a Leap Motion Controller for hand tracking, Griffin PowerMate USB as turn knob for scaling and a microphone for speech input. TeMoto is evaluated on multiple robots including two mobile manipulator platforms. In addition to standard, task-specific evaluation techniques (completion time, user studies, number of steps, etc.)—which are platform and task dependent and thus difficult to scale—this paper presents additional metrics for evaluating the user interface including task-independent criteria for measuring generalized (i) task completion efficiency and (ii) operator context switching.},
	language = {en},
	number = {1},
	urldate = {2018-02-01},
	journal = {Robotics},
	author = {Valner, Robert and Kruusamäe, Karl and Pryor, Mitch},
	month = feb,
	year = {2018},
	note = {Featured cover article},
	keywords = {gesture input, human-robot interface, natural language input, supervisory control, teleoperation},
	pages = {21},
}





@inproceedings{shor_drillstring_2014,
	address = {San Antonio, TX},
	title = {Drillstring {Vibration} {Observation}, {Modeling} and {Prevention} in the {Oil} and {Gas} {Industry}},
	url = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T37A004/229758},
	doi = {10.1115/DSCC2014-6147},
	abstract = {As well designs become increasingly complicated, a complete understanding of drillstring vibrations is key to maximize drilling efficiency and reduce bit wear as well as prevent drillstring, tool, and borehole damage. This paper presents a review of the past fifty years of work on drillstring dynamics models and the proposed and accepted vibration mitigation applications within the drilling industry. Early modeling began with simplistic models in efforts to understand downhole processes. Once downhole sensors were deployed and the basic modes of vibration were understood, proprietary systems were developed and — only recently — successfully deployed to detect and mitigate the effects of certain undesired vibrational modes, specifically stick-slip torsional vibrations. Future systems and their effectiveness will depend on a refined understanding of the various modes of vibration and their interaction, as well as improved real-time downhole sensing techniques. Implementation of high-fidelity models to deduce and correct the downhole drillstring state will subsequently improve the operational drilling efficiency.},
	language = {en},
	urldate = {2020-05-10},
	publisher = {ASME},
	author = {Shor, Roman J. and Pryor, Mitch and van Oort, Eric},
	month = oct,
	year = {2014},
	pages = {10},
}

















@article{hashem_theoretical_2017,
	title = {Theoretical neutron damage calculations in industrial robotic manipulators used for non-destructive imaging applications},
	volume = {94},
	issn = {0149-1970},
	url = {http://www.sciencedirect.com/science/article/pii/S0149197016302232},
	doi = {10.1016/j.pnucene.2016.09.022},
	abstract = {This paper describes how to use MCNP to evaluate the rate of material damage in a robot incurred by exposure to a neutron flux. The example used in this work is that of a robotic manipulator installed in a high intensity, fast, and collimated neutron radiography beam port at the University of Texas at Austin's TRIGA Mark II research reactor. This effort includes taking robotic technologies and using them to automate non-destructive imaging tasks in nuclear facilities where the robotic manipulator acts as the motion control system for neutron imaging tasks. Simulated radiation tests are used to analyze the radiation damage to the robot. Once the neutron damage is calculated using MCNP, several possible shielding materials are analyzed to determine the most effective way of minimizing the neutron damage. Neutron damage predictions provide users the means to simulate geometrical and material changes, thus saving time, money, and energy in determining the optimal setup for a robotic system installed in a radiation environment.},
	language = {en},
	urldate = {2020-05-10},
	journal = {Progress in Nuclear Energy},
	author = {Hashem, Joseph and Schneider, Erich and Pryor, Mitch and Landsberger, Sheldon},
	month = jan,
	year = {2017},
	keywords = {MCNP, Neutron radiation damage, Non-destructive testing, Radiography, Research reactor, Robotics},
	pages = {71--79},
}





@article{zelenak_intelligent_2014,
	title = {Intelligent {Grasping} with the {Robotic} {Opposable} {Thumb}},
	volume = {28},
	issn = {0883-9514},
	url = {https://doi.org/10.1080/08839514.2014.952917},
	doi = {10.1080/08839514.2014.952917},
	abstract = {Recent advances in the field of grasp planning have used heuristics, dimensionality reduction, machine learning, and haptic feedback, with a high degree of success, to plan grasps for simple grippers and/or simple object geometry. We look at applying some of these techniques to the anthropomorphic Meka gripper. First, dimensionality reduction is attempted. We show that dimensionality reduction does not accurately predict the thumb position. A new algorithm is proposed in which measurements from 2D images are used to classify the thumb opposition angle to one of three positions. The remaining joints employ a reactive torque-control strategy to complete the grasp. The algorithm achieves force closure for 82\% of 39 household objects. It is simple, computationally fast, and achieves a success rate that is similar to other contemporary grasp planning algorithms.},
	number = {8},
	urldate = {2020-05-10},
	journal = {Applied Artificial Intelligence},
	author = {Zelenak, Andy and Brabec, Cheryl and Thompson, Jack and Hashem, Joey and Fernandez, Benito and Pryor, Mitch},
	month = sep,
	year = {2014},
	note = {Publisher: Taylor \& Francis
\_eprint: https://doi.org/10.1080/08839514.2014.952917},
	pages = {737--750},
}









@article{landsberger_nuclear_2013,
	title = {Nuclear forensics education at the {University} of {Texas} at {Austin}},
	volume = {296},
	issn = {1588-2780},
	url = {https://doi.org/10.1007/s10967-012-2067-5},
	doi = {10.1007/s10967-012-2067-5},
	abstract = {Nuclear forensics continues to be an integral part of the Domestic Nuclear Detection Office, the Defense Threat Reduction Agency and the National Nuclear Security Administration. As with our previous three-year Nuclear Forensics Education Award Program we will continue to offer a comprehensive educational program and closely collaborate with national laboratories to pursue common research. Our research will primarily focus on analysis of radioactive debris following a nuclear or radiological dispersive device event or the investigation of the pedigree of nuclear materials in nonproliferation. This research will include using Compton suppression and gamma coincidence low-level gamma ray counting, investigation of nuclear fuel cycles for nonproliferation, on-site inspection within the context of the Comprehensive Nuclear-Test-Ban Treaty and radioxenon detection physics. We also offer a graduate program in nuclear robotics, an interdisciplinary program in the automation of handling special nuclear materials. To better equip our students who are entering the workforce at the national laboratories and government agencies we are also proposing the development of several new laboratory modules for non-destructive identification of fission products in environmental samples and irradiated uranium specimens at various enrichments and characterizing naturally occurring radioactive material. Collaboration with Florida Memorial University a Historically Black Colleges and Universities will continue for training and collaborative research.},
	language = {en},
	number = {1},
	urldate = {2020-05-10},
	journal = {Journal of Radioanalytical and Nuclear Chemistry},
	author = {Landsberger, S. and Biegalski, S. and Kapsimalis, R. and Pryor, M. and Tamalis, D.},
	month = apr,
	year = {2013},
	pages = {333--337},
}





@article{tisius_empirical_2009,
	title = {An {Empirical} {Approach} to {Performance} {Criteria} for {Manipulation}},
	volume = {1},
	issn = {1942-4302},
	url = {https://asmedigitalcollection.asme.org/mechanismsrobotics/article/1/3/031002/454114/An-Empirical-Approach-to-Performance-Criteria-for},
	doi = {10.1115/1.3147194},
	language = {en},
	number = {3},
	urldate = {2020-05-10},
	journal = {Journal of Mechanisms and Robotics},
	author = {Tisius, Mark and Pryor, Mitch and Kapoor, Chetan and Tesar, Delbert},
	month = aug,
	year = {2009},
	note = {Publisher: American Society of Mechanical Engineers Digital Collection},
	pages = {12},
}

















@inproceedings{wanna_enabling_2019,
	address = {Macau, China},
	title = {Enabling semi-autonomous behaviours: handling multiple input streams and task uncertainty},
	url = {https://rainhub.org.uk/legacy-disruptors-hmi-iros19/},
	author = {Wanna, Selma and Pryor, Mitch},
	month = nov,
	year = {2019},
}





@inproceedings{zelenak_reactive_2019,
	address = {Macau, China},
	title = {Reactive {Jogger} for {Teleoperation} and {Contact} {Tasks}},
	url = {https://roscon.ros.org/2019/},
	abstract = {In order to rapidly deploy natural language interfaces for robotics applications, we developed the Universal Meaning Representation Format (UMRF) and TeMoto Action Engine. The proposed UMRF acts as a middle ground for combining existing and cutting edge solutions in the domains of natural language processing and grounding. The open-sourced TeMoto Action Engine offers developers We developed and released a computationally efficient jogger for mobile manipulation that is well-suited for real-world manipulation tasks. Its fast control rates ({\textgreater}500 Hz) and tolerance for message latency enables teleoperation, admittance control, and end effector pose regulation during base motion. The presentation covers implementation including singularity avoidance, signal filtering, reactive control, and velocity/position control modalities. It includes three use examples: cabinet opening, opening and passing through a sprung door, and contact force regulation. We also quickly present a real-world use case (emergency response in an operational mine). The jogger package is now available as a part of MoveIt.},
	author = {Zelenak, Andy and Reid, Robert and Pryor, Mitch},
	month = oct,
	year = {2019},
}





@inproceedings{valner_universal_2019,
	address = {Macau, China},
	title = {Universal {Meaning} {Representation} {Format} for {Natural} {Language} {Task} {Engines}},
	url = {https://roscon.ros.org/2019/},
	abstract = {In order to rapidly deploy natural language interfaces for robotics applications, we developed the Universal Meaning Representation Format (UMRF) and TeMoto Action Engine. The proposed UMRF acts as a middle ground for combining existing and cutting edge solutions in the domains of natural language processing and grounding. The open-sourced TeMoto Action Engine offers developers an UMRF based action execution management system to use as an interface for natural language control, via grounding the UMRF data structures to executable code. We demonstrate the feasibility of the developed work by executing robotic tasks on ROS via different parsing systems, including Google Assistant.},
	author = {Valner, Robert and Wanna, Selma and Pryor, Mitch},
	month = oct,
	year = {2019},
}





@inproceedings{pettinger_completing_2019,
	address = {Park City, UT},
	title = {Completing {Complex} {Contact} {Tasks} {Using} {Integrated} {Active} and {Passive} {Compliant} {Control} {Methodologies}},
	url = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T20A006/1070639},
	doi = {10.1115/DSCC2019-9062},
	language = {en},
	urldate = {2020-05-09},
	publisher = {ASME},
	author = {Pettinger, Adam and Pryor, Mitch},
	month = oct,
	year = {2019},
}













@inproceedings{ramanathan_instantaneous_2019,
	address = {Park City, UT},
	title = {Instantaneous {Center} of {Rotation}-{Based} {Master}-{Slave} {Kinematic} {Modeling} and {Control}},
	url = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T17A005/1070613},
	doi = {10.1115/DSCC2019-9123},
	language = {en},
	urldate = {2020-05-09},
	publisher = {ASME},
	author = {Ramanathan, Vikram and Zelenak, Andy and Pryor, Mitch},
	month = oct,
	year = {2019},
}

























@inproceedings{pettinger_passive_2019,
	title = {Passive {Tool} {Changer} {Development} for an {Elastic} and {Compliant} {Manipulator}},
	doi = {10.1109/COASE.2019.8843255},
	abstract = {Robotic tool changers allow the use of multiple tools or end-effectors by a robotic manipulator and eliminate the need for human intervention to change tools. In this paper, we present the design and testing of a passive mechanical tool changer designed for a project involving the inspection of an acidic and radioactive air duct. The tool changer relied on the active/passive motions of a compliant manipulator to perform tool changes and contains no electrical or pneumatic components. The resulting tool changing operation utilizes a developed compliant controller that relies exclusively on contact forces to guide the manipulator, and thus eliminates the need for precision operation or any assistance from the operator. The design features a locking system to ensure secure storage of tools that are not in use. Furthermore, the connection mechanism includes a bore scope camera for use when tools are not attached or to visually verify tool connections. Testing and demonstrations were performed to validate both the design and operation as well as show both the tools and tool changer perform in an extreme environment. The design requirements, iterative process, and prototype testing with the manipulator are also discussed.},
	booktitle = {2019 {IEEE} 15th {International} {Conference} on {Automation} {Science} and {Engineering} ({CASE})},
	author = {Pettinger, Adam and Dimoush, Conner and Pryor, Mitch},
	month = aug,
	year = {2019},
	note = {ISSN: 2161-8089},
	keywords = {Cameras, Inspection, Manipulators, Springs, Testing, Tools, acidic air duct, cameras, compliant manipulator, design engineering, design requirements, elastic manipulator, end effectors, end-effectors, industrial manipulators, industrial robots, iterative process, machine tool spindles, manipulator dynamics, mobile robots, motion control, multiple tools, passive mechanical tool changer, passive tool changer development, pneumatic systems, prototype testing, radioactive air duct, robotic manipulator, robotic tool changers, telerobotics},
	pages = {1200--1205},
}

















@inproceedings{mcmahon_development_2018,
	address = {Orlando, FL},
	title = {Development of a modular sensor tree for inspection of hazardous environments},
	publisher = {ANS},
	author = {McMahon, Conor and Suarez, Christopher and Plummer, Jean and Pryor, Mitch and Landsberger, Sheldon},
	month = nov,
	year = {2018},
}





@inproceedings{wanna_automated_2018,
	address = {Orlando, FL},
	title = {Automated gamma radiation surveying with a lanthanum bromide detector},
	publisher = {ANS},
	author = {Wanna, Selma and Pryor, Mitch and Landsberger, Sheldon},
	month = nov,
	year = {2018},
}





@inproceedings{petlowany_robotic_2018,
	address = {Orlando, FL},
	title = {A robotic platform for testing plasma pen decontamination},
	publisher = {ANS},
	author = {Petlowany, Christina and Pryor, Mitch},
	month = nov,
	year = {2018},
}





@phdthesis{sharp_virtual_2019,
	type = {Dissertation},
	title = {Virtual fixture generation for task planning with complex geometries},
	url = {https://repositories.lib.utexas.edu/handle/2152/78702},
	abstract = {Decontaminating and decommissioning aging nuclear facilities and managing nuclear waste required increased automation to reduce personnel dose. Semi-autonomous behaviors, such as virtual fixtures, aid task execution by managing low-level system resources while operators retain high-level control. Virtual fixtures provide operators with geometric constraints or guidance forces in a robotic manipulator’s workspace. This dissertation advances virtual fixture generation through, the previously unexplored, construction of layers of point cloud based Guidance Virtual Fixtures. Point clouds are used for virtual fixture generation, based on complex surface geometry, to provide more expressive, and therefore useful, environmental representations. Thus, this work builds upon previous point cloud based Forbidden Region Virtual Fixtures to address virtual fixture generation shortcomings outlined in the literature. Task input polygonal mesh checks warn operators if defects are found. Task normal vectors and task parameters are used to calculate point cloud layers at task defined distances from the surface. These layers are interpolated and voxelized to maintain point cloud resolution at increasing distances from the task surface. The layers are combined into a bi-directional graph structure for storage and future use. The graph structure is combined with a Forbidden Region Virtual Fixture to create a Task Virtual Fixture. 
Task Virtual Fixture generation was evaluated with multiple input types including parametric surfaces, polygonal meshes, and point cloud data. Results demonstrate surface model concavity affects the growth in the number of offset layer vertices as does distance from the task surface. Task Virtual Fixture generation intuitively modifies VF layer resolution at extended task surface distances. Point cloud sensor data demonstrated sensor data input for "open world" scenarios. Two visualization and task execution environments were developed to apply Task Virtual Fixtures to spatially discrete and spatially continuous non-contact tasks. The first interface, spatially discrete, was constructed with the Robot Operating System, RViz, and MoveIt!. This interface displays reachability information to the operator and is called the Manipulator to Task Transform Tool. The second interface allows operators to employ Task Virtual Fixture information in ABB’s RobotStudio for spatially continuous tasks. A small user study was conducted for each interface to demonstrate more expressive Task Virtual Fixtures are still operator interpretable and assist with task execution.},
	language = {en},
	urldate = {2020-05-09},
	author = {Sharp, Andrew Patrick},
	month = may,
	year = {2019},
	doi = {http://dx.doi.org/10.26153/tsw/5758},
	doi = {http://dx.doi.org/10.26153/tsw/5758},
	note = {Accepted: 2019-12-10T00:48:10Z},
}





@article{chan_development_2020,
	title = {Development and {Validation} of a {Scenario}-{Based} {Drilling} {Simulator} for {Training} and {Evaluating} {Human} {Factors}},
	issn = {2168-2305},
	doi = {10.1109/THMS.2020.2969014},
	abstract = {Drilling and completing an oil/gas well is a time-sensitive and high-value operation, in which environment/system parameters change in unseen, unpredictable environments. Safety issues arise at every stage. Drilling principles can be taught using traditional methods, but safety and event response are difficult to teach in such formats. Here, in this article, we integrate a hardware-in-the-loop simulator, downhole physics, and auxiliary touchscreen interfaces (similar to a rig's add-on equipment) to develop a realistic, real-time drilling simulator for well control operation training. Realistic operational data are supplied to the simulator representative of downhole operations, including unplanned well events. The well plan accounts for drilling parameter changes, the pore-pressure fracture-gradient drilling window, mud weights, etc., which occur in response to the unplanned events. The developed simulator is used for hands-on training, human factor studies, model verification, and evaluating new auxiliary equipment and/or operational procedures. A critical research objective was evaluating the accuracy/realism of the developed system. To do so, eight petroleum engineering students and 11 certified drillers were trained and asked to complete a comprehensive ({\textgreater}6 h) drilling operation. System accuracy was measured by comparing how new versus experienced operators learned to operate the simulator, execute mission-critical tasks, and respond to unplanned events. The results validate the realism of the developed simulator and scenarios, since personnel with prior drilling experience took significantly less time to master the system.},
	journal = {IEEE Transactions on Human-Machine Systems},
	author = {Chan, Hong-Chih and Lee, Melissa M. and Saini, Gurtej Singh and Pryor, Mitch and van Oort, Eric},
	month = feb,
	year = {2020},
	note = {Conference Name: IEEE Transactions on Human-Machine Systems},
	keywords = {Drilling, Human factors, Industries, Personnel, Physics, Safety, Training, education, simulation-based learning (SBL), simulator, training},
	pages = {1--10},
}









@inproceedings{han_real-time_2018,
	address = {Dallas, TX},
	title = {Real-{Time} {3D} {Computer} {Vision} {Shape} {Analysis} of {Cuttings} and {Cavings}},
	isbn = {978-1-61399-572-3},
	url = {https://www.onepetro.org/conference-paper/SPE-191634-MS},
	doi = {10.2118/191634-MS},
	abstract = {Excessive cuttings and cavings accumulation due to poor hole cleaning and borehole instability can cause costly stuck pipe incidents. Currently, there is no surface instrument to monitor cuttings volume and detect cavings in real-time. An automated},
	language = {english},
	urldate = {2020-05-09},
	publisher = {Society of Petroleum Engineers},
	author = {Han, Runqi and Ashok, Pradeepkumar and Pryor, Mitchell and van Oort, Eric},
	month = sep,
	year = {2018},
	pages = {16},
}









@inproceedings{sharp_data_2018,
	address = {Quebec City, CA},
	title = {Data {Driven} {Virtual} {Fixtures} for {Improved} {Shared} {Control}},
	url = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2018/51814/V05BT07A028/276112},
	doi = {10.1115/DETC2018-86209},
	language = {en},
	urldate = {2020-05-09},
	publisher = {ASME},
	author = {Sharp, Andrew and Pryor, Mitch},
	month = aug,
	year = {2018},
	pages = {10},
}





















@inproceedings{vunder_improved_2018,
	address = {Gdansk, Poland},
	title = {Improved {Situational} {Awareness} in {ROS} {Using} {Panospheric} {Vision} and {Virtual} {Reality}},
	doi = {10.1109/HSI.2018.8431062},
	abstract = {One of the main difficulties in teleoperated systems is providing an operator with sufficient Situational Awareness (SA). This paper introduces three open-source packages that improve the operator's SA using the Robot Operating System (ROS). The first package-rviz\_textured\_sphere-allows rendering panospheric camera outputs as spherical images in the ROS visualization software RViz. A system where the visualization of this spherical data using an open-source virtual reality (OSVR) headset in the ROS framework is achieved with the second package: rviz\_plugin\_osvr. Finally, the third package-pointcloud\_painter-projects spherical data onto a 3D depth cloud scan of the scene generated from a rotating lidar. This package outputs a XYZRGB pointcloud that can be visualized either in RViz or using the virtual reality headset. Together, these technologies address the wider issue of limited SA in robotics and represent a substantial advancement in the environment visualization capabilities available to open-source robotics developers.},
	booktitle = {2018 11th {International} {Conference} on {Human} {System} {Interaction} ({HSI})},
	publisher = {IEEE},
	author = {Vunder, Veiko and Valner, Robert and McMahon, Conor and Kruusamäe, Karl and Pryor, Mitch},
	month = jul,
	year = {2018},
	keywords = {3D depth cloud scan, Cameras, Data visualization, Distortion, Headphones, Lenses, OSVR headset, ROS, ROS visualization software, RViz, Rendering (computer graphics), Robots, XYZRGB pointcloud, control engineering computing, data visualisation, environment visualization capabilities, human-robot interaction, lidar, mobile robots, open-source packages, open-source robotics developers, open-source virtual reality headset, operating systems (computers), optical radar, package-rviz\_textured\_sphere, panospheric camera output rendering, panospheric vision, pointcloud\_painter-projects spherical data, public domain software, rendering (computer graphics), robot operating system, rviz\_plugin\_osvr, situational awareness, spherical images, teleoperated systems, telerobotics, user interfaces, virtual reality},
	pages = {471--477},
}









@inproceedings{sharp_virtual_2018,
	address = {London, England},
	title = {Virtual {Fixture} {Augmentation} of {Operator} {Selection} of {Non}-{Contact} {Material} {Reduction} {Task} {Paths}},
	url = {https://asmedigitalcollection.asme.org/ICONE/proceedings/ICONE26/51531/V009T16A083/274799},
	doi = {10.1115/ICONE26-82398},
	language = {en},
	urldate = {2020-05-09},
	publisher = {ASME},
	author = {Sharp, Andrew and Petlowany, Christina and Pryor, Mitch},
	month = jul,
	year = {2018},
	pages = {10},
}

















@inproceedings{valner_intuitive_2018,
	address = {Madrid, Spain},
	title = {Intuitive ‘human-on-the-loop’ interface for tele-operating remote mobile manipulator robots},
	publisher = {European Space Agency},
	author = {Valner, Robert and Vunder, Veiko and Zelenak, Andy and Pryor, Mitch and Aabloo, Alvo and Kruusamäe, Karl},
	month = jun,
	year = {2018},
	pages = {8},
}





@inproceedings{allevato_affordance_2018,
	address = {Stockholm, Sweden},
	series = {{AAMAS} '18},
	title = {Affordance {Discovery} using {Simulated} {Exploration}},
	abstract = {Allowing robots to understand their world in terms of affordances allows for generalization, learning, and complex planning, while also being intuitive for humans to understand. In recent work, affordances are often learned with hand-coded robot actions, which can limit or bias the model. Real-world training has also been used to learn affordances and manipulation models, but is timeconsuming and unsafe for the robot and its environment.},
	urldate = {2020-05-09},
	booktitle = {Proceedings of the 17th {International} {Conference} on {Autonomous} {Agents} and {MultiAgent} {Systems}},
	publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
	author = {Allevato, Adam and Thomaz, Andrea and Pryor, Mitch},
	month = jul,
	year = {2018},
	keywords = {affordances, feature selection, human-guided learning, mental simulation, robot simulation, transfer learning},
	pages = {2174--2176},
}









@inproceedings{petlowany_automated_2018,
	address = {Phoenix, AZ},
	title = {Automated {Glovebox} {Workcell} {Design}},
	url = {https://www.xcdsystem.com/wmsym/2018/015.html#18370},
	booktitle = {Proceeding of the 2018 {Waste} {Management} {Symposium}},
	author = {Petlowany, Christina and Paredes, Edwin and Horn, Matthew and Allevato, Adam and Pryor, Mitch},
	month = mar,
	year = {2018},
}





@inproceedings{anderson_generating_2017,
	address = {Gyeongju, Korea},
	title = {Generating survey plans for autonomous robots using source and instrumentation data},
	url = {https://www.kns.org/inter_paper/lists/page/435},
	publisher = {Korean Nuclear Society},
	author = {Anderson, Blake and Pryor, Mitch and Landsberger, Sheldon},
	month = nov,
	year = {2017},
	pages = {9},
}





@inproceedings{vunder_improved_2018,
	address = {Vancouver, CA},
	title = {Improved situational awareness for teleoperated systems with {VR} headset and panospheric camera integration},
	publisher = {IEEE},
	author = {Vunder, Veiko and Pryor, Mitch},
	month = sep,
	year = {2018},
}





@inproceedings{zelenak_control_2017,
	address = {Cleveland, OH},
	title = {Control of {Nonlinear} {Systems} in {Normal} {Form} by {Complementary} {Lyapunov} {Functions}},
	url = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A014/258244},
	doi = {10.1115/DETC2017-67805},
	language = {en},
	urldate = {2020-05-09},
	publisher = {ASME},
	author = {Zelenak, Andy and Fernández, Benito and Pryor, Mitch},
	month = aug,
	year = {2017},
}













@inproceedings{zelenak_lyapunov_2017,
	address = {Cleveland, OH},
	title = {A {Lyapunov} {Proof} of {Stability} for {Parallel} {Controllers} of {SISO} {Systems}},
	url = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A017/258278},
	doi = {10.1115/DETC2017-68036},
	language = {en},
	urldate = {2020-05-09},
	publisher = {ASME},
	author = {Zelenak, Andy and Pitsch, Meredith and Fernández, Benito and Pryor, Mitch},
	month = aug,
	year = {2017},
}

















@inproceedings{han_real-time_2017,
	title = {Real-{Time} {Borehole} {Condition} {Monitoring} using {Novel} {3D} {Cuttings} {Sensing} {Technology}},
	isbn = {978-1-61399-501-3},
	url = {https://www.onepetro.org/conference-paper/SPE-184718-MS},
	doi = {10.2118/184718-MS},
	abstract = {Abstract Wellbore instability and stuck pipe incidents are large contributors to drilling-related non-productive time (NPT). Drilling cuttings/cavings monitoring is crucial for early detection and mitigation of such events. Currently, monitoring is},
	language = {english},
	urldate = {2020-05-09},
	publisher = {Society of Petroleum Engineers},
	author = {Han, Runqi and Ashok, Pradeepkumar and Pryor, Mitchell and Oort, Eric van and Scott, Paul and Reese, Isaac and Hampton, Kyle},
	month = mar,
	year = {2017},
}





@phdthesis{horn_quantifying_2017,
	type = {Thesis},
	title = {Quantifying grasp quality using an inverse reinforcement learning algorithm},
	url = {https://repositories.lib.utexas.edu/handle/2152/47303},
	abstract = {This thesis considers the problem of using a learning algorithm to recognize when a mechanical gripper and sensor combination has achieved a robust grasp. Robotic hands are continuously evolving with finer motor control and higher degrees of freedom which can complicate the ability of an operator to determine if a gripper has achieved a successful grasp. Robots working in hazardous environments especially need confirmation of a successful grasp as the cost of failure is often higher than in traditional factory environments. The object set found in a nuclear environment is the focus of this effort. Objects in this environment are typically expensive (or one-of-a-kind), rigid, radioactive (or toxic), dense, and susceptible to dents, scratches, and oxidation. To validate the robustness of a grasp option, an online inverse reinforcement learning approach is evaluated as a method to quantify grasp quality. This approach is applied to an industrial-grade under-actuated robotic hand equipped with 36 pressure sensors. An expert trains the inverse reinforcement learning algorithm to generate a reward function which scores each grasp so - when combined with fuzzy logic - provides a general success or fail along with a confidence level. Utilizing the trained inverse reinforcement learning algorithm in a glovebox environment reduces the number of potential failing and untrustworthy grasps by scoring executed grasps and rejecting grasps that are similar to prior failed grasps while allowing further execution of movement when a grasp has been scored highly. The trained algorithm incorrectly classified grasps of insufficient quality less than 5\% of the time in experimental hardware tests, showing that the algorithm can be applied to the glovebox environment to improve grasp safety. Thus the combination of grasp selection and pressure sensor validation provides a more efficient, robust, and redundant method to assure items can be safely handled during remote automation processes.},
	school = {The University of Texas at Austin},
	author = {Horn, Matthew},
	month = may,
	year = {2017},
}









@inproceedings{allevato_getting_2017,
	title = {Getting the shot: {Socially}-aware viewpoints for autonomously observing tasks},
	shorttitle = {Getting the shot},
	doi = {10.1109/ARSO.2017.8025205},
	abstract = {In this work, we present an algorithm for autonomously determining the appropriate location from which to observe a human or robot agent (actor) while it completes a task in dynamic environments. We develop theory for selecting such a location using forward physical simulation of randomly-selected candidate viewpoints. The simulated points provide obstacle avoidance, and by incorporating a modified version of the Social Force Model, candidate viewpoints adjust themselves so that they do not encroach on the actor's personal space and/or safety region. The best observer position is chosen from these candidates to provide the most complete view of the task volume, taking into account the occlusion caused by the actor itself. We show that our algorithm works under a variety of task volume configurations, actor types (human and robot), and environmental constraints. Finally, the paper shows the results of hardware deployment on a two-robot system-one observer, and one actor. The paper concludes by examining the social impacts of deploying autonomous observation algorithms on real-world systems.},
	booktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},
	author = {Allevato, Adam and Sharp, Andrew and Pryor, Mitch},
	month = mar,
	year = {2017},
	note = {ISSN: 2162-7576},
	keywords = {Collision avoidance, Force, Mathematical model, Navigation, Observers, Robot sensing systems, actor personal space, actor safety region, autonomous observation algorithm, autonomous task observation, collision avoidance, dynamic environments, environmental constraint, forward physical simulation, mobile robots, multi-robot systems, observer position, observers, obstacle avoidance, randomly-selected candidate viewpoints, robot agent, social force model, socially-aware viewpoint, task volume configuration, two-robot system},
	pages = {1--6},
}









@inproceedings{pitsch_temporally_2017,
	title = {Temporally static environment coverage with offline planning techniques},
	doi = {10.1109/ARSO.2017.8025194},
	abstract = {Complete coverage path planning remains a challenge for environments that change over time. Currently, computationally expensive online, sensor-based planning algorithms are used to address the uncertainty caused by any changes to an environment. Temporally static environments, common in many robot coverage tasks such as cleaning or maintenance surveying, see changes only over extended periods of time. Enhancing offline methods to handle such variations is ideal in order to maintain guaranteed optimality and completeness. This work presents a method of enhancing offline coverage path planning algorithms for temporally static maps through the introduction of adaptive permanence for offline planning decisions. The presentation will include a review of offline and online methods as well as a discussion of how to combine their strengths to address the described situation. It will include any developed algorithms as well as experimental results or demonstrations of the proposed coverage algorithm.},
	booktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},
	author = {Pitsch, Meredith and Pryor, Mitch},
	month = mar,
	year = {2017},
	note = {ISSN: 2162-7576},
	keywords = {Mobile communication, Path planning, Planning, Robot sensing systems, Service robots, Uncertainty, adaptive permanence, cleaning, complete coverage path planning, completeness, environment changes, maintenance surveying, offline planning decision, offline planning technique, online sensor-based planning algorithm, optimality, path planning, robot coverage task, robots, temporally static environment coverage, temporally static map, uncertain systems, uncertainty},
	pages = {1--2},
}









@inproceedings{pryor_mobile_2017,
	address = {Phoenix, AZ},
	title = {Mobile manipulation and survey system for {H}-{Canyon} and other applications across the {DOE} complex},
	url = {https://xcdsystem.com/wmsym/archives//2017/137.html#17309},
	booktitle = {Proceedings of the {Waste} {Management} {Symposia}},
	author = {Pryor, Mitch and Landsberger, Sheldon},
	month = mar,
	year = {2017},
	note = {Conference Superior Paper},
}





@inproceedings{pryor_ros-doe_2017,
	address = {Phoenix, AZ},
	title = {{ROS}-{DOE}: {Leveraging} open-source robotics software for the {DOE}-{EM} mission},
	url = {https://xcdsystem.com/wmsym/archives//2017/107.html#17181},
	booktitle = {Proceedings of the {Waste} {Management} {Symposia}},
	author = {Pryor, Mitch and Wood, Paul and Hvass, Paul and Quigley, Morgan},
	month = mar,
	year = {2017},
	note = {Conference Superior Paper},
}





@inproceedings{pryor_operator_2017,
	address = {Phoenix, AZ},
	title = {Operator evaluation of a mobile robotic systems for inventory, inspection, and contamination survey tasks in {D}\&{D} environments},
	url = {https://xcdsystem.com/wmsym/archives//2017/137.html#17309},
	booktitle = {Proceedings of the {Waste} {Management} {Symposia}},
	author = {Pryor, Mitch},
	month = mar,
	year = {2017},
}





@inproceedings{ebersole_intelligent_2016,
	address = {Pittsburgh, PA},
	title = {Intelligent navigation of a skid steer dual-arm manipulator with dynamic center of gravity},
	publisher = {ANS},
	author = {Ebersole, Ben and Pryor, Mitch},
	month = aug,
	year = {2016},
}





@inproceedings{von_sternberg_demonstrations_2016,
	address = {Pittsburgh, PA},
	title = {Demonstrations of a generalized contact control framework: follow-the-leader and grasping/inserting a peg in a hole},
	publisher = {ANS},
	author = {von Sternberg, Alex and Pryor, Mitch},
	month = aug,
	year = {2016},
}





@inproceedings{anderson_autonomous_2016,
	address = {Pittsburgh, PA},
	title = {Autonomous inventory in nuclear environment using a remote platform},
	publisher = {ANS},
	author = {Anderson, Blake and Pitsch, Meredith and Wanna, Selma and Park, David and Pryor, Mitch and Landsberger, Sheldon},
	month = aug,
	year = {2016},
}





@inproceedings{sharp_virtual_2016,
	address = {Pittsburgh, PA},
	title = {Virtual normal surface fixtures ({VNSVF}) for semi-autonomous task completion},
	publisher = {ANS},
	author = {Sharp, Andrew and Pryor, Mitch},
	month = aug,
	year = {2016},
}





@inproceedings{allevato_characterizing_2016,
	address = {Pittsburgh, PA},
	title = {Characterizing glovebox automation tasks using partially observable {Markov} decision processes},
	publisher = {ANS},
	author = {Allevato, Adam and Thompson, Jack and Pryor, Mitch},
	month = aug,
	year = {2016},
}





@inproceedings{kruusamae_spatially-mapped_2016,
	address = {Pittsburgh, PA},
	title = {Spatially-mapped human-robot interface for teleoperation of high-precision tasks},
	publisher = {ANS},
	author = {Kruusamäe, Karl and Thompson, Jack and Pryor, Mitch},
	month = aug,
	year = {2016},
}





@inproceedings{schroeder_effectiveness_2016,
	address = {Pittsburgh, PA},
	title = {The effectiveness of collision detection for human-robot interaction in glovebox environment},
	publisher = {ANS},
	author = {Schroeder, Kyle and Harden, Troy and Pryor, Mitch},
	month = aug,
	year = {2016},
}





@inproceedings{kruusamae_high-precision_2016,
	address = {Portsmouth, UK},
	title = {High-precision telerobot with human-centered variable perspective and scalable gestural interface},
	copyright = {All rights reserved},
	doi = {10.1109/HSI.2016.7529630},
	abstract = {Telerobotics (i.e., remote-controlling robots) is highly attractive for tasks in potentially dangerous situations, e.g., search and rescue, space exploration, and handling hazardous materials. However, when telerobots are deployed to complete tasks, the human operator needs to develop task plan and figure out how to execute it using the available control interface. Inappropriate controls can lead to excessive cognitive load and long task completion times. If the human operator can interact with the robot in an intuitive way, he or she can focus more on the task. For that reason, we have designed a human-centered control interface that allows the operator to modify the user perspective, command via hand gestures and natural language, and scale human input motion to any suitable range on the robot. The interface consists of a Leap Motion Controller for hand tracking, microphone for speech detection, and a simple turn knob for varying the scaling factor between the human and robot motions. The teleoperator software utilizes the Robot Operating System (ROS) which enables open-source development and hardware agnosticism. In this paper we demonstrate the feasibility of the proposed system by executing a high-precision task of threading a needle. Furthermore, we present results from a usability study in where people were asked to complete high-precision tasks with both the developed human-centered gestural control input and a conventional functionality-centered drag-and-drop interface.},
	booktitle = {2016 9th {International} {Conference} on {Human} {System} {Interactions} ({HSI})},
	publisher = {IEEE},
	author = {Kruusamäe, Karl and Pryor, Mitch},
	month = jul,
	year = {2016},
	keywords = {ROS, Robot kinematics, Robot sensing systems, Service robots, Speech, Teleoperators, Visualization, drag-and-drop interface, gesture recognition, hand gestures, hand tracking, handling hazardous materials, hardware agnosticism, high-precision, high-precision telerobotics, human-centered control interface, human-centered variable perspective, human-robot interaction, human-robot interface, industrial robot, leap motion controller, motion control, natural language, natural languages, open-source development, operating systems (computers), public domain software, robot operating system, robot programming, scalable, scalable gestural interface, search and rescue, space exploration, spatial mapping, speech detection, speech processing, supervisory control, teleoperator, teleoperator software, telerobotics},
	pages = {190--196},
}





@phdthesis{zelenak_nonlinear_2016,
	type = {Dissertation},
	title = {Nonlinear control with two complementary {Lyapunov} function},
	url = {https://repositories.lib.utexas.edu/handle/2152/46519},
	abstract = {If a Lyapunov function is known, a dynamic system can be stabilized. However, computing or selecting a Lyapunov function is often challenging. This dissertation presents a new approach which eliminates this challenge: a simple control Lyapunov function [CLF] is assumed then the algorithm seeks to reduce the value of the Lyapunov function. If the control effort would have no effect at any iteration, the CLF is switched in an attempt to regain control. There is some flexibility in choosing these two complementary CLF’s but they must satisfy a few characteristics. The method is proven to asymptotically stabilize a wide range of nonlinear systems and was tested on an even broader variety in simulation. It was also tested on an industrial robot to provide compliant behavior. The simulated and hardware demonstrations provide a broad perspective on the algorithm’s usefulness and limitations. In comparison to the ubiquitous PID controller, the algorithm’s advantages include enhanced performance, ease of tuning, and extensions to higher-order and/or coupled systems. Those claimed advantages are validated by a test with four engineering students, which validates the controller as a viable option for nonlinear control (even at the undergraduate level). The algorithm’s drawbacks include the necessity of a dynamic model and, when linearization is required, the reliance on a small simulation time step; however, for the motivating application –interactive industrial robotic systems – both requirements were already met. Finally, the developed software was released to the public as part of the Robot Operating System (ROS) and the details of that release are included in this report.},
	language = {en},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Zelenak, Andrew J.},
	month = dec,
	year = {2016},
	doi = {10.15781/T2JW86S95},
	keywords = {Dissertation},
}





@phdthesis{ebersole_skid-steer_2016,
	type = {Thesis},
	title = {Skid-steer kinematics for dual-arm mobile manipulator system with dynamic center of gravity},
	url = {https://repositories.lib.utexas.edu/handle/2152/46137},
	abstract = {Skid-steer mobile vehicles bridge an important operational gap in robotics between indoor-only and outdoor-only platforms. Traditionally, skid-steer vehicles have been treated and operated as differential-drive vehicles, which is an adequate approximation with a static center of gravity (CG) coincident with the wheelbase center. With a dual-arm mobile manipulator, such as the Nuclear and Applied Robotics Group's VaultBot platform, the center of gravity's location is dynamic and the differential-drive model is no longer valid. This can result in large errors between desired and actual trajectories over even short periods of time. In this work, the degree to which the platform's behavior changes with a dynamic CG and the intuition behind these effects are discussed. Several different approaches leading to the development of a heuristic model built to improve performance, and the evaluation results of said model, are also discussed.},
	language = {en},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Ebersole, Benjamin Jarrett},
	month = dec,
	year = {2016},
	doi = {10.15781/T2XK84W0N},
}





@inproceedings{peterson_automated_2015,
	address = {Washington DC},
	title = {Automated industrial manufacturing in hazardous glovebox environments},
	publisher = {ANS},
	author = {Peterson, Clinton and Pryor, Mitch},
	month = nov,
	year = {2015},
}





@inproceedings{zelenak_stabilization_2015,
	address = {Columbus, OH},
	title = {Stabilization of {Nonlinear} {Systems} by {Switched} {Lyapunov} {Function}},
	url = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57243/V001T03A002/228044},
	doi = {10.1115/DSCC2015-9650},
	language = {en},
	urldate = {2020-05-09},
	publisher = {ASME},
	author = {Zelenak, Andy and Pryor, Mitch},
	month = oct,
	year = {2015},
	pages = {9},
}





@inproceedings{zelenak_advantages_2015,
	address = {Columbus, OH},
	title = {The {Advantages} of {Velocity} {Control} for {Reactive} {Robot} {Motion}},
	url = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57267/V003T43A003/230493},
	doi = {10.1115/DSCC2015-9713},
	language = {en},
	urldate = {2020-05-09},
	publisher = {ASME},
	author = {Zelenak, Andy and Peterson, Clinton and Thompson, Jack and Pryor, Mitch},
	month = oct,
	year = {2015},
	pages = {8},
}













@inproceedings{zelenak_extended_2014,
	address = {San Antonio, TX},
	title = {An {Extended} {Kalman} {Filter} for {Collision} {Detection} {During} {Manipulator} {Contact} {Tasks}},
	url = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46186/V001T11A005/228334},
	doi = {10.1115/DSCC2014-6330},
	language = {en},
	urldate = {2020-05-08},
	publisher = {ASME},
	author = {Zelenak, Andy and Pryor, Mitch and Schroeder, Kyle},
	month = oct,
	year = {2014},
}





@phdthesis{von_sternberg_gccf_2016,
	type = {Thesis},
	title = {{GCCF} : a generalized contact control framework},
	shorttitle = {{GCCF}},
	url = {https://repositories.lib.utexas.edu/handle/2152/39083},
	abstract = {The field of robotics has come a long way since the first reprogrammable robot was able to automate simple tasks on an assembly line. However, many industrial robots are stuck doing similar simple tasks in the field, especially in the nuclear industry. Roboticists can expand the task space of industrial robots by making advanced robot technology reliable, easily integrated, and packaged in a manner that does not require an expert in the field to use. One particular field of robotics that could be used to help this task space expansion is compliant control which is used to execute robotic procedures involving contact with environmental objects. It is especially useful when the position or orientation of the environmental objects is not precise. Examples of industrial procedures that a robot could do with compliant control include material reduction, surface finishing, packaging, assembly, material handling, and many more. This thesis explores the state of the art in compliant control and proposes a Generalized Contact Control Framework (GCCF) that packages compliant control laws in a manner that is easy to use for a non-expert. GCCF splits the control of a robot end effector into separate control of each linear and rotational dimension. The user sets the law that controls each dimension independently to one of three intuitive laws. By specifying laws and stiffness independently for each dimension of end effector control, the user can complete a large variety of contact tasks. We illustrate GCCF’s broad capabilities in two flexible demonstrations. The first demonstration provides a graphical user interface to GCCF with which a user can set and reconfigure the control of the end effector while interacting with the robot. This allows the user to subjectively experience the reconfigurablilty as well as the physical behavior prompted by the control. In the second demonstration, we use GCCF to execute multiple contact tasks with the goal of putting a peg in a hole. These demonstrations prove the feasibility and usefulness of GCCF, using the API and ROS compatible package for the controller.},
	language = {en},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {von Sternberg, Alex},
	month = may,
	year = {2016},
	doi = {10.15781/T29882N00},
}





@phdthesis{allevato_object_2016,
	type = {Thesis},
	title = {An object recognition and pose estimation library for intelligent industrial automation},
	url = {https://repositories.lib.utexas.edu/handle/2152/39369},
	abstract = {The nuclear-industrial complex is a field characterized by hazardous environments and stringent worker health regulations. Automation is one of the best ways to improve worker health, but many of the work-intensive tasks in the nuclear industry are difficult to automate using rigid industrial manipulators, which are often treated as glorified assembly lines. This thesis presents the idea of intelligent industrial automation, or IIA, as a way to implement automation in diverse and uncertain environments, and shows that robust computer vision is a key technology in achieving deployable IIA. Furthermore, with recent advances in the field of computer vision, including machine-learning based techniques, the time is better than ever for groups such as the Department of Energy (DOE) to implement computer vision and IIA in their processes. A modular software framework for object recognition and pose estimation (ORP) is developed and incorporated into three laboratory demonstrations, each of which represents a different capability relevant to DOE. By using well-proven computer vision techniques and libraries, ORP enables robust task completion in domains that would have previously been impossible without human supervision or custom mechanical designs (such as task-specific fixtures). A vision-enabled manipulation system is shown to reliably pick and place small weapon detonator components 98\% of the time, making it an ideal candidate for machine tending. A remote inspection and inventory system shows the ability to visually detect the position of nuclear material storage canisters with a standard deviation under 1 mm, allowing it to detect cans that have been moved or tampered with. Finally, using vision, an automated glovebox mixed-waste sorting system is able to sort small objects, which begin in a random configuration, into three containers based on their color (a surrogate for radiation signature) with 94.6\% accuracy. All three demonstrations proceed autonomously, suggesting that implementing IIA can result in significant improvements in worker safety and productivity at DOE complex sites.},
	language = {en},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Allevato, Adam David},
	month = may,
	year = {2016},
	doi = {10.15781/T2GH9B905},
}





@phdthesis{hashem_automating_2015,
	type = {Dissertation},
	title = {Automating {X}-ray and neutron imaging applications with flexible automation},
	url = {https://repositories.lib.utexas.edu/handle/2152/33357},
	abstract = {This dissertation advances the capability of autonomous manipulation systems for non-destructive testing applications, specifically computed tomography and radiography. Non-destructive testing is the inspection of a part that does not affect its future usefulness. Radiography and tomography technologies are used to detect material faults inaccessible to direct observation. An industrial 7 degree-of-freedom manipulator has been installed in various x-ray and neutron imaging facilities, including the Nuclear Engineering Teaching Laboratory and Los Alamos National Laboratory, for imaging purposes.
Inspection of numerous components manually is laborious and time consuming, and there is the risk of high radiation dose to the operator. As Low As Reasonably Achievable exposure can be significantly reduced by installing a robot in an x-ray or neutron imaging facility to perform part placement in the beam for radioactive parts and nuclear facilities. Automation has the additional potential benefit of improving part throughput by obviating the need for human personnel to move or exchange parts to be imaged and allowing for flexible orientation of the imaged object with respect to the x-ray or neutron beam. When the process is fully automated, it eliminates the need for a human to enter the beam area.
The robot needs to meet certain performance requirements, including high repeatability, precision, stability, and accuracy. The robotic system must be able to precisely position and align parts, and parts need to be held still while the image is taken. Any movement of the specimen during exposure causes image blurring.
Robotics and remote systems are an integral part of the ALARA approach to radiation safety. Robots increase the distance between workers and hazards and reduce time that workers must be exposed. Research performed aims to expand the role of automation at nuclear facilities by reducing the burden on human operators. The robot’s control system must manage collision detection, grasping, and motion planning to reduce the amount of time that an operator spends micro-managing such a system via tele-operation.
The subject of this work includes modeling (in MCNP) and measuring flux, dose rates, and DPA rates of neutron imaging facilities to develop predictions of radiation flux, dose profiles, and radiation damage by examining neutron and gamma fields during operation. Dose and flux predictions provide users the means to simulate geometrical and material changes and additions to a facility, thus saving time, money, and energy in determining the optimal setup for the robotic system.},
	language = {en},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Hashem, Joseph Anthony},
	month = dec,
	year = {2015},
	doi = {10.15781/T2GD6T},
	keywords = {Dissertation},
}





@phdthesis{peterson_industrial_2015,
	type = {Thesis},
	title = {Industrial automation and control in hazardous nuclear environments},
	url = {https://repositories.lib.utexas.edu/handle/2152/31978},
	abstract = {This report discusses the design and implementation of an automated system for use in geometrically-constrained, hazardous glovebox environments. This system’s purpose is to reduce a hemispherical plutonium pit into smaller pieces that fit inside of a crucible. The size reduction of plutonium pits supports stockpile stewardship efforts by the United States Department of Energy. The automation of this process increases the safety of radiation workers by handling radioactive nuclear material. This decreases glovebox worker dose and exposure to tools, sharps, and fines. This effort examines the hardware and software framework developed to support the use of a Port Deployed Manipulator (PDM) for a contact task. This research effort uses a 7 Degree-of-Freedom (DOF) PDM and a micropunch to reduce hemispherical pit surrogates. Formulation of the material reduction execution algorithm involved addressing a variety of topics related to industrial automation: 1. Collision detection and object recognition based on user-specified parameters. 2. Joint torque monitoring 3. Online motion planning for contact tasks 4. Object-in-hand industrial manufacturing 5. Grasping and handling of nuclear material 6. Software compliance via robust nonlinear control methods A high-bandwidth collision detection algorithm involving joint torque monitoring was developed to increase robot safety during operation. The motion planning algorithm developed for this effort takes variable geometric properties to be used with a range of hemishells. The algorithm’s feasibility was validated on a hardware test bed in a laboratory setting. Hardware cold tests conclude that mechanical compliance is sufficient for task completion. However, software compliance would increase performance, ef- ficiency, and safety during task execution. Two different nonlinear force control laws (feedback linearization and sliding mode control) that minimize object shear forces were developed using a simplified material reduction simulation. It is recommended that glovebox automation research continue to increase worker safety throughout the DOE complex.},
	language = {en},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Peterson, Clinton II Dean},
	month = may,
	year = {2015},
	doi = {10.15781/T25P75},
}





@phdthesis{thompson_redesigning_2014,
	address = {The University of Texas at Austin},
	type = {Thesis},
	title = {Redesigning the human-robot interface : intuitive teleoperation of anthropomorphic robots},
	shorttitle = {Redesigning the human-robot interface},
	url = {https://repositories.lib.utexas.edu/handle/2152/28284},
	abstract = {A novel interface for robotic teleoperation was developed to enable accurate and highly efficient teleoperation of the Industrial Reconfigurable Anthropomorphic Dual-arm (IRAD) system and other robotic systems. In order to achieve a revolutionary increase in operator productivity, the bilateral/master-slave approach must give way to shared autonomy and unilateral control; autonomy must be employed where possible, and appropriate sensory feedback only where autonomy is impossible; and today’s low-information/high feedback model must be replaced by one that emphasizes feedforward precision and minimal corrective feedback. This is emphasized for task spaces outside of the traditional anthropomorphic scale such as mobile manipulation (i.e. large task spaces) and high precision tasks (i.e. very small task spaces). The system is demonstrated using an anthropomorphically dimensioned industrial manipulator working in task spaces from one meter to less than one millimeter, in both simulation and hardware. This thesis discusses the design requirements and philosophy of this interface, provides a summary of prototype teleoperation hardware, simulation environment, test-bed hardware, and experimental results.},
	language = {en},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Thompson, Jack Lyle},
	month = dec,
	year = {2014},
}





@inproceedings{williams_complete_2011,
	address = {Knoxville, TN},
	title = {A {Complete} {Approach} to {Reduce} {Operator} {Dosage} in {Hazardous} {Environments}},
	publisher = {ANS},
	author = {Williams, Joshua and Pryor, Mitch and Landsberger, Sheldon and Schulte, Louis D.},
	month = aug,
	year = {2011},
}





@phdthesis{oneil_graph-based_2010,
	type = {Thesis},
	title = {Graph-based world-model for robotic manipulation},
	url = {https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-08-1734},
	abstract = {There has been a significant push in robotics research toward robot autonomy. However, full autonomy is currently impractical for all but the most clearly defined tasks in the most structured environments. However, as tasks become less defined and environments become cluttered and less controlled, there is still a benefit to implementing semi-autonomous behaviors where aspects of the tasks are completed autonomously thus reducing the burden on the human operator. A key component of a robot control system that supports this functionality is a robust world model to act as a repository of environmental information. 
The research community has provided many world-modeling solutions to support autonomous vehicle navigation. As such, they focus primarily on preventing collisions with the environment. Modeling schemes designed for collision prevention are of limited use to robotic manipulators that must have contact interaction with the environment as a matter of course.  
This thesis presents a world-modeling scheme that abstracts the model of the environment into a graph structure. This abstraction separates the concepts of entities in the environment from their relationships to the environment. The result is an intuitive world model that supports not only collision detection, but also motion planning and grasping. The graph-based world model presented can be searched by semantic type and tag values, allowing any number of agents to simultaneously use and update the model without causing failures elsewhere in the system. These capabilities are demonstrated on two different automated hot-cell glovebox systems, and one mobile manipulation system for use in remote contamination testing.},
	language = {eng},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {O'Neil, Brian Erick},
	month = aug,
	year = {2010},
}





@phdthesis{schroeder_use_2010,
	type = {Thesis},
	title = {On the use of generalized force data for kinematically controlled manipulators},
	url = {https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2150},
	abstract = {The Department of Energy national laboratories, like Los Alamos National Lab or Sandia National Lab, perform work on radioactive and chemically dangerous materials. Gloveboxes are often used to shield workers from these hazards, but they cannot completely eliminate the danger and often create new safety concerns due to reduced operator dexterity and ergonomic posture. When feasible, robots can be employed to remove the human from the radioactive hazard; allowing them to analyze the situation and make decisions remotely.
 Force sensor data from the manipulator can be used to simplify the control of these remote systems as well as make them more robust. Much research has been done to develop force and torque control algorithms to introduce compliance or detect collisions. Many of these algorithms are very complicated and currently only implemented in research institutions on torque-controlled manipulators. The literature review discusses many such controllers which have been developed and/or demonstrated. This thesis reviews, develops, and demonstrates several beneficial algorithms which can be implemented on commercially-available kinematically-controlled robots using commercially-available sensors with a reasonable investment of time.
 Force data is used to improve safety and manage contact forces while kinematically controlling the robot, as well as improve the world model. Safety is improved by detecting anomalous and/or excessive forces during operation. Environmental modeling data is inferred from position and/or force data. A six-axis sensor and joint torque sensors on 2 7DOF manipulators are used to demonstrate the proposed algorithms in two DOE relevant applications: remotely opening an incompletely modeled cabinet door and moving a robot in a confined space.},
	language = {en\_US},
	school = {The University of Texas at Austin},
	author = {Schroeder, Kyle},
	month = dec,
	year = {2010},
}





@phdthesis{williams_improved_2010,
	type = {Thesis},
	title = {Improved manipulator configurations for grasping and task completion based on manipulability},
	url = {https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2174},
	abstract = {When a robotic system executes a task, there are a number of responsibilities that belong to either the operator and/or the robot. A more autonomous system has more responsibilities in the completion of a task and must possess the decision making skills necessary to adequately deal with these responsibilities. The system must also handle environmental constraints that limit the region of operability and complicate the execution of tasks. There are decisions about the robot’s internal configuration and how the manipulator should move through space, avoid obstacles, and grasp objects. These motions usually have limits and performance requirements associated with them. 
 Successful completion of tasks in a given environment is aided by knowledge of the robot’s capabilities in its workspace. This not only indicates if a task is possible but can suggest how a task should be completed. In this work, we develop a grasping strategy for selecting and attaining grasp configurations for flexible tasks in environments containing obstacles. This is done by sampling for valid grasping configurations at locations throughout the workspace to generate a task plane. Locations in the task plane that contain more valid configurations are stipulated to have higher dexterity and thus provide greater manipulability of targets. For valid configurations found in the plane, we develop a strategy for selecting which configurations to choose when grasping and/or placing an object at a given location in the workspace. 
 These workspace task planes can also be utilized as a design tool to configure the system around the manipulator’s capabilities. We determine the quality of manipulator positioning in the workspace based on manipulability and locate the best location of targets for manipulation. The knowledge of valid manipulator configurations throughout the workspace can be used to extend the application of task planes to motion planning between grasping configurations. This guides the end-effector through more dexterous workspace regions and to configurations that move the arm away from obstacles.
 The task plane technique employed here accurately captures a manipulator’s capabilities. Initial tests for exploiting these capabilities for system design and operation were successful, thus demonstrating this method as a viable starting point for incrementally increasing system autonomy.},
	school = {The},
	author = {Williams, Joshua},
	month = dec,
	year = {2010},
}













@inproceedings{oneil_autonomous_2015,
	address = {Hamburg, Germany},
	title = {Autonomous mobile system for inventory and inspection tasks in hazardous environments},
	publisher = {IEEE},
	author = {O'Neil, Brian and Pryor, Mitch},
	month = sep,
	year = {2015},
}





@inproceedings{hashem_performing_2015,
	address = {San Antonio, TX},
	title = {Performing neutron imaging of mock uranium fuel rods with a robotic manipulator},
	publisher = {ANS},
	author = {Hashem, Joseph and Pryor, Mitch},
	month = jun,
	year = {2015},
}

















@phdthesis{zelenak_compliant_2013,
	type = {Thesis},
	title = {A compliant control law for industrial, dual-arm manipulators},
	url = {https://repositories.lib.utexas.edu/handle/2152/22232},
	abstract = {Many of the first robots ever built, decades even before the first industrial robots, were humanoids. It seems like researchers have always sought to imitate the human form with their robots, and with good reason. Humans are incredibly flexible; they can perform a huge variety of tasks, from locomotion over rough terrain, to delicate assembly, to heavy lifting. A human’s second arm allows him to lift twice as much weight. His workspace is approximately doubled, and he can perform a broader variety of tasks as items are passed back and forth between hands. We sought to impart some of that same functionality to a strong, rigid, dual-arm robot. Specifically, we developed a control law that allows two robot arms to lift and manipulate an object in cooperation.
As opposed to the prior art, our control law is tailored for industrial robots. These robots do not usually allow torque control and their control frequency is generally 60 Hz. Through the use of fuzzy logic, the control law is quite robust at 60 Hz control rates. Its simple structure reduces the computational cost of the algorithm by approximately 75\% over Jacobian-based methods. Stability is proven and the controller parameters can be adjusted to handle perturbances of arbitrary magnitude. Since the robots behave as an admittance, torque control is not required. Several experiments were conducted to benchmark and validate the performance of this control law. The controller is able to maintain a clamp force within ± 4N despite a wide variation in trajectory and control frequency. This fine level of force control makes the controller suitable for delicate tasks.
The conclusion suggests several extensions that would make this control law more useful. For example, adaptive control would improve the performance. A position feedback controller should be cascaded so that the robot arms’ tracking accuracy is improved. Many tasks (such as co-robotics) require external compliance, and we show how external compliance could easily be incorporated.},
	language = {en\_US},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Zelenak, Andrew J.},
	month = may,
	year = {2013},
}





@phdthesis{hashem_requirements_2012,
	type = {Thesis},
	title = {The requirements and implementation of dynamically-deployed robotic systems for use in confined, hazardous environments},
	url = {https://repositories.lib.utexas.edu/handle/2152/19692},
	abstract = {This report discusses the design and operation of dynamically-deployed robotic systems for use in confined, hazardous environments, such as those found in Department of Energy gloveboxes to handle nuclear material while keeping humans at a safe distance. The Department of Energy faces unique technical and operational challenges to automate glovebox operations. These operations share characteristics such as confined spaces, extremely harsh environmental conditions, simplified field serviceability, and portability. Human-scale uncertainty must be tolerated since many glovebox tasks require manipulation of objects whose positions are not predefined and vary in unpredictable ways due to external factors including humans in the loop, interactions with preexisting systems, and completing experimental (as opposed to manufacturing tasks) where the final state of handled objects may not be known. Completion of automated tasks is much more difficult without any a priori knowledge of the item to be handled. 
This effort will examine both the software and hardware requirements and technical challenges associated with this domain. The examined hardware testbeds include two seven degree-of-freedom glovebox manipulators (5 kg payload each) in a dual-arm configuration deployed via gloveports as well as a similar but larger (10 kg payload) manipulator deployed via a transfer port. Several critical operational capabilities are demonstrated, including deployment, collision detection, manipulation, trajectory generation, tele-manipulation, and calibration. 
Implementing automation within the confines of a glovebox is far from trivial. The unique environmental and system requirements include confined operating spaces, pre-existing, fixed environments, difficulties when performing complex maintenance and repair, and unconventional workspace envelopes. Many glovebox processes are still experimental, so flexible robotic systems are necessary to test and perfect process methodologies while keeping humans at a safe distance. The need for a gloveport-deployed robotic system that can be easily inserted and removed from an existing glovebox stems from these set of challenges. 
Port-deployed systems allow the operators to move away from hazards while allowing them to return when (or if) necessary. Ultimately, port-deployed manipulators provide a flexible and reversible approach for increasing the use of automation in glovebox environments, without significant redesign of existing processes or the environment where they occur.},
	language = {en\_US},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Hashem, Joseph Anthony},
	month = dec,
	year = {2012},
}





@phdthesis{oneil_object_2013,
	type = {Dissertation},
	title = {Object recognition and pose estimation for nuclear manipulation in nuclear materials handling applications},
	url = {https://repositories.lib.utexas.edu/handle/2152/21610},
	abstract = {This dissertation advances the capability of autonomous or semiautonomous robotic manipulation systems by providing the tools required to turn depth sensor measurements into a meaningful representation of the objects present in the robot's environment. This process happens in two steps. First, the points from depth imagery are separated into clusters representing individual objects by a Euclidean clustering scheme. Each cluster is then passed to a recognition algorithm that determines what it is, and where it is. This information allows the robot to determine a pose of the object for grasp planning or obstacle avoidance. To accomplish this, the recognition system must extract mathematical representation of each point cluster. To this end, this dissertation presents a new feature descriptor, the Cylindrical Projection Histogram which captures the shape, size, and viewpoint of the object while maintaining invariance to image scale. These features are used to train a classifier which can then determine the label and pose of each cluster identified in a scene. The results are used to inform a probabilistic model of the object, that quantifies uncertainty and allows Bayesian update of the object's label and position. Experimental results on live data show a 97.2\% correct recognition rate for a classifier based on the Cylindrical Projection Histogram. This is a significant improvement over another state-of-the art feature that gives an 89.6\% recognition rate on the same object set. With statistical filtering over 10 frames, the raw recognition rate improve to 100\% and 92.3\% respectively. For pose estimation, both features offe rrotational pose estimation performance from 12° to 30°, and pose errors below 1 cm. This work supports deployment of robotic manipulation systems in unstructured glovebox environments in US Department of Energy facilities. The recognition performance of the CPH classifier is adequate for this purpose. The pose estimation performance is sufficient for gross pick-and-place tasks of simple objects, but not sufficient for dexterous manipulation. However, the pose estimation, along with the probabilistic model, support post-recognition pose refinement techniques.},
	language = {en\_US},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {O'Neil, Brian Erick},
	month = may,
	year = {2013},
	keywords = {Dissertation},
}





@inproceedings{williams_automated_2013,
	address = {Atlanta, GA},
	title = {Automated design of robotic/human manufacturing workcells in radioactive environments},
	booktitle = {Proceedings of the 2013 {ANS} {Annual} {Meeting}},
	publisher = {ANS},
	author = {Williams, Joshua and Pryor, Mitch},
	month = jun,
	year = {2013},
}





@inproceedings{zelenak_integration_2014,
	address = {Reno, NV},
	title = {Integration of compliance and collision detection algorithms for industrial systems},
	booktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},
	publisher = {ANS},
	author = {Zelenak, Andrew and Schroeder, Kyle and Landsberger, Sheldon},
	month = nov,
	year = {2014},
}





@inproceedings{oneil_3d_2014,
	address = {Reno, NV},
	title = {{3D} object recognition and pose estimation for remote material handling},
	booktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},
	publisher = {ANS},
	author = {O'Neil, Brian and Pryor, Mitch},
	month = nov,
	year = {2014},
}





@inproceedings{anderson_low-cost_2014,
	address = {Reno, NV},
	title = {Low-cost mobile platform and sensor suite for remote radiation surveying},
	booktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},
	publisher = {ANS},
	author = {Anderson, Blake and Sharp, Andrew and Pryor, Mitch},
	month = nov,
	year = {2014},
}





@inproceedings{hashem_implementation_2014,
	address = {Reno, NV},
	title = {Implementation of flexible automation for neutron radiography applications},
	booktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},
	publisher = {ANS},
	author = {Hashem, Joseph and Pryor, Mitch and Landsberger, Sheldon},
	month = nov,
	year = {2014},
}





@inproceedings{peterson_evaluating_2014,
	address = {Reno, NV},
	title = {Evaluating automation for material reduction in gloveboxes using plutonium surrogates},
	booktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},
	publisher = {ANS},
	author = {Peterson, Clinton and Pryor, Mitch and Landsberger, Sheldon},
	month = nov,
	year = {2014},
}





@inproceedings{thompson_user-centered_2014,
	address = {Reno, NV},
	title = {User-centered interface for scalable, ergonomic robotic teleoperation},
	booktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},
	publisher = {ANS},
	author = {Thompson, Jack and Pryor, Mitch},
	month = nov,
	year = {2014},
}





@inproceedings{hashem_feasibility_2014,
	address = {College Station, PA},
	title = {Feasibility for industrial robots used in non-destructive testing applications},
	publisher = {ANS},
	author = {Hashem, Nicholas and Pryor, Mitch},
	month = apr,
	year = {2014},
}





@inproceedings{hashem_automating_2013,
	address = {Washington DC},
	title = {Automating x-ray and neutron non-destructive testing application},
	publisher = {ANS},
	author = {Hashem, Joseph and Hunter, James and Pryor, Mitch},
	month = nov,
	year = {2013},
}





@phdthesis{brabec_shape_2013,
	type = {Thesis},
	title = {A shape primitive-based grasping strategy using visual object recognition in confined, hazardous environments},
	url = {https://repositories.lib.utexas.edu/handle/2152/23635},
	abstract = {Grasping can be a complicated process for robotics due to the replication of human fine motor skills and typically high degrees of freedom in robotic hands. Robotic hands that are underactuated provide a method by which grasps can be executed without the onerous task of calculating every fingertip placement. The general shape configuration modes available to underactuated hands lend themselves well to an approach of grasping by shape primitives, and especially so when applied to gloveboxes in the nuclear domain due to the finite number of objects anticipated and the safe assumption that objects in the set are rigid. Thus, the object set found in a glovebox can be categorized as a small set of primitives such as cylinders, cubes, and bowls/hemispheres, etc. These same assumptions can also be leveraged for reliable identification and pose estimation within a glovebox. This effort develops and simulates a simple, but robust and effective grasp planning algorithm for a 7DOF industrial robot and three fingered dexterous, but underactuated robotic hand. The proposed grasping algorithm creates a grasp by generating a vector to the object from the base of the robot and manipulating that vector to be in a suitable starting location for a grasp. The grasp preshapes are selected to match shape primitives and are built-in to the Robotiq gripper used for algorithm demonstration purposes. If a grasp is found to be unsuitable via an inverse kinematics solution check, the algorithm procedurally generates additional grasps to try based on object geometry until a solution can be found or all possibilities are exhausted. The algorithm was tested and found capable of generating valid grasps for visually identified objects, and can recalculate grasps if one is found to be incompatible with the current kinematics of the robotic arm.},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Brabec, Cheryl Lynn},
	month = dec,
	year = {2013},
}





@phdthesis{williams_automated_2013,
	type = {Dissertation},
	title = {Automated conceptual design of manufacturing workcells in radioactive environments},
	url = {https://repositories.lib.utexas.edu/handle/2152/21429},
	abstract = {The design of manufacturing systems in hazardous environments is complex, requiring interdisciplinary knowledge to determine which components and operators (human or robotic) are feasible. When conceptualizing designs, some options may be overlooked or unknowingly infeasible due to the design engineers' lack of knowledge in a particular field or ineffective communication of requirements between disciplines. To alleviate many of these design issues, we develop a computational design tool to automate the synthesis of conceptual manufacturing system designs and optimization of preliminary layouts. To generate workcell concepts for manufacturing processes, we create a knowledge-based system (KBS) that performs functional modeling using a common language, a generic component database, and a rule set. The KBS produces high-level task plans for specific manufacturing processes and allocates needed material handling tasks between compatible human and/or robotic labor. We develop an extended pattern search (EPS) algorithm to optimize system layouts based on worker dose and cycle time minimization using the functions and sequencing of generated task plans. The KBS and EPS algorithm were applied to the design of glovebox processing systems at Los Alamos National Laboratory (LANL). Our computational design tool successfully generates design concepts with varied task allocation and processing sub-tasks and layouts with favorable manipulation workspaces. This work establishes a framework for automated conceptual design while providing designers with a beneficial tool for designing manufacturing systems in an interdisciplinary and highly constrained domain.},
	language = {en\_US},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Williams, Joshua Murry},
	month = aug,
	year = {2013},
	keywords = {Dissertation},
}





@phdthesis{schroeder_requirements_2013,
	type = {Dissertation},
	title = {Requirements for effective collision detection on industrial serial manipulators},
	url = {https://repositories.lib.utexas.edu/handle/2152/21585},
	abstract = {Human-robot interaction (HRI) is the future of robotics.  It is essential in the expanding markets, such as surgical, medical, and therapy robots.  However, existing industrial systems can also benefit from safe and effective HRI.  Many robots are now being fitted with joint torque sensors to enable effective human-robot collision detection.  Many existing and off-the-shelf industrial robotic systems are not equipped with these sensors.  This work presents and demonstrates a method for effective collision detection on a system with motor current feedback instead of joint torque sensors.  The effectiveness of this system is also evaluated by simulating collisions with human hands and arms. Joint torques are estimated from the input motor currents.  The joint friction and hysteresis losses are estimated for each joint of an SIA5D 7 Degree of Freedom (DOF) manipulator.  The estimated joint torques are validated by comparing to joint torques predicted by the recursive application of Newton-Euler equations.  During a pick and place motion, the estimation error in joint 2 is less than 10 Newton meters.  Acceleration increased the estimation uncertainty resulting in estimation errors of 20 Newton meters over the entire workspace. When the manipulator makes contact with the environment or a human, the same technique can be used to estimate contact torques from motor current.  Current-estimated contact torque is validated against the calculated torque due to a measured force.  The error in contact force is less than 10 Newtons.  Collision detection is demonstrated on the SIA5D using estimated joint torques. The effectiveness of the collision detection is explored through simulated collisions with the human hands and arms.  Simulated collisions are performed both for a typical pick and place motion as well as trajectories that transverse the entire workspace.  The simulated forces and pressures are compared to acceptable maximums for human hands and arms.  During pick and place motions with vertical and lateral end effector motions at 10mm/s and 25mm/s, the maximum forces and pressures remained below acceptable levels.  At and near singular configurations some collisions can be difficult to detect.  Fortunately, these configurations are generally avoided for kinematic reasons.},
	language = {en\_US},
	urldate = {2017-11-12},
	school = {The University of Texas at Austin},
	author = {Schroeder, Kyle Anthony},
	month = aug,
	year = {2013},
	keywords = {Dissertation},
}





@inproceedings{pryor_development_2009,
	address = {Austin, TX},
	title = {Development {Of} {An} {Interdisciplinary} {Graduate} {Program} {For} {Automation} {In} {Nuclear} {Applications}},
	copyright = {All rights reserved},
	url = {https://peer.asee.org/5106},
	urldate = {2017-11-08},
	publisher = {ASEE},
	author = {Pryor, Mitchell and Landsberger, Sheldon},
	month = jun,
	year = {2009},
	pages = {14.477.1--14.477.9},
}





@inproceedings{cox_requirements_1999,
	address = {Boston, MA},
	title = {Requirements for {Modular} {Dual}-{Arm} {Robot} {Architecture} for use in {Deactivation} and {Decommissioning} {Tasks}},
	abstract = {Numerous nuclear facilities must be dismantled at DOE nuclear material processing sites. Tasks associated with Deactivation and Decommissioning (D\&D) require long duration activity with a wide range of tools (for example drills, chisels, saws, etc.) requiring tool change outs in complete operational scenarios. For example, a large part of the dismantlement scenario involves the transport, sorting, and packaging of heavy metal (lead, steel) and carbon radiation shielding pieces cut by the remote robotics technology. This paper addresses the requirements of a wide range of Deactivation and Decommissioning (D\&D) tasks to be performed using remote robotics technology.},
	booktitle = {{ANS} {Annual} {Meeting}},
	publisher = {ANS},
	author = {Cox, Daniel and Cetin, Murat and Pryor, Mitch and Tesar, Delbert},
	month = jun,
	year = {1999},
}





























@inproceedings{williams_knowledge-based_2013,
	title = {A {Knowledge}-{Based} {Approach} for the {Automated} {Design} of {Robotic}/{Human} {Manufacturing} {Workcells} in {Hazardous} {Environments}},
	url = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830292},
	doi = {10.1115/DETC2013-12670},
	urldate = {2014-06-10},
	booktitle = {{ASME} 2013 {International} {Design} {Engineering} {Technical} {Conferences} and {Computers} and {Information} in {Engineering} {Conference}},
	publisher = {American Society of Mechanical Engineers},
	author = {Williams, Joshua M. and Pryor, Mitch W.},
	month = aug,
	year = {2013},
	pages = {7--17},
}





@inproceedings{schroeder_black_2013,
	title = {A {Black} {Box} {Model} for {Estimating} {Joint} {Torque} in an {Industrial} {Serial} {Manipulator}},
	url = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830783},
	doi = {10.1115/DETC2013-12407},
	urldate = {2014-06-10},
	booktitle = {{ASME} 2013 {International} {Design} {Engineering} {Technical} {Conferences} and {Computers} and {Information} in {Engineering} {Conference}},
	publisher = {American Society of Mechanical Engineers},
	author = {Schroeder, Kyle A. and Pryor, Mitch and Harden, Troy},
	month = aug,
	year = {2013},
	pages = {62--71},
}









@inproceedings{schroeder_industrial_2013,
	address = {Atlanta, GA},
	title = {Industrial {Manipulator} {Collision} {Detection} {Demonstrated} {Using} {Motor} {Current} {Feedback} and {Position} {Control}},
	booktitle = {Proceedings of the 2013 {ANS} {Annual} {Meeting}},
	publisher = {ANS},
	author = {Schroeder, Kyle and Pryor, Mitch and Harden, Troy},
	month = jun,
	year = {2013},
}













@inproceedings{oneil_hazardous_2012,
	title = {Hazardous workspace modeling for manipulators using spatial hazard functions},
	doi = {10.1109/SSRR.2012.6523880},
	abstract = {This paper describes an approach to motion planning that includes hazards individually characterized as continuous functions of space. These functions contribute to a complex and discontinuous yet practical representation of the hazards found in a manipulator's workspace. The hazard model is a smoothed and scaled representation of the actual physical hazard sampled discretely over the robot's workspace. This research is primarily motivated to reduce damage to manipulators working in high-radiation environments, but is easily extended to other spatial hazards including heat sources, overlapping workspaces, etc. The gradient of the hazard function is used to generate a force that can be included by an artificial potential field motion planner easing its integration with other existing techniques used for obstacle avoidance, target acquisition, etc. The motion planner additionally scales the robot's velocity in proportion to the magnitude of the hazard model and determines the path. This results in a motion influenced in the direction of greatest hazard reduction at a speed that reduces the time the robot is subject to abnormally high hazard. These techniques are demonstrated on a port-deployed glovebox manipulator in a simulated hazardous environment. Over the course of a demonstration task, the radiation exposure to the robot is reduced by over 50\%.},
	booktitle = {2012 {IEEE} {International} {Symposium} on {Safety}, {Security}, and {Rescue} {Robotics} ({SSRR})},
	author = {O'Neil, B. and Brabec, C. and Pryor, M.},
	month = nov,
	year = {2012},
	keywords = {artificial potential field motion planner, collision avoidance, continuous space functions, hazard model, hazard reduction, hazardous areas, hazardous workspace modeling, heat sources, high-radiation environments, industrial manipulators, manipulator workspace, motion planner, motion planning approach, obstacle avoidance, port-deployed glovebox manipulator, radiation effects, radiation exposure, robot velocity, scaled representation, simulated hazardous environment, spatial hazard functions, target acquisition},
	pages = {1--6},
}





@inproceedings{schroeder_use_2011,
	address = {Knoxville, TN},
	title = {On the {Use} of {Joint} {Torque} {Sensors} for {Collision} {Detection} in a {Confined} {Environment}},
	booktitle = {Proceedings of the 2011 {ANS} {International} {Topical} {Meeting} on {Robotics} and {Remote} {Systems}},
	publisher = {American Nuclear Society},
	author = {Schroeder, Kyle and Pryor, Mitch and Harden, Troy},
	month = aug,
	year = {2011},
	note = {(best paper, 2nd place)},
	pages = {1--11},
}









@inproceedings{oneil_graph-based_2011,
	address = {Knoxville, TN},
	title = {A graph-based modeling approach for automating neutron radiography experimentation},
	booktitle = {Proceedings of the 2011 {ANS} {International} {Topical} {Meeting} on {Robotics} and {Remote} {Systems}},
	publisher = {American Nuclear Society},
	author = {O'Neil, Brian and Pryor, Mitch and Landsberger, Sheldon},
	month = aug,
	year = {2011},
	pages = {1--12},
}









@inproceedings{brabec_reducing_2011,
	address = {Knoxville, TN},
	title = {Reducing the operator’s burden during teleoperation involving contact tasks},
	booktitle = {Proceedings of the 2011 {ANS} {International} {Topical} {Meeting} on {Robotics} and {Remote} {Systems}},
	publisher = {American Nuclear Society},
	author = {Brabec, Cheryl and Schroeder, Kyle and Williams, Joshua and O'Neil, Brian and Pryor, Mitch},
	month = aug,
	year = {2011},
	pages = {1--12},
}









@inproceedings{thompson_spatial_2014,
	address = {Chicago, IL},
	title = {Spatial interface for user-centric robotic teleoperation and demonstration on a high precision task},
	booktitle = {Workshop on {Tele}-operation at the {IEEE} {Conference} on {Intelligent} {Robots} and {Systems}},
	publisher = {IEEE},
	author = {Thompson, Jack and Pryor, Mitch},
	month = sep,
	year = {2014},
}





@inproceedings{pryor_control_2009,
	address = {Washington DC},
	title = {Control strategies for manipulators performing contact tasks in a confined environment},
	booktitle = {Proceedings of the 2009 {ANS} {Winter} {Meeting}},
	publisher = {ANS},
	author = {Pryor, Mitch and Schroeder, Kyle and Landsberger, Sheldon},
	month = nov,
	year = {2009},
}





@inproceedings{hashem_integrating_2011,
	address = {Knoxville, TN},
	title = {Integrating fixed and flexible solutions for glovebox automation},
	booktitle = {Proceedings of the 2011 {ANS} {International} {Topical} {Meeting} on {Robotics} and {Remote} {Systems}},
	publisher = {American Nuclear Society},
	author = {Hashem, Joeseph and O'Neil, Brian and Pryor, Mitch},
	month = aug,
	year = {2011},
	note = {(best paper, 3rd place)},
	pages = {1--12},
}

















@inproceedings{pryor_real-time_2012,
	title = {Real-time {Monitoring} of {Student} {Procrastination} in a {PSI} {First}-year {Programming} {Course}},
	url = {https://peer.asee.org/real-time-monitoring-of-student-procrastination-in-a-psi-first-year-programming-course},
	urldate = {2018-12-29},
	author = {Pryor, Mitchell},
	month = jun,
	year = {2012},
	pages = {25.1099.1--25.1099.14},
}













@inproceedings{tadepalli_customized_2009,
	address = {Austin, TX},
	title = {Customized {Instruction} {In} {A} {Web} {Based}, {First} {Year} {Class}: {Maintaining} {Presence} {And} {The} {Importance} {Of} {Transition} {Using} {Content} {Management} {Tools}},
	shorttitle = {Customized {Instruction} {In} {A} {Web} {Based}, {First} {Year} {Class}},
	url = {https://peer.asee.org/customized-instruction-in-a-web-based-first-year-class-maintaining-presence-and-the-importance-of-transition-using-content-management-tools},
	urldate = {2018-12-29},
	author = {Tadepalli, Srikanth and Pryor, Mitchell and Booth, Cameron},
	month = jun,
	year = {2009},
	pages = {14.398.1--14.398.15},
}





@inproceedings{tadepalli_evaluating_2009,
	address = {Austin, TX},
	title = {Evaluating {Academic} {Procrastination} {In} {A} {Personalized} {System} {Of} {Instruction} {Based} {Curriculum}},
	url = {https://peer.asee.org/evaluating-academic-procrastination-in-a-personalized-system-of-instruction-based-curriculum},
	urldate = {2018-12-29},
	author = {Tadepalli, Srikanth and Booth, Cameron and Pryor, Mitchell},
	month = jun,
	year = {2009},
	pages = {14.589.1--14.589.15},
}





@inproceedings{schroeder_framework_2011,
	title = {Framework for {Use} of {Generalized} {Force} and {Torque} {Data} in {Transitional} {Levels} of {Autonomy}},
	isbn = {978-3-642-25489-5},
	doi = {10.1007/978-3-642-25489-5_43},
	abstract = {Manipulation of hazardous materials requires the use of robotics to limit exposure of human operators to the danger. In order to improve manipulator effectiveness while ensuring reliability and redundancy, layers of control are implemented in increments. Each level of autonomy is established such that should a fault occur, the control system can be operated at a lower level of autonomy. Force and torque data can be used as both a structural element of a level of autonomy and for fault detection. This paper presents a framework for the use of generalized force and torque data for improving manipulator safety, operational effectiveness, and world model augmentation. The framework is applied to a demonstration of the automated door opening.},
	language = {en},
	booktitle = {Intelligent {Robotics} and {Applications}},
	publisher = {Springer Berlin Heidelberg},
	author = {Schroeder, Kyle and Pryor, Mitch},
	editor = {Jeschke, Sabina and Liu, Honghai and Schilberg, Daniel},
	month = dec,
	year = {2011},
	keywords = {autonomy, force control, position based force control},
	pages = {442--451},
}





@inproceedings{oneil_modular_2010,
	address = {Ann Arbor, MI},
	title = {A {Modular} {Approach} to {Incremental} {Improvements} in {Manipulator} {Automation}},
	booktitle = {Proceeding of the {ANS} {Winter} {Student} {Conference}},
	publisher = {ANS},
	author = {O'Neil, Brian and Schroeder, Kyle and Williams, Joshua and Pryor, Mitch},
	month = apr,
	year = {2010},
	note = {(awareded conference best paper)},
}













@inproceedings{hulse_improved_2009,
	address = {Washington DC},
	title = {Improved {Grasping} {Strategies} for {Flexible} {Manufacturing} and {Mobile} {Manipulation}},
	booktitle = {Proceedings of the 2009 {ANS} {Winter} {Meeting}},
	publisher = {ANS},
	author = {Hulse, Aaron and Kulkarni, Amit and O'Neil, Brian and Pryor, Mitch},
	month = nov,
	year = {2009},
}





@inproceedings{kulkarni_software_2008,
	address = {Albuquerque, NM},
	title = {Software {Framework} for {Mobile} {Manipulation}},
	abstract = {The paper details the development of a mobile
manipulation system using state of the art commercial
hardware and manipulator control software developed by
the Robotics Research Group (RRG) at The University of
Texas at Austin and mobile platform control software
developed by Idaho National Laboratory (INL). A
manipulator and mobile platform independent mobile
manipulation software was developed using INL’s
Robotic Intelligence Kernel (RIK) for navigation and
RRG’s Operational Software Components for Advanced Robotics (OSCAR) for manipulation. The specific development included the integration of an OSCAR based Motion Planner (MP) with RIK along with new sensor integration and development of a Human Robot Interface (HRI) that supports arm control. Two different mobile manipulation systems were developed, one at RRG and the other at INL. Experiments were conducted at both sites to show the value of this research effort.},
	booktitle = {Proceedings of the {ANS} 2nd {International} {Joint} {Topical} {Meeting} on {Robotics} \& {Remote} {Systems}},
	publisher = {ANS},
	author = {Kulkarni, Amit and Kapoor, Chetan and Pryor, Mitch and Kinoshita, Robert and Atherton, John and Whetten, Jon and Nielsen, Curtis and Pryor, Mitch},
	month = mar,
	year = {2008},
}

































@inproceedings{spencer_collision_2008,
	title = {Collision avoidance techniques for tele-operated and autonomous manipulators in overlapping workspaces},
	doi = {10.1109/ROBOT.2008.4543651},
	abstract = {This paper describes the integration of several techniques for cooperative control of both tele-operated and autonomous redundant manipulators with overlapping workspaces. Motivating this research is a tele-operated surgical manipulator(s) supported by autonomous robot(s) that insert/remove items from the surgical workspace. The dynamic and unpredictable location of obstacles in a small workspace requires a complete strategy to avoid collisions when completing critical tasks and minimizes the need for user (i.e. the surgeon) intervention to make path planning decisions or resolve impasse situations. Three techniques are integrated into the decision-making for the manipulators: an intelligent and intuitive EEF velocity scaling, coordinated null-space optimization across affected manipulators, and collision detection. Central to all three techniques is an estimated time- to-collision formulation that combines distances between objects with their higher order properties, thus only objects currently moving towards each other are included in the collision avoidance techniques. The use of multiple techniques derived from the terms of a single metric results in a computationally efficient strategy for tele-operated and autonomous manipulators sharing the same workspace.},
	booktitle = {2008 {IEEE} {International} {Conference} on {Robotics} and {Automation}},
	author = {Spencer, A. and Pryor, M. and Kapoor, C. and Tesar, D.},
	month = may,
	year = {2008},
	keywords = {Collision avoidance, EEF velocity scaling, Manipulator dynamics, Motion detection, Path planning, Real time systems, Robot kinematics, Robotics and automation, Surgery, Surges, USA Councils, autonomous redundant manipulator, collision avoidance, collision avoidance technique, collision detection, cooperative control, cooperative systems, coordinated null-space optimization, estimated time-to-collision formulation, manipulators, medical robotics, teleoperated surgical manipulator, telerobotics},
	pages = {2910--2915},
}









@inproceedings{krishnamoorthy_multi-sensor_2007,
	address = {Washington DC},
	title = {A {Multi}-sensor {Architecture} for {Condition}-{Based} {Maintenance} in {Intelligent} {Actuators}},
	booktitle = {Proceedings of the {ANS} {Annual} {Winter} {Meeting}},
	publisher = {ANS},
	author = {Krishnamoorthy, Ganesh and Tesar, Delbert and Pryor, Mitch},
	month = nov,
	year = {2007},
}









@inproceedings{pryor_metrology_2005,
	address = {San Diego, CA},
	title = {Metrology {Methodologies} from {High} {Precision} {Applications}},
	booktitle = {Proceedings of the 2005 {ANS} {Annual} {Meeting}},
	publisher = {ANS},
	author = {Pryor, Mitch and Kang, Seong-Ho and Tesar, Delbert},
	month = jun,
	year = {2005},
}





@inproceedings{kang_kinematic_2004,
	address = {New Orleans, LA},
	title = {Kinematic {Model} and {Metrology} {System} for {Modular} {Robot} {Calibration}},
	volume = {3},
	doi = {10.1109/ROBOT.2004.1307500},
	abstract = {In this paper, a metrology method is presented to calibrate modular robots. It is to perform metrology at the modular level and measure the kinematic parameters of each module so that the acquired information may be used for obtaining an "as built" model every time either a modular robot is reconfigured or maintenance has been made. Based on the product-of-exponentials formula and the modified dyad kinematics, two calibration models with or without the interface error compensation are proposed. The success of this method is based on two key technologies; the first key is an accurate and interchangeable standardized interface and the second key is to develop a state-of-the-art 3-D metrology system which is accurate, flexible, and easy to use. This paper presents these topics with kinematic models for modular robot calibration.},
	booktitle = {{IEEE} {International} {Conference} on {Robotics} and {Automation}, 2004. {Proceedings}. {ICRA} '04. 2004},
	publisher = {IEEE},
	author = {Kang, Seong-Ho and Pryor, M. W. and Tesar, D.},
	month = apr,
	year = {2004},
	keywords = {Calibration, Computational geometry, Global Positioning System, Intelligent actuators, Intelligent robots, Kinematics, Metrology, Performance evaluation, Robotic assembly, Time measurement, calibration, interchangeable standardized interface, interface error compensation, kinematic model, measurement, metrology system, modified dyad kinematics, modular robot calibration, product-of-exponentials formula, robot kinematics, state-of-the-art 3D metrology system},
	pages = {2894--2899 Vol.3},
}





@inproceedings{pholsiri_extended_2003,
	title = {Extended {Generalized} {Impedance} {Control} for {Redundant} {Manipulators}},
	volume = {4},
	doi = {10.1109/CDC.2003.1271658},
	abstract = {An impedance control method for redundant manipulators called an extended generalized impedance control is developed. It is based on an extended task space formulation and generalized impedance control. With generalized impedance control, the manipulator's end-effector position and force tracking abilities can be balanced by properly adjusting impedance parameters. Null space motion is controlled by tracking a minimal parameterization of null space velocity. Redundancy is then exploited by specifying a desired null space velocity trajectory that optimizes a performance index. The control algorithm is implemented as part of OSCAR (Operational Software Components for Advanced Robotics), keeping with the generality concept. Therefore, it can be easily deployed with any serial manipulator. The effectiveness of the proposed controller is illustrated by computer simulations of a complex 10-DOF spatial manipulator performing a cutting task.},
	booktitle = {42nd {IEEE} {International} {Conference} on {Decision} and {Control} ({IEEE} {Cat}. {No}.{03CH37475})},
	author = {Pholsiri, C. and Rabindran, D. and Pryor, M. and Kapoor, C.},
	month = dec,
	year = {2003},
	keywords = {10 DOF spatial manipulator, 10 degrees of freedom spatial manipulator, Force control, Impedance, Manipulators, Motion control, Null space, OSCAR, Orbital robotics, Performance analysis, Software algorithms, Tracking, Velocity control, computer simulations, digital simulation, end effectors, extended generalized impedance control, extended task space formulation, force tracking ability, impedance parameters, manipulators end effector position, motion control, null space motion, null space velocity, operational software components for advanced robotics, performance index, position control, redundant manipulators, serial manipulator, software tools, velocity control},
	pages = {3331--3336 vol.4},
}





@inproceedings{harden_prototyping_2001,
	address = {Seattle, WA},
	title = {Prototyping {D}\&{D} {Tasks} {Using} a {Dual}-arm {Robotic} {System}},
	abstract = {The University of Texas at Austin is conducting research in the development and application of robotic systems for various Deactivation and Decommissioning (D\&D) tasks. This research includes the development of modular robotic hardware that scales from simple 1-2 Degree Of Freedom (DOF) systems to complex dual-arm systems. Research is also being pursued in the development of the required control software for such systems with an  emphasis on generality, the man-machine interface, obstacle avoidance, and decision-making for enhanced performance. This paper describes prototyping a D\&D type task with operational software (called OSCAR), a dual-arm robotic system (a 17 DOF system from Robotics Research Corp.), and tooling based on D\&D application requirements.
A material size reduction task is chosen for this prototype application. This task involves the use of one arm of the dual-arm robot to hold and position the work piece while the other arm uses off-the-shelf tooling (a cutting saw appropriately modified for computer control and commercially available tool changers) to cut the work piece. Necessary hardware developments for the demonstration included the integration of tool changers, crash protection devices, force/torque sensors, and the associated electronic instrumentation and wiring. OSCAR software modules were used to build the low-level control software that included redundant kinematics, robot servo-control interfacing, and the man-machine interface. Additional software was developed for path planning and application programming. A 3D-graphical model was developed
for system design and off-line programming and verification. The system is implemented using off-the-shelf components including PC hardware, the Windows NT operating system, and commercial data acquisition hardware, tool changers, and crash protection devices. The demonstration discussed in this paper accomplishes the goal of performing a relatively complex and useful dual-arm task while reducing development time and hardware costs. Aspects of integrating off-the-shelf components and modular software are presented. Future work and enhancements are also discussed including improved task planning, programming features, force control, motion planning, tool  integration, an improved man-machine interface, and the seamless integration of obstacle avoidance.},
	booktitle = {Proceeding of the {ANS} {Topical} {Meeting} on {Robotics} and {Automation}},
	publisher = {ANS},
	author = {Harden, Troy and Pryor, Mitchell and Rajan, Ratheesh and Yoo, Jae and Kapoor, Chetan and Tesar, Delbert},
	month = mar,
	year = {2001},
	pages = {1--11},
}





@inproceedings{pryor_manipulator_1999,
	address = {Las Vegas, NV},
	title = {Manipulator {Performance} {Criteria} {Based} on {Kinematic}, {Dynamic}, and {Compliance} {Models}},
	abstract = {Currently, few criteria are available that identify a redundant robot’s ‘optimal’ configuration. Criteria developers have been compelled to design computationally efficient metrics in order to maintain necessary control cycle rates. This requirement is diminishing in importance with increasing computer
performance, allowing designers to implement more complex and effective criteria into the manipulator’s control algorithms. This paper presents a wide variety of criteria that will aid in pinpointing optimal configurations in redundant manipulators. In developing these criteria, the counterproductive (but often necessary) requirement of minimizing the computation rate per criterion is largely ignored.
These new criteria are intended for two purposes: (1) the trajectory optimization of redundant manipulators and (2) design optimization for configuring link and joint modules in any manipulator. The criteria presented are derived from the geometric (both 1st and 2nd order), dynamic, and compliance models of a manipulator. All criteria are simulated on a 7DOF serial manipulator, and several results are presented here.},
	booktitle = {Proceedings of the {ASME} {Design} {Engineering} {Technical} {Conferences}},
	publisher = {ASME},
	author = {Pryor, Mitch and van Doren, Matthew and Tesar, Delbert},
	month = sep,
	year = {1999},
	pages = {1--9},
}





@inproceedings{cox_experiments_1999,
	address = {Oulu, Finland},
	title = {Experiments of {Cooperative} {Manipulation} for {Dual}-arm {Robotic} {Operations}},
	abstract = {Initial experiments in cooperative manipulation are performed with a test-bed comprised of a
fully anthropomorphic, seventeen degree-of-freedom, dual-arm robotic system. The system is
equipped with an updated computer hardware and software platform. A reusable and general
architecture of the operational software layer for the test-bed has been implemented and used
for the experiments. A series of experiments in which different control strategies are used as
extensions to the operational software layer is described. Results of initial experiments are
provided.},
	booktitle = {Proceedings of the 10th {World} {Congress} on the {Theory} of {Machines} and {Mechanisms}},
	author = {Cox, Daniel and Cetin, Murat and Pryor, Mitch and Tesar, Delbert},
	month = jun,
	year = {1999},
}




























































































































































































































































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In order to keep using Mendeley with BibBase past April\n        14th, you need to:\n        <ol>\n          <li>renew the authorization for BibBase on Mendeley, and</li>\n          <li>update the BibBase URL\n            in your page the same way you did when you initially set up\n            this page.\n          </li>\n        </ol>\n      </p>\n\n      <p>\n        <a href=\"http://bibbase.org/cgi-bin/mendeley2/get.py\">\n          <i class=\"fa fa-angle-double-right\"></i>\n          Fix it now</a>\n      </p>\n    </div>\n\n  </div>\n\n\n  <div id=\"bibbase_body\">\n    \n  \n  <div class=\"bibbase_group_whole\" id=\"group_2024\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2024')\"\n      onkeypress=\"toggleGroup('group_2024')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2024</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"akita-zaidner-pryor-improvedsituationalawarenessandperformancewithdynamictaskbasedoverlaysforteleoperation-2024\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://dl.acm.org/doi/10.1145/3648536.3648544\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'akita-zaidner-pryor-improvedsituationalawarenessandperformancewithdynamictaskbasedoverlaysforteleoperation-2024', 'https://dl.acm.org/doi/10.1145/3648536.3648544', event);\">\n    Improved Situational Awareness and Performance with Dynamic Task-Based Overlays for Teleoperation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Emmanuel Akita;  Guy Zaidner;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2024 International Symposium on Technological Advances in Human-Robot Interaction</i>, of <i>TAHRI '24</i>, pages 65–73, New York, NY, USA, May 2024. Association for Computing Machinery\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://dl.acm.org/doi/10.1145/3648536.3648544\"\n     onclick=\"log_download('akita-zaidner-pryor-improvedsituationalawarenessandperformancewithdynamictaskbasedoverlaysforteleoperation-2024', 'https://dl.acm.org/doi/10.1145/3648536.3648544', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Improved Situational Awareness and Performance with Dynamic Task-Based Overlays for Teleoperation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1145/3648536.3648544\"\n     onclick=\"log_download('akita-zaidner-pryor-improvedsituationalawarenessandperformancewithdynamictaskbasedoverlaysforteleoperation-2024', 'http://doi.org/10.1145/3648536.3648544', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/akita-zaidner-pryor-improvedsituationalawarenessandperformancewithdynamictaskbasedoverlaysforteleoperation-2024\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('akita-zaidner-pryor-improvedsituationalawarenessandperformancewithdynamictaskbasedoverlaysforteleoperation-2024')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{akita_improved_2024,\n\taddress = {New York, NY, USA},\n\tseries = {{TAHRI} &#x27;24},\n\ttitle = {Improved {Situational} {Awareness} and {Performance} with {Dynamic} {Task}-{Based} {Overlays} for {Teleoperation}},\n\tisbn = {9798400716614},\n\turl = {https://dl.acm.org/doi/10.1145/3648536.3648544},\n\tdoi = {10.1145/3648536.3648544},\n\tabstract = {Teleoperation remains an essential mode of robot control, especially in hazardous, uncertain environments. However, it presents multiple challenges such as latency, limited depth perception and constrained field of view. In this work, we introduce dynamic 2D GUI designs that leverage psychophysics principles to align with human perception and decision-making. These designs seamlessly integrate depth information, force feedback, and system status by overlaying real-time task-relevant data onto either 2D or 3D views. To assess their effectiveness, we compare them with HMD displays. The results indicate superior user task performance, marked by fewer “control mode” switches, reduced errors and collisions, and a 100\\% task completion rate. Furthermore, users reported heightened task confidence levels and improved situational awareness when using the dynamic 2D GUI designs.},\n\turldate = {2024-06-18},\n\tbooktitle = {Proceedings of the 2024 {International} {Symposium} on {Technological} {Advances} in {Human}-{Robot} {Interaction}},\n\tpublisher = {Association for Computing Machinery},\n\tauthor = {Akita, Emmanuel and Zaidner, Guy and Pryor, Mitch},\n\tmonth = may,\n\tyear = {2024},\n\tkeywords = {Mobile Manipulator, Situational Awareness, Teleoperation},\n\tpages = {65--73},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Teleoperation remains an essential mode of robot control, especially in hazardous, uncertain environments. However, it presents multiple challenges such as latency, limited depth perception and constrained field of view. In this work, we introduce dynamic 2D GUI designs that leverage psychophysics principles to align with human perception and decision-making. These designs seamlessly integrate depth information, force feedback, and system status by overlaying real-time task-relevant data onto either 2D or 3D views. To assess their effectiveness, we compare them with HMD displays. The results indicate superior user task performance, marked by fewer “control mode” switches, reduced errors and collisions, and a 100% task completion rate. Furthermore, users reported heightened task confidence levels and improved situational awareness when using the dynamic 2D GUI designs.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"regal-swanbeck-parragill-pryor-arstaranaugmentedrealitytoolforonlinemodificationofrobotpointclouddata-2024\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://utnuclearroboticspublic.github.io/ar-affordances/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'regal-swanbeck-parragill-pryor-arstaranaugmentedrealitytoolforonlinemodificationofrobotpointclouddata-2024', 'https://utnuclearroboticspublic.github.io/ar-affordances/', event);\">\n    AR-STAR: An Augmented Reality Tool for Online Modification of Robot Point Cloud Data.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Frank Regal;  Steven Swanbeck;  Fabian Parra Gill;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI)</i>, Boulder, CO, USA, March 2024. ACM\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://utnuclearroboticspublic.github.io/ar-affordances/\"\n     onclick=\"log_download('regal-swanbeck-parragill-pryor-arstaranaugmentedrealitytoolforonlinemodificationofrobotpointclouddata-2024', 'https://utnuclearroboticspublic.github.io/ar-affordances/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"AR-STAR: An Augmented Reality Tool for Online Modification of Robot Point Cloud Data [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1145/3610978.3640571\"\n     onclick=\"log_download('regal-swanbeck-parragill-pryor-arstaranaugmentedrealitytoolforonlinemodificationofrobotpointclouddata-2024', 'http://doi.org/https://doi.org/10.1145/3610978.3640571', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/regal-swanbeck-parragill-pryor-arstaranaugmentedrealitytoolforonlinemodificationofrobotpointclouddata-2024\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('regal-swanbeck-parragill-pryor-arstaranaugmentedrealitytoolforonlinemodificationofrobotpointclouddata-2024')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{regal_ar-star_2024,\n\taddress = {Boulder, CO, USA},\n\ttitle = {{AR}-{STAR}: {An} {Augmented} {Reality} {Tool} for {Online} {Modification} of {Robot} {Point} {Cloud} {Data}},\n\tisbn = {9798400703232},\n\turl = {https://utnuclearroboticspublic.github.io/ar-affordances/},\n\tdoi = {https://doi.org/10.1145/3610978.3640571},\n\tbooktitle = {Companion of the 2024 {ACM}/{IEEE} {International} {Conference} on {Human}-{Robot} {Interaction} ({HRI})},\n\tpublisher = {ACM},\n\tauthor = {Regal, Frank and Swanbeck, Steven and Parra Gill, Fabian and Pryor, Mitch},\n\tmonth = mar,\n\tyear = {2024},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2023\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2023')\"\n      onkeypress=\"toggleGroup('group_2023')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2023</span>\n      <span class=\"bibbase_group_count\">\n        \n        (12)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"regal-suarez-parra-pryor-augmentedrealityuserinterfaceforcommandcontrolandsupervisionoflargemultiagentteams-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://utnuclearroboticspublic.github.io/Augmented-Robot-Environment/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'regal-suarez-parra-pryor-augmentedrealityuserinterfaceforcommandcontrolandsupervisionoflargemultiagentteams-2023', 'https://utnuclearroboticspublic.github.io/Augmented-Robot-Environment/', event);\">\n    Augmented Reality User Interface for Command, Control, and Supervision of Large Multi-Agent Teams.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Frank Regal;  Chris Suarez;  Fabian Parra;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>2023 IEEE/RSJ IROS Second International Horizons of an Extended Robotics Reality (XR-ROB) Workshop</i>, Detroit, MI, USA, October 2023. https://arxiv.org/abs/2401.05665\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://utnuclearroboticspublic.github.io/Augmented-Robot-Environment/\"\n     onclick=\"log_download('regal-suarez-parra-pryor-augmentedrealityuserinterfaceforcommandcontrolandsupervisionoflargemultiagentteams-2023', 'https://utnuclearroboticspublic.github.io/Augmented-Robot-Environment/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Augmented Reality User Interface for Command, Control, and Supervision of Large Multi-Agent Teams [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/regal-suarez-parra-pryor-augmentedrealityuserinterfaceforcommandcontrolandsupervisionoflargemultiagentteams-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('regal-suarez-parra-pryor-augmentedrealityuserinterfaceforcommandcontrolandsupervisionoflargemultiagentteams-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{regal_augmented_2023,\n\taddress = {Detroit, MI, USA},\n\ttitle = {Augmented {Reality} {User} {Interface} for {Command}, {Control}, and\nSupervision of {Large} {Multi}-{Agent} {Teams}},\n\turl = {https://utnuclearroboticspublic.github.io/Augmented-Robot-Environment/},\n\tbooktitle = {2023 {IEEE}/{RSJ} {IROS} {Second} {International} {Horizons} of an {Extended} {Robotics} {Reality} ({XR}-{ROB}) {Workshop}},\n\tpublisher = {https://arxiv.org/abs/2401.05665},\n\tauthor = {Regal, Frank and Suarez, Chris and Parra, Fabian and Pryor, Mitch},\n\tmonth = oct,\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"regal-pettinger-duncan-parra-akita-navarro-pryor-usingsingledemonstrationstodefineautonomousmanipulationcontacttasksinunstructuredenvironmentsviaobjectaffordances-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://utnuclearroboticspublic.github.io/ar-affordances/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'regal-pettinger-duncan-parra-akita-navarro-pryor-usingsingledemonstrationstodefineautonomousmanipulationcontacttasksinunstructuredenvironmentsviaobjectaffordances-2023', 'https://utnuclearroboticspublic.github.io/ar-affordances/', event);\">\n    Using Single Demonstrations to Define Autonomous Manipulation Contact Tasks in Unstructured Environments via Object Affordances.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Frank Regal;  Adam Pettinger;  John A. Duncan;  Fabian Parra;  Emmanuel Akita;  Alex Navarro;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, Detroit, MI, USA, October 2023. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://utnuclearroboticspublic.github.io/ar-affordances/\"\n     onclick=\"log_download('regal-pettinger-duncan-parra-akita-navarro-pryor-usingsingledemonstrationstodefineautonomousmanipulationcontacttasksinunstructuredenvironmentsviaobjectaffordances-2023', 'https://utnuclearroboticspublic.github.io/ar-affordances/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Using Single Demonstrations to Define Autonomous Manipulation Contact Tasks in Unstructured Environments via Object Affordances [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1109/IROS55552.2023.10342493\"\n     onclick=\"log_download('regal-pettinger-duncan-parra-akita-navarro-pryor-usingsingledemonstrationstodefineautonomousmanipulationcontacttasksinunstructuredenvironmentsviaobjectaffordances-2023', 'http://doi.org/https://doi.org/10.1109/IROS55552.2023.10342493', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/regal-pettinger-duncan-parra-akita-navarro-pryor-usingsingledemonstrationstodefineautonomousmanipulationcontacttasksinunstructuredenvironmentsviaobjectaffordances-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>12 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('regal-pettinger-duncan-parra-akita-navarro-pryor-usingsingledemonstrationstodefineautonomousmanipulationcontacttasksinunstructuredenvironmentsviaobjectaffordances-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{regal_using_2023,\n\taddress = {Detroit, MI, USA},\n\ttitle = {Using {Single} {Demonstrations} to {Define} {Autonomous} {Manipulation} {Contact} {Tasks} in {Unstructured} {Environments} via {Object} {Affordances}},\n\turl = {https://utnuclearroboticspublic.github.io/ar-affordances/},\n\tdoi = {https://doi.org/10.1109/IROS55552.2023.10342493},\n\tbooktitle = {Proceedings of the 2023 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})},\n\tpublisher = {IEEE},\n\tauthor = {Regal, Frank and Pettinger, Adam and Duncan, John A. and Parra, Fabian and Akita, Emmanuel and Navarro, Alex and Pryor, Mitch},\n\tmonth = oct,\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"meza-centralizedtaskoffloadingondistributedremoterobotagentssimultaneouslocalizationandmapping-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Centralized Task Offloading on Distributed Remote Robot Agent(s) - Simultaneous Localization and Mapping.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Daniel I Meza.\n</span>\n\n  \n\n</span>\n\n  Master's thesis, The University of Texas at Austin, Austin, December 2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/meza-centralizedtaskoffloadingondistributedremoterobotagentssimultaneouslocalizationandmapping-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('meza-centralizedtaskoffloadingondistributedremoterobotagentssimultaneouslocalizationandmapping-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@mastersthesis{meza_centralized_2023,\n\taddress = {Austin},\n\ttitle = {Centralized {Task} {Offloading} on {Distributed} {Remote} {Robot} {Agent}(s) - {Simultaneous} {Localization} and {Mapping}},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Meza, Daniel I},\n\tmonth = dec,\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"regal-swanbeck-parra-rosenbaum-pryor-usingaugmentedrealitytoassessandmodifymobilemanipulatorsurfacerepairplans-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://utnuclearroboticspublic.github.io/ar-star/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'regal-swanbeck-parra-rosenbaum-pryor-usingaugmentedrealitytoassessandmodifymobilemanipulatorsurfacerepairplans-2023', 'https://utnuclearroboticspublic.github.io/ar-star/', event);\">\n    Using Augmented Reality to Assess and Modify Mobile Manipulator Surface Repair Plans.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Frank Regal;  Steven Swanbeck;  Fabian Parra;  Jared Rosenbaum;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>2023 IEEE/RSJ IROS Second International Horizons of an Extended Robotics Reality (XR-ROB) Workshop</i>, Detroit, MI, USA, October 2023. https://arxiv.org/abs/2311.00988\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://utnuclearroboticspublic.github.io/ar-star/\"\n     onclick=\"log_download('regal-swanbeck-parra-rosenbaum-pryor-usingaugmentedrealitytoassessandmodifymobilemanipulatorsurfacerepairplans-2023', 'https://utnuclearroboticspublic.github.io/ar-star/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Using Augmented Reality to Assess and Modify Mobile Manipulator Surface Repair Plans [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/regal-swanbeck-parra-rosenbaum-pryor-usingaugmentedrealitytoassessandmodifymobilemanipulatorsurfacerepairplans-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('regal-swanbeck-parra-rosenbaum-pryor-usingaugmentedrealitytoassessandmodifymobilemanipulatorsurfacerepairplans-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{regal_using_2023,\n\taddress = {Detroit, MI, USA},\n\ttitle = {Using {Augmented} {Reality} to {Assess} and {Modify} {Mobile}\nManipulator {Surface} {Repair} {Plans}},\n\turl = {https://utnuclearroboticspublic.github.io/ar-star/},\n\tbooktitle = {2023 {IEEE}/{RSJ} {IROS} {Second} {International} {Horizons} of an {Extended} {Robotics} {Reality} ({XR}-{ROB}) {Workshop}},\n\tpublisher = {https://arxiv.org/abs/2311.00988},\n\tauthor = {Regal, Frank and Swanbeck, Steven and Parra, Fabian and Rosenbaum, Jared and Pryor, Mitch},\n\tmonth = oct,\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pettinger-remoteroboticmanipulationtaskexecutionusingaffordanceprimitives-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Remote robotic manipulation task execution using affordance primitives.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Pettinger.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, Austin, TX, May 2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pettinger-remoteroboticmanipulationtaskexecutionusingaffordanceprimitives-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pettinger-remoteroboticmanipulationtaskexecutionusingaffordanceprimitives-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{pettinger_remote_2023,\n\taddress = {Austin, TX},\n\ttype = {{PhD} {Dissertation}},\n\ttitle = {Remote robotic manipulation task execution using affordance primitives},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Pettinger, Adam},\n\tmonth = may,\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"symmank-spatiotemporalobjectpersistencemodelingandsemanticsforlongtermrobotnavigation-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Spatio-temporal object persistence modeling and semantics for long-term robot navigation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Meredith Symmank.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, Austin, TX, November 2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/symmank-spatiotemporalobjectpersistencemodelingandsemanticsforlongtermrobotnavigation-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('symmank-spatiotemporalobjectpersistencemodelingandsemanticsforlongtermrobotnavigation-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{symmank_spatio-temporal_2023,\n\taddress = {Austin, TX},\n\ttype = {{PhD} {Dissertation}},\n\ttitle = {Spatio-temporal object persistence modeling and semantics for long-term robot navigation},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Symmank, Meredith},\n\tmonth = nov,\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-navarro-panthi-torres-tebben-imeza-horan-macris-radiationsurveysinactivenuclearfacilitieswithheterogeneouscollaborativemobilerobots-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Radiation Surveys in Active Nuclear Facilities with Heterogeneous Collaborative Mobile Robots.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitch Pryor;  Alex Navarro;  Janak Panthi;  Kevin Torres;  Mary Tebben;  Daniel I Meza;  Caleb Horan;  and  Alex Macris.\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/ICRA Workshop on Heterogeneous multi-robot cooperation for exploration and science in extreme environments</i>, London, UK, June 2023. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-navarro-panthi-torres-tebben-imeza-horan-macris-radiationsurveysinactivenuclearfacilitieswithheterogeneouscollaborativemobilerobots-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-navarro-panthi-torres-tebben-imeza-horan-macris-radiationsurveysinactivenuclearfacilitieswithheterogeneouscollaborativemobilerobots-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pryor_radiation_2023,\n\taddress = {London, UK},\n\ttitle = {Radiation {Surveys} in {Active} {Nuclear} {Facilities} with {Heterogeneous} {Collaborative} {Mobile} {Robots}},\n\tbooktitle = {{IEEE}/{ICRA} {Workshop} on {Heterogeneous} multi-robot cooperation for exploration and science in extreme environments},\n\tauthor = {Pryor, Mitch and Navarro, Alex and Panthi, Janak and Torres, Kevin and Tebben, Mary and I Meza, Daniel and Horan, Caleb and Macris, Alex},\n\tmonth = jun,\n\tyear = {2023},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"navarro-sensoralignedcoverageplanningformobilerobotsincomplex3denvironments-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Sensor-Aligned Coverage Planning for Mobile Robots in Complex 3D Environments.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Alex Navarro.\n</span>\n\n  \n\n</span>\n\n  Master's thesis, The University of Texas at Austin, May 2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/navarro-sensoralignedcoverageplanningformobilerobotsincomplex3denvironments-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('navarro-sensoralignedcoverageplanningformobilerobotsincomplex3denvironments-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@mastersthesis{navarro_sensor-aligned_2023,\n\ttitle = {Sensor-{Aligned} {Coverage} {Planning} for {Mobile} {Robots} in {Complex} {3D} {Environments}},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Navarro, Alex},\n\tmonth = may,\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Optimization Strategies for Bayesian Source Localization Algorithms.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Blake Anderson;  Can Pehlivanturk;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automation Science and Engineering</i>, Vol 20(1): pp 394–403. January 2023.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/http://doi.org/10.1109/TASE.2022.3154228\"\n     onclick=\"log_download('anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2023', 'http://doi.org/http://doi.org/10.1109/TASE.2022.3154228', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{anderson_optimization_2023,\n\ttitle = {Optimization {Strategies} for {Bayesian} {Source} {Localization} {Algorithms}},\n\tvolume = {Vol 20},\n\tdoi = {http://doi.org/10.1109/TASE.2022.3154228},\n\tnumber = {1},\n\tjournal = {IEEE Transactions on Automation Science and Engineering},\n\tauthor = {Anderson, Blake and Pehlivanturk, Can and Pryor, Mitch},\n\tmonth = jan,\n\tyear = {2023},\n\tpages = {pp 394--403},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"petlowany-pryor-gazebasedaugmentedrealityinterfacesformicroandmacroscaletasks-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Gaze-Based Augmented Reality Interfaces for Micro- and Macro-Scale Tasks.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Christina Petlowany;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ASME International Design & Engineering Technical Conference</i>, Boston, MA, August 2023. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/petlowany-pryor-gazebasedaugmentedrealityinterfacesformicroandmacroscaletasks-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('petlowany-pryor-gazebasedaugmentedrealityinterfacesformicroandmacroscaletasks-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{petlowany_gaze-based_2023,\n\taddress = {Boston, MA},\n\ttitle = {Gaze-{Based} {Augmented} {Reality} {Interfaces} for {Micro}- and {Macro}-{Scale} {Tasks}},\n\tbooktitle = {Proceedings of the {ASME} {International} {Design} \\&amp; {Engineering} {Technical} {Conference}},\n\tpublisher = {ASME},\n\tauthor = {Petlowany, Christina and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"akita-regal-torres-majewiczfey-pryor-objectidentificationusingaugmentedrealitywithhapticfeedback-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Object Identification Using Augmented Reality With Haptic Feedback.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Emmanuel Akita;  Frank Regal;  Kevin Torres;  Ann Majewicz Fey;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 32nd IEEE International Conference on Robot and Human Interactive Communication (IEEE/RO-MAN)</i>, Busan, South Korea, August 2023. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/akita-regal-torres-majewiczfey-pryor-objectidentificationusingaugmentedrealitywithhapticfeedback-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('akita-regal-torres-majewiczfey-pryor-objectidentificationusingaugmentedrealitywithhapticfeedback-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{akita_object_2023,\n\taddress = {Busan, South Korea},\n\ttitle = {Object {Identification} {Using} {Augmented} {Reality} {With} {Haptic} {Feedback}},\n\tbooktitle = {Proceedings of the 32nd {IEEE} {International} {Conference} on {Robot} and {Human} {Interactive} {Communication} ({IEEE}/{RO}-{MAN})},\n\tpublisher = {IEEE},\n\tauthor = {Akita, Emmanuel and Regal, Frank and Torres, Kevin and Majewicz Fey, Ann and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tankasala-pryor-acceleratingtrajectorygenerationforquadrotorsusingtransformers-2023\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://proceedings.mlr.press/v211/tankasala23a.html\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tankasala-pryor-acceleratingtrajectorygenerationforquadrotorsusingtransformers-2023', 'https://proceedings.mlr.press/v211/tankasala23a.html', event);\">\n    Accelerating trajectory generation for quadrotors using transformers.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Srinath Tankasala;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of Learning for Dynamics and Control Conference</i>, Philadelphia, PA, USA, June 2023. Proceedings of Machine Learning Research\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://proceedings.mlr.press/v211/tankasala23a.html\"\n     onclick=\"log_download('tankasala-pryor-acceleratingtrajectorygenerationforquadrotorsusingtransformers-2023', 'https://proceedings.mlr.press/v211/tankasala23a.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Accelerating trajectory generation for quadrotors using transformers [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tankasala-pryor-acceleratingtrajectorygenerationforquadrotorsusingtransformers-2023\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>10 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tankasala-pryor-acceleratingtrajectorygenerationforquadrotorsusingtransformers-2023')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{tankasala_accelerating_2023,\n\taddress = {Philadelphia, PA, USA},\n\ttitle = {Accelerating trajectory generation for quadrotors using transformers},\n\turl = {https://proceedings.mlr.press/v211/tankasala23a.html},\n\tbooktitle = {Proceedings of {Learning} for {Dynamics} and {Control} {Conference}},\n\tpublisher = {Proceedings of Machine Learning Research},\n\tauthor = {Tankasala, Srinath and Pryor, Mitch},\n\tmonth = jun,\n\tyear = {2023},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2022\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2022')\"\n      onkeypress=\"toggleGroup('group_2022')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2022</span>\n      <span class=\"bibbase_group_count\">\n        \n        (10)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"horn-studyontheeffectsofrobotbehaviorsandtheirinteractionsonhumantrust-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Study on the effects of robot behaviors and their interactions on human trust.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Matthew Horn.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, Austin, TX, December 2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/horn-studyontheeffectsofrobotbehaviorsandtheirinteractionsonhumantrust-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('horn-studyontheeffectsofrobotbehaviorsandtheirinteractionsonhumantrust-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{horn_study_2022,\n\taddress = {Austin, TX},\n\ttype = {{PhD} {Dissertation}},\n\ttitle = {Study on the effects of robot behaviors and their interactions on human trust},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Horn, Matthew},\n\tmonth = dec,\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kesler-assessmentofavelocitybasedrobotmotionplannerforsurfacepreparationwithgeometricuncertainty-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Assessment of a Velocity-Based Robot Motion Planner for Surface Preparation with Geometric Uncertainty.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Dalton Kesler.\n</span>\n\n  \n\n</span>\n\n  Master's thesis, The University of Texas at Austin, August 2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kesler-assessmentofavelocitybasedrobotmotionplannerforsurfacepreparationwithgeometricuncertainty-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kesler-assessmentofavelocitybasedrobotmotionplannerforsurfacepreparationwithgeometricuncertainty-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@mastersthesis{kesler_assessment_2022,\n\ttitle = {Assessment of a {Velocity}-{Based} {Robot} {Motion} {Planner} for {Surface} {Preparation} with {Geometric} {Uncertainty}},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Kesler, Dalton},\n\tmonth = aug,\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"valner-wanna-kruusamae-pryor-unifiedmeaningrepresentationformatumrfataskdescriptionandexecutionformalismforhri-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Unified Meaning Representation Format (UMRF)-A Task Description and Execution Formalism for HRI.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Robert Valner;  Selma Wanna;  Karl Kruusamae;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  <i>ACM Transactions on Human-Robot Interaction (THRI)</i>, 11(4): 1–25. August 2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1145/3522580\"\n     onclick=\"log_download('valner-wanna-kruusamae-pryor-unifiedmeaningrepresentationformatumrfataskdescriptionandexecutionformalismforhri-2022', 'http://doi.org/https://doi.org/10.1145/3522580', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/valner-wanna-kruusamae-pryor-unifiedmeaningrepresentationformatumrfataskdescriptionandexecutionformalismforhri-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('valner-wanna-kruusamae-pryor-unifiedmeaningrepresentationformatumrfataskdescriptionandexecutionformalismforhri-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{valner_unified_2022,\n\ttitle = {Unified {Meaning} {Representation} {Format} ({UMRF})-{A} {Task} {Description} and {Execution} {Formalism} for {HRI}},\n\tvolume = {11},\n\tdoi = {https://doi.org/10.1145/3522580},\n\tnumber = {4},\n\tjournal = {ACM Transactions on Human-Robot Interaction (THRI)},\n\tauthor = {Valner, Robert and Wanna, Selma and Kruusamae, Karl and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2022},\n\tpages = {1--25},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"navarro-torres-hatler-tebben-panthi-meza-pryor-autonomousalpharadiationsurveyusingmobileroboticplatforms-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Autonomous Alpha Radiation Survey Using Mobile Robotic Platforms.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Alex Navarro;  Kevin Torres;  Caleb Hatler;  Mary Tebben;  Janak Panthi;  Daniel I. Meza;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Los Alamos National Laboratory, USA, August 2022. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/navarro-torres-hatler-tebben-panthi-meza-pryor-autonomousalpharadiationsurveyusingmobileroboticplatforms-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('navarro-torres-hatler-tebben-panthi-meza-pryor-autonomousalpharadiationsurveyusingmobileroboticplatforms-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{navarro_autonomous_2022,\n\taddress = {Los Alamos National Laboratory, USA},\n\ttitle = {Autonomous {Alpha} {Radiation} {Survey} {Using} {Mobile} {Robotic} {Platforms}},\n\tauthor = {Navarro, Alex and Torres, Kevin and Hatler, Caleb and Tebben, Mary and Panthi, Janak and Meza, Daniel I. and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pettinger-alambeigi-pryor-aversatileaffordancemodelingframeworkusingscrewprimitivestoincreaseautonomyduringmanipulationcontacttasks-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/abstract/document/9794598\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pettinger-alambeigi-pryor-aversatileaffordancemodelingframeworkusingscrewprimitivestoincreaseautonomyduringmanipulationcontacttasks-2022', 'https://ieeexplore.ieee.org/abstract/document/9794598', event);\">\n    A Versatile Affordance Modeling Framework Using Screw Primitives to Increase Autonomy During Manipulation Contact Tasks.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Pettinger;  Farshid Alambeigi;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 7(3): 7224–7231. July 2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/abstract/document/9794598\"\n     onclick=\"log_download('pettinger-alambeigi-pryor-aversatileaffordancemodelingframeworkusingscrewprimitivestoincreaseautonomyduringmanipulationcontacttasks-2022', 'https://ieeexplore.ieee.org/abstract/document/9794598', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Versatile Affordance Modeling Framework Using Screw Primitives to Increase Autonomy During Manipulation Contact Tasks [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1109/LRA.2022.3181732\"\n     onclick=\"log_download('pettinger-alambeigi-pryor-aversatileaffordancemodelingframeworkusingscrewprimitivestoincreaseautonomyduringmanipulationcontacttasks-2022', 'http://doi.org/https://doi.org/10.1109/LRA.2022.3181732', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pettinger-alambeigi-pryor-aversatileaffordancemodelingframeworkusingscrewprimitivestoincreaseautonomyduringmanipulationcontacttasks-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>19 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pettinger-alambeigi-pryor-aversatileaffordancemodelingframeworkusingscrewprimitivestoincreaseautonomyduringmanipulationcontacttasks-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{pettinger_versatile_2022,\n\ttitle = {A {Versatile} {Affordance} {Modeling} {Framework} {Using} {Screw} {Primitives} to {Increase} {Autonomy} {During} {Manipulation} {Contact} {Tasks}},\n\tvolume = {7},\n\turl = {https://ieeexplore.ieee.org/abstract/document/9794598},\n\tdoi = {https://doi.org/10.1109/LRA.2022.3181732},\n\tnumber = {3},\n\tjournal = {IEEE Robotics and Automation Letters},\n\tauthor = {Pettinger, Adam and Alambeigi, Farshid and Pryor, Mitch},\n\tmonth = jul,\n\tyear = {2022},\n\tpages = {7224--7231},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Optimization strategies for Bayesian source localization algorithms.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Blake Anderson;  Can Pehlivanturk;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Kyoto, Japan,  2022. IEEE International Conference on Intelligent Robots and Systems (IROS), In Press\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>50 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{anderson_optimization_2022,\n\taddress = {Kyoto, Japan},\n\ttitle = {Optimization strategies for {Bayesian} source localization algorithms},\n\tpublisher = {IEEE International Conference on Intelligent Robots and Systems (IROS), In Press},\n\tauthor = {Anderson, Blake and Pehlivanturk, Can and Pryor, Mitch},\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://bibbase.org/zotero-group/mpryor/10.1109/TASE.2022.3154228\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2022', 'https://bibbase.org/zotero-group/mpryor/10.1109/TASE.2022.3154228', event);\">\n    Optimization strategies for Bayesian source localization algorithms.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Blake Anderson;  Can Pehlivanturk;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automation Science and Engineering</i>,pages 1–10.  2022.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://bibbase.org/zotero-group/mpryor/10.1109/TASE.2022.3154228\"\n     onclick=\"log_download('anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2022', 'https://bibbase.org/zotero-group/mpryor/10.1109/TASE.2022.3154228', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Optimization strategies for Bayesian source localization algorithms [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TASE.2022.3154228\"\n     onclick=\"log_download('anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2022', 'http://doi.org/10.1109/TASE.2022.3154228', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>50 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('anderson-pehlivanturk-pryor-optimizationstrategiesforbayesiansourcelocalizationalgorithms-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{anderson_optimization_2022,\n\ttitle = {Optimization strategies for {Bayesian} source localization algorithms},\n\turl = {10.1109/TASE.2022.3154228},\n\tdoi = {10.1109/TASE.2022.3154228},\n\tjournal = {IEEE Transactions on Automation Science and Engineering},\n\tauthor = {Anderson, Blake and Pehlivanturk, Can and Pryor, Mitch},\n\tyear = {2022},\n\tpages = {pages 1--10},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tankasala-pehlivanturk-bakolas-pryor-smoothneartimeoptimaltrajectorygenerationfordrones-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Smooth Near Time Optimal Trajectory generation for Drones.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Srinath Tankasala;  Can Pehlivanturk;  Efstathios Bakolas;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the European Control Conference 2022</i>, London, UK, July 2022. Proceedings of the European Control Conference 2022\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tankasala-pehlivanturk-bakolas-pryor-smoothneartimeoptimaltrajectorygenerationfordrones-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tankasala-pehlivanturk-bakolas-pryor-smoothneartimeoptimaltrajectorygenerationfordrones-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{tankasala_smooth_2022,\n\taddress = {London, UK},\n\ttitle = {Smooth {Near} {Time} {Optimal} {Trajectory} generation for {Drones}},\n\tbooktitle = {Proceedings of the {European} {Control} {Conference} 2022},\n\tpublisher = {Proceedings of the European Control Conference 2022},\n\tauthor = {Tankasala, Srinath and Pehlivanturk, Can and Bakolas, Efstathios and Pryor, Mitch},\n\tmonth = jul,\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tankasala-pehlivanturk-pryor-nearminimumtimetrajectorygenerationforsurveyingusinguavs-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Near Minimum Time Trajectory generation for Surveying using UAVs.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Srinath Tankasala;  Can Pehlivanturk;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the International Conference of Unmanned Aerial Systems 2022</i>, Dubrovnik, Croatia, June 2022. Proceedings of the International Conference of Unmanned Aerial Systems 2022\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tankasala-pehlivanturk-pryor-nearminimumtimetrajectorygenerationforsurveyingusinguavs-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tankasala-pehlivanturk-pryor-nearminimumtimetrajectorygenerationforsurveyingusinguavs-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{tankasala_near_2022,\n\taddress = {Dubrovnik, Croatia},\n\ttitle = {Near {Minimum} {Time} {Trajectory} generation for {Surveying} using {UAVs}},\n\tbooktitle = {Proceedings of the {International} {Conference} of {Unmanned} {Aerial} {Systems} 2022},\n\tpublisher = {Proceedings of the International Conference of Unmanned Aerial Systems 2022},\n\tauthor = {Tankasala, Srinath and Pehlivanturk, Can and Pryor, Mitch},\n\tmonth = jun,\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"regal-petlowany-sice-suarez-anderson-pryor-augreaugmentedrobotenvironmenttofacilitatehumanrobotteamingandcommunication-2022\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  AugRE: Augmented Robot Environment to Facilitate Human-Robot Teaming and Communication.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Frank Regal;  Christina Petlowany;  Corrie Van Sice;  Chris Suarez;  Blake Anderson;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>31st IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)</i>, Naples, Italy,  2022. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/regal-petlowany-sice-suarez-anderson-pryor-augreaugmentedrobotenvironmenttofacilitatehumanrobotteamingandcommunication-2022\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('regal-petlowany-sice-suarez-anderson-pryor-augreaugmentedrobotenvironmenttofacilitatehumanrobotteamingandcommunication-2022')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{regal_augre_2022,\n\taddress = {Naples, Italy},\n\ttitle = {{AugRE}: {Augmented} {Robot} {Environment} to {Facilitate} {Human}-{Robot} {Teaming} and {Communication}},\n\tbooktitle = {31st {IEEE} {International} {Conference} on {Robot} \\&amp; {Human} {Interactive} {Communication} ({RO}-{MAN})},\n\tpublisher = {IEEE},\n\tauthor = {Regal, Frank and Petlowany, Christina and Sice, Corrie Van and Suarez, Chris and Anderson, Blake and Pryor, Mitch},\n\tyear = {2022},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2021\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2021')\"\n      onkeypress=\"toggleGroup('group_2021')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2021</span>\n      <span class=\"bibbase_group_count\">\n        \n        (9)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"oridate-velocitybasedrobotmotionplannerforunderconstrainedtrajectorieswithpartspecificgeometricvariances-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Velocity-based robot motion planner for under-constrained trajectories with part-specific geometric variances.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Ademola Oridate.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, Austin, TX, December 2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/oridate-velocitybasedrobotmotionplannerforunderconstrainedtrajectorieswithpartspecificgeometricvariances-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('oridate-velocitybasedrobotmotionplannerforunderconstrainedtrajectorieswithpartspecificgeometricvariances-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{oridate_velocity-based_2021,\n\taddress = {Austin, TX},\n\ttype = {{PhD} {Dissertation}},\n\ttitle = {Velocity-based robot motion planner for under-constrained trajectories with part-specific geometric variances},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Oridate, Ademola},\n\tmonth = dec,\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"nambiar-autonomoussearchforgassourcelocalization-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Autonomous Search for Gas Source Localization.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Zahin Nambiar.\n</span>\n\n  \n\n</span>\n\n  Master's thesis, The University of Texas at Austin, August 2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/nambiar-autonomoussearchforgassourcelocalization-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('nambiar-autonomoussearchforgassourcelocalization-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@mastersthesis{nambiar_autonomous_2021,\n\ttitle = {Autonomous {Search} for {Gas} {Source} {Localization}},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Nambiar, Zahin},\n\tmonth = aug,\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"jennings-manipulatorcontrolincollaborativeassembly-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Manipulator Control in Collaborative Assembly.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mark Jennings.\n</span>\n\n  \n\n</span>\n\n  Master's thesis, The University of Texas at Austin, August 2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/jennings-manipulatorcontrolincollaborativeassembly-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('jennings-manipulatorcontrolincollaborativeassembly-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@mastersthesis{jennings_manipulator_2021,\n\ttitle = {Manipulator {Control} in {Collaborative} {Assembly}},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Jennings, Mark},\n\tmonth = aug,\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"abeyta-selfexplorationandmappingforindoorroboticapplications-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Self Exploration and Mapping for Indoor Robotic Applications.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adrian Abeyta.\n</span>\n\n  \n\n</span>\n\n  Master's thesis, The University of Texas at Austin, May 2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/abeyta-selfexplorationandmappingforindoorroboticapplications-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('abeyta-selfexplorationandmappingforindoorroboticapplications-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@mastersthesis{abeyta_self_2021,\n\ttitle = {Self {Exploration} and {Mapping} for {Indoor} {Robotic} {Applications}},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Abeyta, Adrian},\n\tmonth = may,\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-pryor-thomaz-modelandcontrolleradaptionwhilelearninghumanpreferences-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Model and Controller Adaption while Learning Human Preferences.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato;  Mitch Pryor;  and  Andrea Thomaz.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 35th AAAI Conference on Artificial Intelligence</i>, Virtual, March 2021. Proceedings of the 35th AAAI Conference on Artificial Intelligence\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-pryor-thomaz-modelandcontrolleradaptionwhilelearninghumanpreferences-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-pryor-thomaz-modelandcontrolleradaptionwhilelearninghumanpreferences-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{allevato_model_2021,\n\taddress = {Virtual},\n\ttitle = {Model and {Controller} {Adaption} while {Learning} {Human} {Preferences}},\n\tbooktitle = {Proceedings of the 35th {AAAI} {Conference} on {Artificial} {Intelligence}},\n\tpublisher = {Proceedings of the 35th AAAI Conference on Artificial Intelligence},\n\tauthor = {Allevato, Adam and Pryor, Mitch and Thomaz, Andrea},\n\tmonth = mar,\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"oridate-pryor-seepersad-robotmotionplannerforunderconstrainedtrajectorieswithpartspecificgeometricvariances-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://idetc.secure-platform.com/a/solicitations/159/sessiongallery\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'oridate-pryor-seepersad-robotmotionplannerforunderconstrainedtrajectorieswithpartspecificgeometricvariances-2021', 'https://idetc.secure-platform.com/a/solicitations/159/sessiongallery', event);\">\n    Robot Motion Planner for Under-constrained Trajectories with Part-Specific Geometric Variances.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Ademola Oridate;  Mitch Pryor;  and  Carolyn Seepersad.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ASME 2021 International Design and Engineering Technical Conference</i>, pages 1–9, Virtual, August 2021. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://idetc.secure-platform.com/a/solicitations/159/sessiongallery\"\n     onclick=\"log_download('oridate-pryor-seepersad-robotmotionplannerforunderconstrainedtrajectorieswithpartspecificgeometricvariances-2021', 'https://idetc.secure-platform.com/a/solicitations/159/sessiongallery', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robot Motion Planner for Under-constrained Trajectories with Part-Specific Geometric Variances [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/oridate-pryor-seepersad-robotmotionplannerforunderconstrainedtrajectorieswithpartspecificgeometricvariances-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>35 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('oridate-pryor-seepersad-robotmotionplannerforunderconstrainedtrajectorieswithpartspecificgeometricvariances-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{oridate_robot_2021,\n\taddress = {Virtual},\n\ttitle = {Robot {Motion} {Planner} for {Under}-constrained {Trajectories} with {Part}-{Specific} {Geometric} {Variances}},\n\turl = {https://idetc.secure-platform.com/a/solicitations/159/sessiongallery},\n\tbooktitle = {Proceedings of the {ASME} 2021 {International} {Design} and {Engineering} {Technical} {Conference}},\n\tpublisher = {ASME},\n\tauthor = {Oridate, Ademola and Pryor, Mitch and Seepersad, Carolyn},\n\tmonth = aug,\n\tyear = {2021},\n\tpages = {1--9},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"valner-wanna-pryor-kruusamae-temotoasoftwareframeworkforsupportingmixedmodalitycommandinputsnecessaryforintegrationofnonverbalhri-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://humanrobotinteraction.org/2021/workshops/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'valner-wanna-pryor-kruusamae-temotoasoftwareframeworkforsupportingmixedmodalitycommandinputsnecessaryforintegrationofnonverbalhri-2021', 'https://humanrobotinteraction.org/2021/workshops/', event);\">\n    TeMoto: A Software Framework for Supporting Mixed-Modality Command Inputs Necessary for Integration of Nonverbal-HRI.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Robert Valner;  Selma Wanna;  Mitch Pryor;  and  Karl Kruusamae.\n</span>\n\n  \n\n</span>\n\n  In <i>ACM/IEEE International Conference on HRI Workshop: Exploring Applications for Autonomous Non-Verbal Human Robot Interactions</i>, Virtual, March 2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://humanrobotinteraction.org/2021/workshops/\"\n     onclick=\"log_download('valner-wanna-pryor-kruusamae-temotoasoftwareframeworkforsupportingmixedmodalitycommandinputsnecessaryforintegrationofnonverbalhri-2021', 'https://humanrobotinteraction.org/2021/workshops/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"TeMoto: A Software Framework for Supporting Mixed-Modality Command Inputs Necessary for Integration of Nonverbal-HRI [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/valner-wanna-pryor-kruusamae-temotoasoftwareframeworkforsupportingmixedmodalitycommandinputsnecessaryforintegrationofnonverbalhri-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>19 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('valner-wanna-pryor-kruusamae-temotoasoftwareframeworkforsupportingmixedmodalitycommandinputsnecessaryforintegrationofnonverbalhri-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{valner_temoto_2021,\n\taddress = {Virtual},\n\ttitle = {{TeMoto}: {A} {Software} {Framework} for {Supporting} {Mixed}-{Modality} {Command} {Inputs} {Necessary} for {Integration} of {Nonverbal}-{HRI}},\n\turl = {https://humanrobotinteraction.org/2021/workshops/},\n\tbooktitle = {{ACM}/{IEEE} {International} {Conference} on {HRI} {Workshop}: {Exploring} {Applications} for {Autonomous} {Non}-{Verbal} {Human} {Robot} {Interactions}},\n\tpublisher = {IEEE},\n\tauthor = {Valner, Robert and Wanna, Selma and Pryor, Mitch and Kruusamae, Karl},\n\tmonth = mar,\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"horn-pryor-nonverbalbehaviorsandhiddenhazardsaninteractionsstudy-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://humanrobotinteraction.org/2021/workshops/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'horn-pryor-nonverbalbehaviorsandhiddenhazardsaninteractionsstudy-2021', 'https://humanrobotinteraction.org/2021/workshops/', event);\">\n    Non-Verbal Behaviors and Hidden Hazards: an Interactions Study.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Matthew Horn;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>ACM/IEEE International Conference on HRI Workshop: Exploring Applications for Autonomous Non-Verbal Human Robot Interactions</i>, Virtual, March 2021. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://humanrobotinteraction.org/2021/workshops/\"\n     onclick=\"log_download('horn-pryor-nonverbalbehaviorsandhiddenhazardsaninteractionsstudy-2021', 'https://humanrobotinteraction.org/2021/workshops/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Non-Verbal Behaviors and Hidden Hazards: an Interactions Study [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/horn-pryor-nonverbalbehaviorsandhiddenhazardsaninteractionsstudy-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>21 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('horn-pryor-nonverbalbehaviorsandhiddenhazardsaninteractionsstudy-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{horn_non-verbal_2021,\n\taddress = {Virtual},\n\ttitle = {Non-{Verbal} {Behaviors} and {Hidden} {Hazards}: an {Interactions} {Study}},\n\turl = {https://humanrobotinteraction.org/2021/workshops/},\n\tbooktitle = {{ACM}/{IEEE} {International} {Conference} on {HRI} {Workshop}: {Exploring} {Applications} for {Autonomous} {Non}-{Verbal} {Human} {Robot} {Interactions}},\n\tpublisher = {IEEE},\n\tauthor = {Horn, Matthew and Pryor, Mitch},\n\tmonth = mar,\n\tyear = {2021},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hashem-pryor-haas-hunter-designofacomputedtomographyautomationarchitecture-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Design of a Computed Tomography Automation Architecture.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Nicholas Hashem;  Mitchell Pryor;  Derek Haas;  and  James Hunter.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Applied Sciences</i>, 11(6): 2858. March 2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.3390/app11062858\"\n     onclick=\"log_download('hashem-pryor-haas-hunter-designofacomputedtomographyautomationarchitecture-2021', 'http://doi.org/https://doi.org/10.3390/app11062858', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hashem-pryor-haas-hunter-designofacomputedtomographyautomationarchitecture-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hashem-pryor-haas-hunter-designofacomputedtomographyautomationarchitecture-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{hashem_design_2021,\n\ttitle = {Design of a {Computed} {Tomography} {Automation} {Architecture}},\n\tvolume = {11},\n\tdoi = {https://doi.org/10.3390/app11062858},\n\tnumber = {6},\n\tjournal = {Journal of Applied Sciences},\n\tauthor = {Hashem, Nicholas and Pryor, Mitchell and Haas, Derek and Hunter, James},\n\tmonth = mar,\n\tyear = {2021},\n\tpages = {2858},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2020\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2020')\"\n      onkeypress=\"toggleGroup('group_2020')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2020</span>\n      <span class=\"bibbase_group_count\">\n        \n        (17)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"allevato-multimodalsensorlearningforperceptionandtaskplanninginhazardousenvironments-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Multimodal sensor learning for perception and task planning in hazardous environments.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, Austin, TX, May 2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-multimodalsensorlearningforperceptionandtaskplanninginhazardousenvironments-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-multimodalsensorlearningforperceptionandtaskplanninginhazardousenvironments-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{allevato_multimodal_2020,\n\taddress = {Austin, TX},\n\ttype = {{PhD} {Dissertation}},\n\ttitle = {Multimodal sensor learning for perception and task planning in hazardous environments},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Allevato, Adam},\n\tmonth = may,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-multimodalsensorlearningforperceptionandtaskplanninginhazardousenvironments-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Multimodal sensor learning for perception and task planning in hazardous environments.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, May 2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-multimodalsensorlearningforperceptionandtaskplanninginhazardousenvironments-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-multimodalsensorlearningforperceptionandtaskplanninginhazardousenvironments-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{allevato_multimodal_2020,\n\ttype = {{PhD} {Dissertation}},\n\ttitle = {Multimodal sensor learning for perception and task planning in hazardous environments},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Allevato, Adam},\n\tmonth = may,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-short-pryor-thomaz-iterativeresidualtuningforsystemidentificationandsimtorealrobotlearning-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://link.springer.com/article/10.1007/s10514-020-09925-w\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'allevato-short-pryor-thomaz-iterativeresidualtuningforsystemidentificationandsimtorealrobotlearning-2020', 'https://link.springer.com/article/10.1007/s10514-020-09925-w', event);\">\n    Iterative residual tuning for system identification and sim-to-real robot learning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato;  Elaine Short;  Mitch Pryor;  and  Andrea Thomaz.\n</span>\n\n  \n\n</span>\n\n  <i>Autonomous Robots</i>, 44(7): 1167–1182. September 2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://link.springer.com/article/10.1007/s10514-020-09925-w\"\n     onclick=\"log_download('allevato-short-pryor-thomaz-iterativeresidualtuningforsystemidentificationandsimtorealrobotlearning-2020', 'https://link.springer.com/article/10.1007/s10514-020-09925-w', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Iterative residual tuning for system identification and sim-to-real robot learning [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-short-pryor-thomaz-iterativeresidualtuningforsystemidentificationandsimtorealrobotlearning-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>19 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-short-pryor-thomaz-iterativeresidualtuningforsystemidentificationandsimtorealrobotlearning-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{allevato_iterative_2020,\n\ttitle = {Iterative residual tuning for system identification and sim-to-real robot learning},\n\tvolume = {44},\n\turl = {https://link.springer.com/article/10.1007/s10514-020-09925-w},\n\tnumber = {7},\n\tjournal = {Autonomous Robots},\n\tauthor = {Allevato, Adam and Short, Elaine and Pryor, Mitch and Thomaz, Andrea},\n\tmonth = sep,\n\tyear = {2020},\n\tpages = {1167--1182},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-pryor-thomaz-multiparameterrealworldsystemidentificationusingiterativeresidualtuning-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Multi-parameter real-world system identification using iterative residual tuning.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato;  Mitch Pryor;  and  Andrea Thomaz.\n</span>\n\n  \n\n</span>\n\n  <i>ASME Journal of Mechanisms and Robotics</i>. September 2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1115/1.4050679\"\n     onclick=\"log_download('allevato-pryor-thomaz-multiparameterrealworldsystemidentificationusingiterativeresidualtuning-2020', 'http://doi.org/https://doi.org/10.1115/1.4050679', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-pryor-thomaz-multiparameterrealworldsystemidentificationusingiterativeresidualtuning-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>38 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-pryor-thomaz-multiparameterrealworldsystemidentificationusingiterativeresidualtuning-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{allevato_multi-parameter_2020,\n\ttitle = {Multi-parameter real-world system identification using iterative residual tuning},\n\tdoi = {https://doi.org/10.1115/1.4050679},\n\tjournal = {ASME Journal of Mechanisms and Robotics},\n\tauthor = {Allevato, Adam and Pryor, Mitch and Thomaz, Andrea},\n\tmonth = sep,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-pryor-thomaz-multiparameterrealworldsystemidentificationusingiterativeresidualtuning-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1115/1.4050679\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'allevato-pryor-thomaz-multiparameterrealworldsystemidentificationusingiterativeresidualtuning-2020', 'https://doi.org/10.1115/1.4050679', event);\">\n    Multi-parameter real-world system identification using iterative residual tuning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato;  Mitch Pryor;  and  Andrea Thomaz.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ASME International Design and Technical Conference</i>, St. Louis, MO, August 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1115/1.4050679\"\n     onclick=\"log_download('allevato-pryor-thomaz-multiparameterrealworldsystemidentificationusingiterativeresidualtuning-2020', 'https://doi.org/10.1115/1.4050679', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Multi-parameter real-world system identification using iterative residual tuning [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1115/1.4050679\"\n     onclick=\"log_download('allevato-pryor-thomaz-multiparameterrealworldsystemidentificationusingiterativeresidualtuning-2020', 'http://doi.org/https://doi.org/10.1115/1.4050679', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-pryor-thomaz-multiparameterrealworldsystemidentificationusingiterativeresidualtuning-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>38 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-pryor-thomaz-multiparameterrealworldsystemidentificationusingiterativeresidualtuning-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{allevato_multi-parameter_2020,\n\taddress = {St. Louis, MO},\n\ttitle = {Multi-parameter real-world system identification using iterative residual tuning},\n\turl = {https://doi.org/10.1115/1.4050679},\n\tdoi = {https://doi.org/10.1115/1.4050679},\n\tbooktitle = {Proceedings of the {ASME} {International} {Design} and {Technical} {Conference}},\n\tauthor = {Allevato, Adam and Pryor, Mitch and Thomaz, Andrea},\n\tmonth = aug,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-short-pryor-thomaz-learninglabeledrobotaffordancemodelsbyusingsimulationandcrowdsourcing-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://roboticsproceedings.org/rss16/p037.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'allevato-short-pryor-thomaz-learninglabeledrobotaffordancemodelsbyusingsimulationandcrowdsourcing-2020', 'http://roboticsproceedings.org/rss16/p037.pdf', event);\">\n    Learning labeled robot affordance models by using simulation and crowdsourcing.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato;  Elaine Short;  Mitch Pryor;  and  Andrea Thomaz.\n</span>\n\n  \n\n</span>\n\n  In Corvallis, OR, July 2020. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://roboticsproceedings.org/rss16/p037.pdf\"\n     onclick=\"log_download('allevato-short-pryor-thomaz-learninglabeledrobotaffordancemodelsbyusingsimulationandcrowdsourcing-2020', 'http://roboticsproceedings.org/rss16/p037.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Learning labeled robot affordance models by using simulation and crowdsourcing [pdf]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-short-pryor-thomaz-learninglabeledrobotaffordancemodelsbyusingsimulationandcrowdsourcing-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>19 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-short-pryor-thomaz-learninglabeledrobotaffordancemodelsbyusingsimulationandcrowdsourcing-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{allevato_learning_2020,\n\taddress = {Corvallis, OR},\n\ttitle = {Learning labeled robot affordance models by using simulation and crowdsourcing},\n\turl = {http://roboticsproceedings.org/rss16/p037.pdf},\n\tauthor = {Allevato, Adam and Short, Elaine and Pryor, Mitch and Thomaz, Andrea},\n\tmonth = jul,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-short-pryor-thomaz-tunenetoneshotresidualtuningforsystemidentificationandsimtorealrobottasktransfer-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/abs/1907.11200\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'allevato-short-pryor-thomaz-tunenetoneshotresidualtuningforsystemidentificationandsimtorealrobottasktransfer-2020', 'https://arxiv.org/abs/1907.11200', event);\">\n    Tunenet: One-shot residual tuning for system identification and sim-to-real robot task transfer.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato;  Elaine Short;  Mitch Pryor;  and  Andrea Thomaz.\n</span>\n\n  \n\n</span>\n\n  In <i>Conference on Robot Learning</i>, pages 445–455, May 2020. PMLR\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/abs/1907.11200\"\n     onclick=\"log_download('allevato-short-pryor-thomaz-tunenetoneshotresidualtuningforsystemidentificationandsimtorealrobottasktransfer-2020', 'https://arxiv.org/abs/1907.11200', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Tunenet: One-shot residual tuning for system identification and sim-to-real robot task transfer [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-short-pryor-thomaz-tunenetoneshotresidualtuningforsystemidentificationandsimtorealrobottasktransfer-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>16 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-short-pryor-thomaz-tunenetoneshotresidualtuningforsystemidentificationandsimtorealrobottasktransfer-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{allevato_tunenet_2020,\n\ttitle = {Tunenet: {One}-shot residual tuning for system identification and sim-to-real robot task transfer},\n\turl = {https://arxiv.org/abs/1907.11200},\n\tbooktitle = {Conference on {Robot} {Learning}},\n\tpublisher = {PMLR},\n\tauthor = {Allevato, Adam and Short, Elaine and Pryor, Mitch and Thomaz, Andrea},\n\tmonth = may,\n\tyear = {2020},\n\tpages = {445--455},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pettinger-elliot-fan-pryor-reducingtheteleoperatorscognitiveburdenforcomplexcontacttasksusingaffordanceprimitives-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://dx.doi.org/10.1109/IROS45743.2020.9341576\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pettinger-elliot-fan-pryor-reducingtheteleoperatorscognitiveburdenforcomplexcontacttasksusingaffordanceprimitives-2020', 'http://dx.doi.org/10.1109/IROS45743.2020.9341576', event);\">\n    Reducing the Teleoperator's Cognitive Burden for Complex Contact Tasks Using Affordance Primitives.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Pettinger;  Cassidy Elliot;  Pete Fan;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the IEEE International Conference on Robots and Systems</i>, Nevada, USA, October 2020. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://dx.doi.org/10.1109/IROS45743.2020.9341576\"\n     onclick=\"log_download('pettinger-elliot-fan-pryor-reducingtheteleoperatorscognitiveburdenforcomplexcontacttasksusingaffordanceprimitives-2020', 'http://dx.doi.org/10.1109/IROS45743.2020.9341576', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Reducing the Teleoperator&#x27;s Cognitive Burden for Complex Contact Tasks Using Affordance Primitives [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/http://dx.doi.org/10.1109/IROS45743.2020.9341576\"\n     onclick=\"log_download('pettinger-elliot-fan-pryor-reducingtheteleoperatorscognitiveburdenforcomplexcontacttasksusingaffordanceprimitives-2020', 'http://doi.org/http://dx.doi.org/10.1109/IROS45743.2020.9341576', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pettinger-elliot-fan-pryor-reducingtheteleoperatorscognitiveburdenforcomplexcontacttasksusingaffordanceprimitives-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>30 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pettinger-elliot-fan-pryor-reducingtheteleoperatorscognitiveburdenforcomplexcontacttasksusingaffordanceprimitives-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pettinger_reducing_2020,\n\taddress = {Nevada, USA},\n\ttitle = {Reducing the {Teleoperator}&#x27;s {Cognitive} {Burden} for {Complex} {Contact} {Tasks} {Using} {Affordance} {Primitives}},\n\turl = {http://dx.doi.org/10.1109/IROS45743.2020.9341576},\n\tdoi = {http://dx.doi.org/10.1109/IROS45743.2020.9341576},\n\tbooktitle = {Proceedings of the {IEEE} {International} {Conference} on {Robots} and {Systems}},\n\tpublisher = {IEEE},\n\tauthor = {Pettinger, Adam and Elliot, Cassidy and Fan, Pete and Pryor, Mitch},\n\tmonth = oct,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-shaertlshort-pryor-thomaz-iterativeresidualtuningforsystemidentificationandsimtorealrobotlearning-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Iterative Residual Tuning for System Identification and Sim-to-Real Robot Learning.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato;  Elaine Shaertl Short;  Mitch Pryor;  and  Andrea Lockerd Thomaz.\n</span>\n\n  \n\n</span>\n\n  <i>Autonomous Robots</i>, 44: 1167–1182. June 2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1007/s10514-020-09925-w\"\n     onclick=\"log_download('allevato-shaertlshort-pryor-thomaz-iterativeresidualtuningforsystemidentificationandsimtorealrobotlearning-2020', 'http://doi.org/https://doi.org/10.1007/s10514-020-09925-w', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-shaertlshort-pryor-thomaz-iterativeresidualtuningforsystemidentificationandsimtorealrobotlearning-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>10 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-shaertlshort-pryor-thomaz-iterativeresidualtuningforsystemidentificationandsimtorealrobotlearning-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{allevato_iterative_2020,\n\ttitle = {Iterative {Residual} {Tuning} for {System} {Identification} and {Sim}-to-{Real} {Robot} {Learning}},\n\tvolume = {44},\n\tdoi = {https://doi.org/10.1007/s10514-020-09925-w},\n\tjournal = {Autonomous Robots},\n\tauthor = {Allevato, Adam and Shaertl Short, Elaine Shaertl and Pryor, Mitch and Thomaz, Andrea Lockerd},\n\tmonth = jun,\n\tyear = {2020},\n\tpages = {1167--1182},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"andrew-pryor-virtualfixturegenerationfortaskplanningwithgeometries-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Virtual fixture generation for task planning with geometries.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Sharp Andrew;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  <i>ASME Journal of Computing and Information Science in Engineering</i>, 21: 1–16. December 2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1115/1.4049993\"\n     onclick=\"log_download('andrew-pryor-virtualfixturegenerationfortaskplanningwithgeometries-2020', 'http://doi.org/https://doi.org/10.1115/1.4049993', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/andrew-pryor-virtualfixturegenerationfortaskplanningwithgeometries-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('andrew-pryor-virtualfixturegenerationfortaskplanningwithgeometries-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{andrew_virtual_2020,\n\ttitle = {Virtual fixture generation for task planning with geometries},\n\tvolume = {21},\n\tdoi = {https://doi.org/10.1115/1.4049993},\n\tjournal = {ASME Journal of Computing and Information Science in Engineering},\n\tauthor = {Andrew, Sharp and Pryor, Mitch},\n\tmonth = dec,\n\tyear = {2020},\n\tpages = {1--16},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"anderson-pryor-abeyta-landsberger-mobileroboticradiationsurveyingwithrecursivebayesianestimationandattenuationmodelling-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Mobile Robotic Radiation Surveying with Recursive Bayesian Estimation and Attenuation Modelling.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Blake Anderson;  Mitch Pryor;  Adrian Abeyta;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automation Science and Engineering</i>,1–15. November 2020.\n  <span class=\"note\">Print ISSN: 1545-5955 Electronic ISSN: 1558-3783</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TASE.2020.3036808\"\n     onclick=\"log_download('anderson-pryor-abeyta-landsberger-mobileroboticradiationsurveyingwithrecursivebayesianestimationandattenuationmodelling-2020', 'http://doi.org/10.1109/TASE.2020.3036808', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/anderson-pryor-abeyta-landsberger-mobileroboticradiationsurveyingwithrecursivebayesianestimationandattenuationmodelling-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>18 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('anderson-pryor-abeyta-landsberger-mobileroboticradiationsurveyingwithrecursivebayesianestimationandattenuationmodelling-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{anderson_mobile_2020,\n\ttitle = {Mobile {Robotic} {Radiation} {Surveying} with {Recursive} {Bayesian} {Estimation} and {Attenuation} {Modelling}},\n\tdoi = {10.1109/TASE.2020.3036808},\n\tjournal = {IEEE Transactions on Automation Science and Engineering},\n\tauthor = {Anderson, Blake and Pryor, Mitch and Abeyta, Adrian and Landsberger, Sheldon},\n\tmonth = nov,\n\tyear = {2020},\n\tnote = {Print ISSN: 1545-5955\nElectronic ISSN: 1558-3783},\n\tpages = {1--15},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"anderson-developmentofmobileplatformforinventoryandinspectionapplicationsinnuclearenvironments-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Development of Mobile Platform for Inventory and Inspection Applications in Nuclear Environments.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   R. Blake Anderson.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, May 2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/anderson-developmentofmobileplatformforinventoryandinspectionapplicationsinnuclearenvironments-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('anderson-developmentofmobileplatformforinventoryandinspectionapplicationsinnuclearenvironments-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{anderson_development_2020,\n\ttype = {Dissertation},\n\ttitle = {Development of {Mobile} {Platform} for {Inventory} and {Inspection} {Applications} in {Nuclear} {Environments}},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Anderson, R. Blake},\n\tmonth = may,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chan-lee-saini-pryor-vanoort-developmentandvalidationofascenariobaseddrillingsimulatorfortrainingandevaluatinghumanfactors-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Development and Validation of a Scenario-Based Drilling Simulator for Training and Evaluating Human Factors.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Hong-Chih Chan;  Melissa Lee;  Gurtej Saini;  Mitch Pryor;  and  Eric Van Oort.\n</span>\n\n  \n\n</span>\n\n  <i>EEE Transactions on Human-Machine Systems</i>, 50(4): 327–336. August 2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/THMS.2020.2969014\"\n     onclick=\"log_download('chan-lee-saini-pryor-vanoort-developmentandvalidationofascenariobaseddrillingsimulatorfortrainingandevaluatinghumanfactors-2020', 'http://doi.org/10.1109/THMS.2020.2969014', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chan-lee-saini-pryor-vanoort-developmentandvalidationofascenariobaseddrillingsimulatorfortrainingandevaluatinghumanfactors-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chan-lee-saini-pryor-vanoort-developmentandvalidationofascenariobaseddrillingsimulatorfortrainingandevaluatinghumanfactors-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{chan_development_2020,\n\ttitle = {Development and {Validation} of a {Scenario}-{Based} {Drilling} {Simulator} for {Training} and {Evaluating} {Human} {Factors}},\n\tvolume = {50},\n\tdoi = {10.1109/THMS.2020.2969014},\n\tnumber = {4},\n\tjournal = {EEE Transactions on Human-Machine Systems},\n\tauthor = {Chan, Hong-Chih and Lee, Melissa and Saini, Gurtej and Pryor, Mitch and Van Oort, Eric},\n\tmonth = aug,\n\tyear = {2020},\n\tpages = {327--336},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"valner-wanna-pryor-kruusamae-unifiedmeaningrepresentationformatumrfataskdescriptionandexecutionformalismforhri-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Unified Meaning Representation Format (UMRF) - A Task Description and Execution Formalism for HRI.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Robert Valner;  Selma Wanna;  Mitch Pryor;  and  Karl Kruusamae.\n</span>\n\n  \n\n</span>\n\n  <i>Transactions on Human Robot Interactions</i>. October 2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/valner-wanna-pryor-kruusamae-unifiedmeaningrepresentationformatumrfataskdescriptionandexecutionformalismforhri-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('valner-wanna-pryor-kruusamae-unifiedmeaningrepresentationformatumrfataskdescriptionandexecutionformalismforhri-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{valner_unified_2020,\n\ttitle = {Unified {Meaning} {Representation} {Format} ({UMRF}) - {A} {Task} {Description} and {Execution} {Formalism} for {HRI}},\n\tjournal = {Transactions on Human Robot Interactions},\n\tauthor = {Valner, Robert and Wanna, Selma and Pryor, Mitch and Kruusamae, Karl},\n\tmonth = oct,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-addnewsaetitle-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Add new SAE title.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  June 2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-addnewsaetitle-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-addnewsaetitle-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@misc{pryor_add_2020,\n\taddress = {Detroit, MI},\n\ttype = {Presentation},\n\ttitle = {Add new {SAE} title},\n\tabstract = {Add abstract here},\n\tauthor = {Pryor, Mitch},\n\tmonth = jun,\n\tyear = {2020},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Add abstract here\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"brabec-directionalneutronsurveysonasemiautonomousrobotforaradiologicalvault-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Directional neutron surveys on a semiautonomous robot for a radiological vault.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Cheryl Brabec.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, May 2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/brabec-directionalneutronsurveysonasemiautonomousrobotforaradiologicalvault-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('brabec-directionalneutronsurveysonasemiautonomousrobotforaradiologicalvault-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{brabec_directional_2020,\n\ttype = {Dissertation},\n\ttitle = {Directional neutron surveys on a semiautonomous robot for a radiological vault},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Brabec, Cheryl},\n\tmonth = may,\n\tyear = {2020},\n\tkeywords = {Dissertation},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chan-lee-saini-pryor-vanoort-developmentandvalidationofascenariobaseddrillingsimulatorfortrainingandevaluatinghumanfactors-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Development and Validation of a Scenario-Based Drilling Simulator for Training and Evaluating Human Factors.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Hong-Chih Chan;  Melissa M. Lee;  Gurtej Singh Saini;  Mitch Pryor;  and  Eric Oort.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Human-Machine Systems</i>,1–10. February 2020.\n  <span class=\"note\">Conference Name: IEEE Transactions on Human-Machine Systems</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/THMS.2020.2969014\"\n     onclick=\"log_download('chan-lee-saini-pryor-vanoort-developmentandvalidationofascenariobaseddrillingsimulatorfortrainingandevaluatinghumanfactors-2020', 'http://doi.org/10.1109/THMS.2020.2969014', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chan-lee-saini-pryor-vanoort-developmentandvalidationofascenariobaseddrillingsimulatorfortrainingandevaluatinghumanfactors-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chan-lee-saini-pryor-vanoort-developmentandvalidationofascenariobaseddrillingsimulatorfortrainingandevaluatinghumanfactors-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{chan_development_2020,\n\ttitle = {Development and {Validation} of a {Scenario}-{Based} {Drilling} {Simulator} for {Training} and {Evaluating} {Human} {Factors}},\n\tissn = {2168-2305},\n\tdoi = {10.1109/THMS.2020.2969014},\n\tabstract = {Drilling and completing an oil/gas well is a time-sensitive and high-value operation, in which environment/system parameters change in unseen, unpredictable environments. Safety issues arise at every stage. Drilling principles can be taught using traditional methods, but safety and event response are difficult to teach in such formats. Here, in this article, we integrate a hardware-in-the-loop simulator, downhole physics, and auxiliary touchscreen interfaces (similar to a rig&#x27;s add-on equipment) to develop a realistic, real-time drilling simulator for well control operation training. Realistic operational data are supplied to the simulator representative of downhole operations, including unplanned well events. The well plan accounts for drilling parameter changes, the pore-pressure fracture-gradient drilling window, mud weights, etc., which occur in response to the unplanned events. The developed simulator is used for hands-on training, human factor studies, model verification, and evaluating new auxiliary equipment and/or operational procedures. A critical research objective was evaluating the accuracy/realism of the developed system. To do so, eight petroleum engineering students and 11 certified drillers were trained and asked to complete a comprehensive ({\\textgreater}6 h) drilling operation. System accuracy was measured by comparing how new versus experienced operators learned to operate the simulator, execute mission-critical tasks, and respond to unplanned events. The results validate the realism of the developed simulator and scenarios, since personnel with prior drilling experience took significantly less time to master the system.},\n\tjournal = {IEEE Transactions on Human-Machine Systems},\n\tauthor = {Chan, Hong-Chih and Lee, Melissa M. and Saini, Gurtej Singh and Pryor, Mitch and van Oort, Eric},\n\tmonth = feb,\n\tyear = {2020},\n\tnote = {Conference Name: IEEE Transactions on Human-Machine Systems},\n\tkeywords = {Drilling, Human factors, Industries, Personnel, Physics, Safety, Training, education, simulation-based learning (SBL), simulator, training},\n\tpages = {1--10},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Drilling and completing an oil/gas well is a time-sensitive and high-value operation, in which environment/system parameters change in unseen, unpredictable environments. Safety issues arise at every stage. Drilling principles can be taught using traditional methods, but safety and event response are difficult to teach in such formats. Here, in this article, we integrate a hardware-in-the-loop simulator, downhole physics, and auxiliary touchscreen interfaces (similar to a rig's add-on equipment) to develop a realistic, real-time drilling simulator for well control operation training. Realistic operational data are supplied to the simulator representative of downhole operations, including unplanned well events. The well plan accounts for drilling parameter changes, the pore-pressure fracture-gradient drilling window, mud weights, etc., which occur in response to the unplanned events. The developed simulator is used for hands-on training, human factor studies, model verification, and evaluating new auxiliary equipment and/or operational procedures. A critical research objective was evaluating the accuracy/realism of the developed system. To do so, eight petroleum engineering students and 11 certified drillers were trained and asked to complete a comprehensive (\\textgreater6 h) drilling operation. System accuracy was measured by comparing how new versus experienced operators learned to operate the simulator, execute mission-critical tasks, and respond to unplanned events. The results validate the realism of the developed simulator and scenarios, since personnel with prior drilling experience took significantly less time to master the system.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2019\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2019')\"\n      onkeypress=\"toggleGroup('group_2019')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2019</span>\n      <span class=\"bibbase_group_count\">\n        \n        (21)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"allevato-short-pryor-thomaz-tunenetoneshotsimulationtuningforphysicspredictionandrobottaskplanning-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://proceedings.mlr.press/v100/allevato20a.html\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'allevato-short-pryor-thomaz-tunenetoneshotsimulationtuningforphysicspredictionandrobottaskplanning-2019', 'http://proceedings.mlr.press/v100/allevato20a.html', event);\">\n    TuneNet: One-Shot Simulation Tuning for Physics Prediction and Robot Task Planning.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato;  Elaine Schaertl Short;  Mitch Pryor;  and  Andrea Thomaz.\n</span>\n\n  \n\n</span>\n\n  In Osaka, Japan, October 2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://proceedings.mlr.press/v100/allevato20a.html\"\n     onclick=\"log_download('allevato-short-pryor-thomaz-tunenetoneshotsimulationtuningforphysicspredictionandrobottaskplanning-2019', 'http://proceedings.mlr.press/v100/allevato20a.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"TuneNet: One-Shot Simulation Tuning for Physics Prediction and Robot Task Planning [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-short-pryor-thomaz-tunenetoneshotsimulationtuningforphysicspredictionandrobottaskplanning-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>17 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-short-pryor-thomaz-tunenetoneshotsimulationtuningforphysicspredictionandrobottaskplanning-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{allevato_tunenet_2019,\n\taddress = {Osaka, Japan},\n\ttitle = {{TuneNet}: {One}-{Shot} {Simulation} {Tuning} for {Physics} {Prediction} and {Robot} {Task} {Planning}},\n\tshorttitle = {{1G}-04},\n\turl = {http://proceedings.mlr.press/v100/allevato20a.html},\n\tauthor = {Allevato, Adam and Short, Elaine Schaertl and Pryor, Mitch and Thomaz, Andrea},\n\tmonth = oct,\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"suarez-a3dobstacledetectionsystemforacomplexmobilerobotinahazardousundergroundtunnelenvironment-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/77434\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'suarez-a3dobstacledetectionsystemforacomplexmobilerobotinahazardousundergroundtunnelenvironment-2019', 'https://repositories.lib.utexas.edu/handle/2152/77434', event);\">\n    A 3D obstacle detection system for a complex mobile robot in a hazardous underground tunnel environment.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Christopher William Suarez.\n</span>\n\n  \n\n</span>\n\n  Master's thesis, May 2019.\n  <span class=\"note\">Accepted: 2019-10-25T14:56:12Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/77434\"\n     onclick=\"log_download('suarez-a3dobstacledetectionsystemforacomplexmobilerobotinahazardousundergroundtunnelenvironment-2019', 'https://repositories.lib.utexas.edu/handle/2152/77434', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A 3D obstacle detection system for a complex mobile robot in a hazardous underground tunnel environment [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/http://dx.doi.org/10.26153/tsw/4523\"\n     onclick=\"log_download('suarez-a3dobstacledetectionsystemforacomplexmobilerobotinahazardousundergroundtunnelenvironment-2019', 'http://doi.org/http://dx.doi.org/10.26153/tsw/4523', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/suarez-a3dobstacledetectionsystemforacomplexmobilerobotinahazardousundergroundtunnelenvironment-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>26 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('suarez-a3dobstacledetectionsystemforacomplexmobilerobotinahazardousundergroundtunnelenvironment-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@mastersthesis{suarez_3d_2019,\n\ttitle = {A {3D} obstacle detection system for a complex mobile robot in a hazardous underground tunnel environment},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/77434},\n\tabstract = {This thesis presents a 3D obstacle detection system developed for use in the H-Canyon Air Exhaust (HCAEX) tunnel project.  The HCAEX tunnel is a harsh environment with positive, negative, and hanging obstacles along with a muddy uneven floor.  The mobile platform developed to explore this tunnel is highly complex and requires advanced knowledge of its state relative to the environment.  A LiDAR sensor was identified and a Robot Operating System (ROS) package was developed to detect obstacles in 3D while accounting for the challenges presented by the project.  Tests were performed in two outdoor environments and an HCAEX mock tunnel environment.  Results showed that the obstacle detection system correctly identified obstacles in the environments at both roll and pitch states up to 45°, though further refinement and implementation can be performed.},\n\tlanguage = {en},\n\turldate = {2020-05-08},\n\tauthor = {Suarez, Christopher William},\n\tmonth = may,\n\tyear = {2019},\n\tdoi = {http://dx.doi.org/10.26153/tsw/4523},\n\tdoi = {http://dx.doi.org/10.26153/tsw/4523},\n\tnote = {Accepted: 2019-10-25T14:56:12Z},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This thesis presents a 3D obstacle detection system developed for use in the H-Canyon Air Exhaust (HCAEX) tunnel project. The HCAEX tunnel is a harsh environment with positive, negative, and hanging obstacles along with a muddy uneven floor. The mobile platform developed to explore this tunnel is highly complex and requires advanced knowledge of its state relative to the environment. A LiDAR sensor was identified and a Robot Operating System (ROS) package was developed to detect obstacles in 3D while accounting for the challenges presented by the project. Tests were performed in two outdoor environments and an HCAEX mock tunnel environment. Results showed that the obstacle detection system correctly identified obstacles in the environments at both roll and pitch states up to 45°, though further refinement and implementation can be performed.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"anderson-pryor-landsberger-mobileroboticradiationsurveyingusingrecursivebayesianestimation-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Mobile Robotic Radiation Surveying Using Recursive Bayesian Estimation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Blake Anderson;  Mitch Pryor;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)</i>, pages 1187–1192, August 2019. \n  <span class=\"note\">ISSN: 2161-8089</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/http://doi.org/10.1109/COASE.2019.8843064\"\n     onclick=\"log_download('anderson-pryor-landsberger-mobileroboticradiationsurveyingusingrecursivebayesianestimation-2019', 'http://doi.org/http://doi.org/10.1109/COASE.2019.8843064', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/anderson-pryor-landsberger-mobileroboticradiationsurveyingusingrecursivebayesianestimation-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>10 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('anderson-pryor-landsberger-mobileroboticradiationsurveyingusingrecursivebayesianestimation-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{anderson_mobile_2019,\n\ttitle = {Mobile {Robotic} {Radiation} {Surveying} {Using} {Recursive} {Bayesian} {Estimation}},\n\tdoi = {http://doi.org/10.1109/COASE.2019.8843064},\n\tabstract = {Nuclear facilities require wide-area surveys and remote response to the detection of abnormal radiation levels. These typically require a large number of measurement locations using fixed search patterns. Such approaches are time-consuming, require extended radiation exposure, and are difficult to routinely replicate by technicians. This paper presents an automated method of detecting and locating single or multiple small gamma-ray sources in an unstructured environment, requiring significantly fewer measurements than traditional methods and without a need for post-processing. A mobile robot can collect higher-precision data than practically possible by a human and removes the technician from the radiation area. This is enabled by addressing complexities that previously made automation difficult including supervisory control, obstacle avoidance, sensor positioning over a large height range, recognizing environmental complexities (shielding, etc and modifying survey parameters based on aberrant readings. The developed solution uses a mobile platform with a height-adjustable (up to 2.44 meters) radiation detector. Recursive Bayesian Estimation (RBE) is used to update a probability distribution of the location and intensity of source(s) after each measurement. The likelihood function is determined using radiation transport and detector models. Isotopic identification via a gamma library search aids data analysis by distinguishing counts from different sources. Computation considerations are discussed including predicting and localizing multiple sources.},\n\tbooktitle = {2019 {IEEE} 15th {International} {Conference} on {Automation} {Science} and {Engineering} ({CASE})},\n\tauthor = {Anderson, Blake and Pryor, Mitch and Landsberger, Sheldon},\n\tmonth = aug,\n\tyear = {2019},\n\tnote = {ISSN: 2161-8089},\n\tkeywords = {Bayes methods, Detectors, Estimation, Hardware, Probability and Statistical Methods, Robot sensing systems, Robotics in Hazardous Fields, Uncertainty, abnormal radiation levels, automated method, collision avoidance, data analysis, detector models, environmental complexities, fixed search patterns, gamma library search, gamma-ray sources, height range, height-adjustable, higher-precision data, measurement locations, mobile platform, mobile robot, mobile robotic radiation surveying, mobile robots, nuclear facilities, probability, radiation area, radiation detection, radiation exposure, radiation transport, recursive Bayesian Estimation, recursive Bayesian estimation, remote response, search problems, supervisory control, survey parameters, wide-area surveys},\n\tpages = {1187--1192},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Nuclear facilities require wide-area surveys and remote response to the detection of abnormal radiation levels. These typically require a large number of measurement locations using fixed search patterns. Such approaches are time-consuming, require extended radiation exposure, and are difficult to routinely replicate by technicians. This paper presents an automated method of detecting and locating single or multiple small gamma-ray sources in an unstructured environment, requiring significantly fewer measurements than traditional methods and without a need for post-processing. A mobile robot can collect higher-precision data than practically possible by a human and removes the technician from the radiation area. This is enabled by addressing complexities that previously made automation difficult including supervisory control, obstacle avoidance, sensor positioning over a large height range, recognizing environmental complexities (shielding, etc and modifying survey parameters based on aberrant readings. The developed solution uses a mobile platform with a height-adjustable (up to 2.44 meters) radiation detector. Recursive Bayesian Estimation (RBE) is used to update a probability distribution of the location and intensity of source(s) after each measurement. The likelihood function is determined using radiation transport and detector models. Isotopic identification via a gamma library search aids data analysis by distinguishing counts from different sources. Computation considerations are discussed including predicting and localizing multiple sources.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pettinger-developmentofanelasticandcompliantmanipulatortoperformcontacttasksinhazardousanduncertainenvironments-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Development of an Elastic and Compliant Manipulator to Perform Contact Tasks in Hazardous and Uncertain Environments.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Pettinger.\n</span>\n\n  \n\n</span>\n\n  Master's thesis, The University of Texas at Austin, May 2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pettinger-developmentofanelasticandcompliantmanipulatortoperformcontacttasksinhazardousanduncertainenvironments-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pettinger-developmentofanelasticandcompliantmanipulatortoperformcontacttasksinhazardousanduncertainenvironments-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@mastersthesis{pettinger_development_2019,\n\ttitle = {Development of an {Elastic} and {Compliant} {Manipulator} to {Perform} {Contact} {Tasks} in {Hazardous} and {Uncertain} {Environments}},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Pettinger, Adam},\n\tmonth = may,\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pitsch-pryor-obstaclepersistentadaptivemapmaintenanceforautonomousmobilerobotsusingspatiotemporalreasoning-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Obstacle Persistent Adaptive Map Maintenance for Autonomous Mobile Robots using Spatio-temporal Reasoning.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Meredith L. Pitsch;  and  Mitchell W. Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)</i>, pages 1023–1028, August 2019. \n  <span class=\"note\">ISSN: 2161-8089</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/COASE.2019.8843095\"\n     onclick=\"log_download('pitsch-pryor-obstaclepersistentadaptivemapmaintenanceforautonomousmobilerobotsusingspatiotemporalreasoning-2019', 'http://doi.org/10.1109/COASE.2019.8843095', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pitsch-pryor-obstaclepersistentadaptivemapmaintenanceforautonomousmobilerobotsusingspatiotemporalreasoning-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pitsch-pryor-obstaclepersistentadaptivemapmaintenanceforautonomousmobilerobotsusingspatiotemporalreasoning-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pitsch_obstacle_2019,\n\ttitle = {Obstacle {Persistent} {Adaptive} {Map} {Maintenance} for {Autonomous} {Mobile} {Robots} using {Spatio}-temporal {Reasoning}},\n\tdoi = {10.1109/COASE.2019.8843095},\n\tabstract = {Mobile robotic systems operate in increasingly realistic scenarios even as users have increased expectations for the duration of autonomous tasks. Mobile robots face unique challenges when operating in environments that change over time, where systems must maintain an accurate representation of the environment with respect to both spatial and temporal dimensions. This paper describes a spatio-temporal technique for extending the autonomy of a mobile robot in a changing environment. This new technique called Obstacle Persistent Adaptive Map Maintenance (OPAMM) uses navigation data collected during normal operations to perform periodic self-maintenance of its environment model. OPAMM implements a probabilistic feature persistence model to predict the survival state of obstacles and update the world model. Maintaining an accurate world model is necessary for extending the long-term autonomy of robots in realistic scenarios. Results show that robots using OPAMM had localizations scores higher than other methods, thus reducing long-term localization degradation.},\n\tbooktitle = {2019 {IEEE} 15th {International} {Conference} on {Automation} {Science} and {Engineering} ({CASE})},\n\tauthor = {Pitsch, Meredith L. and Pryor, Mitchell W.},\n\tmonth = aug,\n\tyear = {2019},\n\tnote = {ISSN: 2161-8089},\n\tkeywords = {Automation, Computer aided software engineering, Conferences, OPAMM, autonomous mobile robots, autonomous tasks, changing environment, environment model, long-term localization degradation, mobile robotic systems, mobile robots, obstacle persistent adaptive map maintenance, periodic self-maintenance, probabilistic feature persistence model, spatial dimensions, spatio-temporal reasoning, spatio-temporal technique, temporal dimensions, temporal reasoning},\n\tpages = {1023--1028},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Mobile robotic systems operate in increasingly realistic scenarios even as users have increased expectations for the duration of autonomous tasks. Mobile robots face unique challenges when operating in environments that change over time, where systems must maintain an accurate representation of the environment with respect to both spatial and temporal dimensions. This paper describes a spatio-temporal technique for extending the autonomy of a mobile robot in a changing environment. This new technique called Obstacle Persistent Adaptive Map Maintenance (OPAMM) uses navigation data collected during normal operations to perform periodic self-maintenance of its environment model. OPAMM implements a probabilistic feature persistence model to predict the survival state of obstacles and update the world model. Maintaining an accurate world model is necessary for extending the long-term autonomy of robots in realistic scenarios. Results show that robots using OPAMM had localizations scores higher than other methods, thus reducing long-term localization degradation.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mcmahon-perceptionpipelineforremotetunnelinspectionrover-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/78529\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'mcmahon-perceptionpipelineforremotetunnelinspectionrover-2019', 'https://repositories.lib.utexas.edu/handle/2152/78529', event);\">\n    Perception pipeline for remote tunnel inspection rover.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Conor Alexander McMahon.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, May 2019.\n  <span class=\"note\">Accepted: 2019-11-21T16:49:02Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/78529\"\n     onclick=\"log_download('mcmahon-perceptionpipelineforremotetunnelinspectionrover-2019', 'https://repositories.lib.utexas.edu/handle/2152/78529', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Perception pipeline for remote tunnel inspection rover [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/http://dx.doi.org/10.26153/tsw/5585\"\n     onclick=\"log_download('mcmahon-perceptionpipelineforremotetunnelinspectionrover-2019', 'http://doi.org/http://dx.doi.org/10.26153/tsw/5585', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mcmahon-perceptionpipelineforremotetunnelinspectionrover-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>26 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mcmahon-perceptionpipelineforremotetunnelinspectionrover-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{mcmahon_perception_2019,\n\ttype = {Thesis},\n\ttitle = {Perception pipeline for remote tunnel inspection rover},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/78529},\n\tabstract = {Architectural structures require routine structural inspections, and these checks are increasingly performed by remote robotic systems. Inspections often meet all of the traditional &quot;three D&#x27;s&quot; of robotics - Dull, Dirty, and Dangerous - and may be highly suited to automation. Underground tunnel systems present a particularly important opportunity for robots because these systems may have environmental hazards which make human deployment untenable. Unfortunately, tunnels are also a challenging environment for robots because they feature high self-similarity which makes localization along the tunnel axis difficult, in particular for cases where rough terrain renders odometry information unreliable. \n \nHere a platform-agnostic pipeline is presented for tunnel mapping and inspection. This system features tools to automatically segment the various concrete surfaces of the tunnel and individually analyze them for damage. A novel feature-based registration routine is also presented to overcome the localization challenges inherent in tunnels. The pipeline was validated using a LiDAR-based sensor tree and its performance in terms of registration and depth mapping accuracy was extensively tested. The registration methods utilized here do not depend on odometry or the use of registration targets and were shown to outperform contemporary approaches which are standard in industry.},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tauthor = {McMahon, Conor Alexander},\n\tmonth = may,\n\tyear = {2019},\n\tdoi = {http://dx.doi.org/10.26153/tsw/5585},\n\tdoi = {http://dx.doi.org/10.26153/tsw/5585},\n\tnote = {Accepted: 2019-11-21T16:49:02Z},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Architectural structures require routine structural inspections, and these checks are increasingly performed by remote robotic systems. Inspections often meet all of the traditional \"three D's\" of robotics - Dull, Dirty, and Dangerous - and may be highly suited to automation. Underground tunnel systems present a particularly important opportunity for robots because these systems may have environmental hazards which make human deployment untenable. Unfortunately, tunnels are also a challenging environment for robots because they feature high self-similarity which makes localization along the tunnel axis difficult, in particular for cases where rough terrain renders odometry information unreliable. Here a platform-agnostic pipeline is presented for tunnel mapping and inspection. This system features tools to automatically segment the various concrete surfaces of the tunnel and individually analyze them for damage. A novel feature-based registration routine is also presented to overcome the localization challenges inherent in tunnels. The pipeline was validated using a LiDAR-based sensor tree and its performance in terms of registration and depth mapping accuracy was extensively tested. The registration methods utilized here do not depend on odometry or the use of registration targets and were shown to outperform contemporary approaches which are standard in industry.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"oridate-uitz-aleem-seepersad-pryor-clayton-improvingthestrengthofadditivelymanufacturedconcretestructuresviaintraandinterlayerfiberreinforcement-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Improving the strength of additively manufactured concrete structures via intra and inter-layer fiber reinforcement.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Ademola Oridate;  Oliver Uitz;  Ali Aleem;  Carolyn Seepersad;  Mitch Pryor;  and  Patricia Clayton.\n</span>\n\n  \n\n</span>\n\n  August 2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/oridate-uitz-aleem-seepersad-pryor-clayton-improvingthestrengthofadditivelymanufacturedconcretestructuresviaintraandinterlayerfiberreinforcement-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('oridate-uitz-aleem-seepersad-pryor-clayton-improvingthestrengthofadditivelymanufacturedconcretestructuresviaintraandinterlayerfiberreinforcement-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@misc{oridate_improving_2019,\n\taddress = {Austin, TX},\n\ttype = {Invited {Talk}},\n\ttitle = {Improving the strength of additively manufactured concrete structures via intra and inter-layer fiber reinforcement},\n\tabstract = {Additive manufacturing of concrete structures (via an extrusion-based process) enables the construction of structures with more complex geometries than a traditional (casting) process would allow. Engineers and designers can take advantage of this possibility to design structures with more appealing aesthetics or better optimized for strength, thermal insulation and other desired properties while minimizing material use and weight. However, this process poses a number of challenges due to layering effects. One such challenge is the compromise in strength of structures due to insufficient reinforcement and inter-layer adhesion. This research seeks to minimize this effect by exploring the use of fibers as inclusions in the concrete mix and as reinforcement between layers. Reinforced walls are tested using a four-point bending test and the results show a significant increase in strength compared to walls without reinforcement.},\n\tauthor = {Oridate, Ademola and Uitz, Oliver and Aleem, Ali and Seepersad, Carolyn and Pryor, Mitch and Clayton, Patricia},\n\tmonth = aug,\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Additive manufacturing of concrete structures (via an extrusion-based process) enables the construction of structures with more complex geometries than a traditional (casting) process would allow. Engineers and designers can take advantage of this possibility to design structures with more appealing aesthetics or better optimized for strength, thermal insulation and other desired properties while minimizing material use and weight. However, this process poses a number of challenges due to layering effects. One such challenge is the compromise in strength of structures due to insufficient reinforcement and inter-layer adhesion. This research seeks to minimize this effect by exploring the use of fibers as inclusions in the concrete mix and as reinforcement between layers. Reinforced walls are tested using a four-point bending test and the results show a significant increase in strength compared to walls without reinforcement.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-jared-roboticstransformationaltoolsforindustrymobilityandmore-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.austinforum.org/events.html\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pryor-jared-roboticstransformationaltoolsforindustrymobilityandmore-2019', 'https://www.austinforum.org/events.html', event);\">\n    Robotics: Transformational Tools for Industry, Mobility, and More.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitch Pryor;  and  Carl Jared.\n</span>\n\n  \n\n</span>\n\n  July 2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.austinforum.org/events.html\"\n     onclick=\"log_download('pryor-jared-roboticstransformationaltoolsforindustrymobilityandmore-2019', 'https://www.austinforum.org/events.html', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robotics: Transformational Tools for Industry, Mobility, and More [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-jared-roboticstransformationaltoolsforindustrymobilityandmore-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-jared-roboticstransformationaltoolsforindustrymobilityandmore-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@misc{pryor_robotics_2019,\n\taddress = {Austin, TX},\n\ttype = {Invited {Talk}},\n\ttitle = {Robotics: {Transformational} {Tools} for {Industry}, {Mobility}, and {More}},\n\turl = {https://www.austinforum.org/events.html},\n\tauthor = {Pryor, Mitch and Jared, Carl},\n\tmonth = jul,\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-short-pryor-thomaz-learningahumancenteredrepresentationofrobotaffordancemodels-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://sites.google.com/view/rss19-learning-and-reasoning\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'allevato-short-pryor-thomaz-learningahumancenteredrepresentationofrobotaffordancemodels-2019', 'https://sites.google.com/view/rss19-learning-and-reasoning', event);\">\n    Learning A Human-Centered Representation of Robot Affordance Models.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato;  Elaine Short;  Mitch Pryor;  and  Andrea Thomaz.\n</span>\n\n  \n\n</span>\n\n  June 2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://sites.google.com/view/rss19-learning-and-reasoning\"\n     onclick=\"log_download('allevato-short-pryor-thomaz-learningahumancenteredrepresentationofrobotaffordancemodels-2019', 'https://sites.google.com/view/rss19-learning-and-reasoning', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Learning A Human-Centered Representation of Robot Affordance Models [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-short-pryor-thomaz-learningahumancenteredrepresentationofrobotaffordancemodels-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>16 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-short-pryor-thomaz-learningahumancenteredrepresentationofrobotaffordancemodels-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@misc{allevato_learning_2019,\n\taddress = {Freiburg, Germay},\n\ttype = {Poster},\n\ttitle = {Learning {A} {Human}-{Centered} {Representation} of {Robot} {Affordance} {Models}},\n\turl = {https://sites.google.com/view/rss19-learning-and-reasoning},\n\tauthor = {Allevato, Adam and Short, Elaine and Pryor, Mitch and Thomaz, Andrea},\n\tmonth = jun,\n\tyear = {2019},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pitsch-spatiotemporalmapmaintenanceforextendingautonomyinlongtermmobilerobotictasks-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/72719\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pitsch-spatiotemporalmapmaintenanceforextendingautonomyinlongtermmobilerobotictasks-2019', 'https://repositories.lib.utexas.edu/handle/2152/72719', event);\">\n    Spatio-temporal map maintenance for extending autonomy in long-term mobile robotic tasks.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Meredith Leeann Pitsch.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, January 2019.\n  <span class=\"note\">Accepted: 2019-02-01T20:40:23Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/72719\"\n     onclick=\"log_download('pitsch-spatiotemporalmapmaintenanceforextendingautonomyinlongtermmobilerobotictasks-2019', 'https://repositories.lib.utexas.edu/handle/2152/72719', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Spatio-temporal map maintenance for extending autonomy in long-term mobile robotic tasks [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.15781/T2HD7PD3M\"\n     onclick=\"log_download('pitsch-spatiotemporalmapmaintenanceforextendingautonomyinlongtermmobilerobotictasks-2019', 'http://doi.org/10.15781/T2HD7PD3M', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pitsch-spatiotemporalmapmaintenanceforextendingautonomyinlongtermmobilerobotictasks-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pitsch-spatiotemporalmapmaintenanceforextendingautonomyinlongtermmobilerobotictasks-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{pitsch_spatio-temporal_2019,\n\ttype = {Thesis},\n\ttitle = {Spatio-temporal map maintenance for extending autonomy in long-term mobile robotic tasks},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/72719},\n\tabstract = {Working in hazardous environments requires routine inspections in order to meet safety standards. Dangerous quantities of nuclear contamination can exist in infinitesimally small volumes. In order to confidently inspect a nuclear environment for radioactive sources, especially those which emit alpha radiation, technicians must carefully maintain detectors at a consistent velocity and distance from a source. Technicians must also take careful records of which areas have been surveyed or not are important so that no area is left unmonitored. This is a difficult, exhausting task when the coverage area is larger than an office space. An autonomous mobile robotic platform with Complete Coverage Path Planning (CCPP) can reduce dangerous exposure to humans and provide better information for Radiological Control Technicians (RCT). The developed robotic system - or RCTbot - is designed for long-term deployment with little human correction, intervention, or maintenance required. To do this, the RCTbot creates a map of the environment, continually updates it based on multiple sensor inputs, and searches its map for contamination. In nuclear environments, the areas of interest often remain spatially constant throughout the duration of an inspection and are considered temporally static. The RCTbot monitors temporally static environments but adapts to dynamic changes over time. It then uses its sensor data to update and maintain its map so no manual human intervention is necessary. The spatio-temporal map maintenance (STMM) is agnostic to the survey type, so the RCTbot system is viable for application domain other than nuclear.},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tauthor = {Pitsch, Meredith Leeann},\n\tmonth = jan,\n\tyear = {2019},\n\tdoi = {10.15781/T2HD7PD3M},\n\tnote = {Accepted: 2019-02-01T20:40:23Z},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Working in hazardous environments requires routine inspections in order to meet safety standards. Dangerous quantities of nuclear contamination can exist in infinitesimally small volumes. In order to confidently inspect a nuclear environment for radioactive sources, especially those which emit alpha radiation, technicians must carefully maintain detectors at a consistent velocity and distance from a source. Technicians must also take careful records of which areas have been surveyed or not are important so that no area is left unmonitored. This is a difficult, exhausting task when the coverage area is larger than an office space. An autonomous mobile robotic platform with Complete Coverage Path Planning (CCPP) can reduce dangerous exposure to humans and provide better information for Radiological Control Technicians (RCT). The developed robotic system - or RCTbot - is designed for long-term deployment with little human correction, intervention, or maintenance required. To do this, the RCTbot creates a map of the environment, continually updates it based on multiple sensor inputs, and searches its map for contamination. In nuclear environments, the areas of interest often remain spatially constant throughout the duration of an inspection and are considered temporally static. The RCTbot monitors temporally static environments but adapts to dynamic changes over time. It then uses its sensor data to update and maintain its map so no manual human intervention is necessary. The spatio-temporal map maintenance (STMM) is agnostic to the survey type, so the RCTbot system is viable for application domain other than nuclear.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"lee-modularsupervisorycontrollerforcomplexsystems-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/73907\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'lee-modularsupervisorycontrollerforcomplexsystems-2019', 'https://repositories.lib.utexas.edu/handle/2152/73907', event);\">\n    Modular supervisory controller for complex systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Melissa Mei Yun Lee.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, February 2019.\n  <span class=\"note\">Accepted: 2019-04-01T20:28:14Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/73907\"\n     onclick=\"log_download('lee-modularsupervisorycontrollerforcomplexsystems-2019', 'https://repositories.lib.utexas.edu/handle/2152/73907', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Modular supervisory controller for complex systems [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/http://dx.doi.org/10.26153/tsw/1039\"\n     onclick=\"log_download('lee-modularsupervisorycontrollerforcomplexsystems-2019', 'http://doi.org/http://dx.doi.org/10.26153/tsw/1039', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/lee-modularsupervisorycontrollerforcomplexsystems-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>23 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('lee-modularsupervisorycontrollerforcomplexsystems-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{lee_modular_2019,\n\ttype = {Thesis},\n\ttitle = {Modular supervisory controller for complex systems},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/73907},\n\tabstract = {Automation for the oil and gas industry is driven by the need to improve efficiency, productivity, consistency, and personnel safety, while reducing cost. Fully automated systems alleviate the physical toll on human operators and allow them to focus on monitoring unsafe well events and machinery maintenance. Complex systems like drilling rigs and snubbing units require supervisory controllers that can safely coordinate equipment and processes, overcome interoperability challenges and allow for functional scalability without sacrificing safety, security, and consistency of operations. The primary objective of this report is to explore the feasibility of developing a modular supervisory controller architecture which addresses these concerns by modifying and extending existing architectures. Such modifications include the use of non-homogeneous models in sub-system modules, including discrete event models for control and physics-based models for collision avoidance, addition of a system compilation module (Meta Module) to identify simple design errors, and implementation of an algorithm for synthesis of modules and filters to replace missing sub-systems. This report discusses the implementation results of the modular supervisory control architecture (modMFSM) on a simplified two-machine drilling system for assessment of design practices. Simulations for three test cases were executed to assess the ability of the controller to correctly perform error-free operations, detect and react to possible collisions, and adapt to missing equipment. The report then discusses the possibilities of extending the modMFSM architecture to control large complex systems such as drilling rigs, using snubbing operations as an example.},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tauthor = {Lee, Melissa Mei Yun},\n\tmonth = feb,\n\tyear = {2019},\n\tdoi = {http://dx.doi.org/10.26153/tsw/1039},\n\tdoi = {http://dx.doi.org/10.26153/tsw/1039},\n\tnote = {Accepted: 2019-04-01T20:28:14Z},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Automation for the oil and gas industry is driven by the need to improve efficiency, productivity, consistency, and personnel safety, while reducing cost. Fully automated systems alleviate the physical toll on human operators and allow them to focus on monitoring unsafe well events and machinery maintenance. Complex systems like drilling rigs and snubbing units require supervisory controllers that can safely coordinate equipment and processes, overcome interoperability challenges and allow for functional scalability without sacrificing safety, security, and consistency of operations. The primary objective of this report is to explore the feasibility of developing a modular supervisory controller architecture which addresses these concerns by modifying and extending existing architectures. Such modifications include the use of non-homogeneous models in sub-system modules, including discrete event models for control and physics-based models for collision avoidance, addition of a system compilation module (Meta Module) to identify simple design errors, and implementation of an algorithm for synthesis of modules and filters to replace missing sub-systems. This report discusses the implementation results of the modular supervisory control architecture (modMFSM) on a simplified two-machine drilling system for assessment of design practices. Simulations for three test cases were executed to assess the ability of the controller to correctly perform error-free operations, detect and react to possible collisions, and adapt to missing equipment. The report then discusses the possibilities of extending the modMFSM architecture to control large complex systems such as drilling rigs, using snubbing operations as an example.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sharma-reactivesynthesisofactionplanners-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/74526\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sharma-reactivesynthesisofactionplanners-2019', 'https://repositories.lib.utexas.edu/handle/2152/74526', event);\">\n    Reactive synthesis of action planners.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Nitish Sharma.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, February 2019.\n  <span class=\"note\">Accepted: 2019-05-09T18:36:39Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/74526\"\n     onclick=\"log_download('sharma-reactivesynthesisofactionplanners-2019', 'https://repositories.lib.utexas.edu/handle/2152/74526', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Reactive synthesis of action planners [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/http://dx.doi.org/10.26153/tsw/1646\"\n     onclick=\"log_download('sharma-reactivesynthesisofactionplanners-2019', 'http://doi.org/http://dx.doi.org/10.26153/tsw/1646', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sharma-reactivesynthesisofactionplanners-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>23 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sharma-reactivesynthesisofactionplanners-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{sharma_reactive_2019,\n\ttype = {Thesis},\n\ttitle = {Reactive synthesis of action planners},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/74526},\n\tabstract = {An increase in the level of autonomy marks one of the fundamental focuses of current robotic systems. This involves the ability of a robot to reason about its environment and plan its motion in order to carry out assigned tasks. For all tasks, it generally involves abstractions into discrete, logical actions, where each discrete action defines a particular capability of the robot. \n \nThe problem of synthesis of correct-by-construction action planners has been considered in this work. Action Description Language (ADL) is used to model the actions. These ADL definitions are then translated to Linear Temporal Logic (LTL). LTL based specifications are further used for the reactive synthesis of the strategy.   \n \nThis work largely focuses on expressiveness which consists of a definition of the actions and system/environment behavior. Classical ADL semantics cannot handle multiple agents or non-determinism. A natural extension of ADL (referred to as ADLnE in this document) has been proposed which can handle dynamic environments, non-determinism, and multiple agents. \n \nThe proposed work can be seen as an extension to generic search based action planners. One such A* search-based method, Goal Oriented Action Planner (GOAP) has been considered which is based on ADL semantics and is limited by deterministic, single agent modeling. Through examples, it has been established that for deterministic, single agent and static (or at best quasi-static) systems, the proposed strategy matches that of GOAP. For dynamic and multi-agent situations, a reactive action plan is synthesized (if feasible) that is guaranteed to satisfy the formal specification, i.e. achieve the goal.},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tauthor = {Sharma, Nitish},\n\tmonth = feb,\n\tyear = {2019},\n\tdoi = {http://dx.doi.org/10.26153/tsw/1646},\n\tdoi = {http://dx.doi.org/10.26153/tsw/1646},\n\tnote = {Accepted: 2019-05-09T18:36:39Z},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  An increase in the level of autonomy marks one of the fundamental focuses of current robotic systems. This involves the ability of a robot to reason about its environment and plan its motion in order to carry out assigned tasks. For all tasks, it generally involves abstractions into discrete, logical actions, where each discrete action defines a particular capability of the robot. The problem of synthesis of correct-by-construction action planners has been considered in this work. Action Description Language (ADL) is used to model the actions. These ADL definitions are then translated to Linear Temporal Logic (LTL). LTL based specifications are further used for the reactive synthesis of the strategy. This work largely focuses on expressiveness which consists of a definition of the actions and system/environment behavior. Classical ADL semantics cannot handle multiple agents or non-determinism. A natural extension of ADL (referred to as ADLnE in this document) has been proposed which can handle dynamic environments, non-determinism, and multiple agents. The proposed work can be seen as an extension to generic search based action planners. One such A* search-based method, Goal Oriented Action Planner (GOAP) has been considered which is based on ADL semantics and is limited by deterministic, single agent modeling. Through examples, it has been established that for deterministic, single agent and static (or at best quasi-static) systems, the proposed strategy matches that of GOAP. For dynamic and multi-agent situations, a reactive action plan is synthesized (if feasible) that is guaranteed to satisfy the formal specification, i.e. achieve the goal.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gallegos-ademonstrationandcomparativeanalysisofhapticperformanceusingagoughstewartplatformasawearablehapticfeedbackdevice-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/75803\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gallegos-ademonstrationandcomparativeanalysisofhapticperformanceusingagoughstewartplatformasawearablehapticfeedbackdevice-2019', 'https://repositories.lib.utexas.edu/handle/2152/75803', event);\">\n    A demonstration and comparative analysis of haptic performance using a Gough-Stewart platform as a wearable haptic feedback device.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Lucas Eddie Gallegos.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, April 2019.\n  <span class=\"note\">Accepted: 2019-09-10T21:58:40Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/75803\"\n     onclick=\"log_download('gallegos-ademonstrationandcomparativeanalysisofhapticperformanceusingagoughstewartplatformasawearablehapticfeedbackdevice-2019', 'https://repositories.lib.utexas.edu/handle/2152/75803', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A demonstration and comparative analysis of haptic performance using a Gough-Stewart platform as a wearable haptic feedback device [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/http://dx.doi.org/10.26153/tsw/2905\"\n     onclick=\"log_download('gallegos-ademonstrationandcomparativeanalysisofhapticperformanceusingagoughstewartplatformasawearablehapticfeedbackdevice-2019', 'http://doi.org/http://dx.doi.org/10.26153/tsw/2905', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gallegos-ademonstrationandcomparativeanalysisofhapticperformanceusingagoughstewartplatformasawearablehapticfeedbackdevice-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gallegos-ademonstrationandcomparativeanalysisofhapticperformanceusingagoughstewartplatformasawearablehapticfeedbackdevice-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{gallegos_demonstration_2019,\n\ttype = {Thesis},\n\ttitle = {A demonstration and comparative analysis of haptic performance using a {Gough}-{Stewart} platform as a wearable haptic feedback device},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/75803},\n\tabstract = {In many hazardous work environments, contact tasks ranging from manufacturing to disassembly to emergency response are performed by industrial manipulators. Due to the hazardous and complex nature of these environments, teleoperation is often employed. When such is the case, the operator is left to interpret a large amount of data during task completion due to the complexity of modern robotic systems and the possible complexity of the tasks. This information is usually processed visually but can lead to sensory overload. To mitigate this, the information processing can also be distributed through other modes of sensory such as auditory or haptic. The University of Texas at Austin&#x27;s TeMoto hands-free interface reduces the burden on the operator of commanding remote systems by enabling the use of gestural and verbal commands to complete a range of tasks, but the removal of a mechanical interactive device from the operator interface complicates the inclusion of haptic feedback. In this work, a standalone Gough-Stewart platform previously configured as a wearable haptic feedback device for the Nuclear and Applied Robotics Group at the University of Texas at Austin provides real-time haptic feedback to the unconstrained hand(s) of the operator. In doing so, this haptic interface can be employed with the intent of enhancing situational awareness and minimizing operator stress by imparting forces and torques to the user based on those imparted on the end-effector of the industrial manipulator. While multiple technical issues and human factor issues must be addressed, this effort focuses on integrating the system and evaluating its performance for various industrial manipulator designs and sensor modalities. After testing various digital signal processing techniques, functionality was demonstrated among one series-elastic and two rigid industrial manipulators, each with different force/torque data acquisition characteristics and a comparative analysis in haptic performance was performed. Furthermore, it was demonstrated with the TeMoto hands-free teleoperation system. Overall, the demonstrations and experiments performed in this work prove the system to be a viable, hardware agnostic means of haptic feedback and a strong basis for future efforts},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tauthor = {Gallegos, Lucas Eddie},\n\tmonth = apr,\n\tyear = {2019},\n\tdoi = {http://dx.doi.org/10.26153/tsw/2905},\n\tdoi = {http://dx.doi.org/10.26153/tsw/2905},\n\tnote = {Accepted: 2019-09-10T21:58:40Z},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In many hazardous work environments, contact tasks ranging from manufacturing to disassembly to emergency response are performed by industrial manipulators. Due to the hazardous and complex nature of these environments, teleoperation is often employed. When such is the case, the operator is left to interpret a large amount of data during task completion due to the complexity of modern robotic systems and the possible complexity of the tasks. This information is usually processed visually but can lead to sensory overload. To mitigate this, the information processing can also be distributed through other modes of sensory such as auditory or haptic. The University of Texas at Austin's TeMoto hands-free interface reduces the burden on the operator of commanding remote systems by enabling the use of gestural and verbal commands to complete a range of tasks, but the removal of a mechanical interactive device from the operator interface complicates the inclusion of haptic feedback. In this work, a standalone Gough-Stewart platform previously configured as a wearable haptic feedback device for the Nuclear and Applied Robotics Group at the University of Texas at Austin provides real-time haptic feedback to the unconstrained hand(s) of the operator. In doing so, this haptic interface can be employed with the intent of enhancing situational awareness and minimizing operator stress by imparting forces and torques to the user based on those imparted on the end-effector of the industrial manipulator. While multiple technical issues and human factor issues must be addressed, this effort focuses on integrating the system and evaluating its performance for various industrial manipulator designs and sensor modalities. After testing various digital signal processing techniques, functionality was demonstrated among one series-elastic and two rigid industrial manipulators, each with different force/torque data acquisition characteristics and a comparative analysis in haptic performance was performed. Furthermore, it was demonstrated with the TeMoto hands-free teleoperation system. Overall, the demonstrations and experiments performed in this work prove the system to be a viable, hardware agnostic means of haptic feedback and a strong basis for future efforts\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"petlowany-tasktrajectoryanalysispackageintherobotoperatingsystem-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/78518\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'petlowany-tasktrajectoryanalysispackageintherobotoperatingsystem-2019', 'https://repositories.lib.utexas.edu/handle/2152/78518', event);\">\n    Task-Trajectory Analysis Package in the Robot Operating System.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Christina Elisabeth Petlowany.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, May 2019.\n  <span class=\"note\">Accepted: 2019-11-20T23:58:11Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/78518\"\n     onclick=\"log_download('petlowany-tasktrajectoryanalysispackageintherobotoperatingsystem-2019', 'https://repositories.lib.utexas.edu/handle/2152/78518', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Task-Trajectory Analysis Package in the Robot Operating System [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/http://dx.doi.org/10.26153/tsw/5579\"\n     onclick=\"log_download('petlowany-tasktrajectoryanalysispackageintherobotoperatingsystem-2019', 'http://doi.org/http://dx.doi.org/10.26153/tsw/5579', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/petlowany-tasktrajectoryanalysispackageintherobotoperatingsystem-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('petlowany-tasktrajectoryanalysispackageintherobotoperatingsystem-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{petlowany_task-trajectory_2019,\n\ttype = {Thesis},\n\ttitle = {Task-{Trajectory} {Analysis} {Package} in the {Robot} {Operating} {System}},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/78518},\n\tabstract = {For many manufacturing tasks, such as welding and cutting, the task trajectory, or path, is known a priori in the object&#x27;s reference frame. What is\nnot known is whether or not the robot can reach the entirety of the trajectory\ngiven the relative location of the object frame to the robot&#x27;s base frame and its\nreachable and/or dexterous workspace. The problem increases in complexity with each additional object in the robot&#x27;s workspace. Some robots need to perform tasks in cluttered or confined environments, such as a glovebox, and the ability to know if and where the manipulator can perform a certain task is crucial for both design and operation. This thesis describes the development, design, and implementation of a Task-Trajectory Analysis Package (T-TAP) within the Robot Operating System (ROS) framework.\n\nReachability has been extensively discussed in the literature, but current reachability visualization tools do not account for task data, and instead describe the robot&#x27;s global workspace and thus take a long time to compute. Such tools may be useful for designing robotic systems, but their value diminishes when analyzing a specific task and environment. T-TAP focuses on the task space and is capable of producing real-time or near real-time feedback about the validity of a path. The results are shown in an easy-to-interpret visualization of the path points and their relative quality as measured using selected performance metrics.\n\nT-TAP contains several capabilities. The first, and simplest, validates\nreachability for discrete points along the trajectory. An inverse kinematic\n(IK) solver is used to plan from one trajectory point to the next. The user\ncan use standard ROS IK solvers or utilize their own IK solver. Next, T-TAP\nuses the Jacobian to analyze the system&#x27;s performance as it completes the proposed trajectory. It ensures that joint and velocity limits are not violated, singularities are avoided, and is extensible to include additional user-defined performance metrics.\n\nT-TAP requires no prior computations, is hardware agnostic, and can\nbe run entirely in simulation. It can reduce the time required to place and\nplan a trajectory by an order of magnitude. It is designed to work seamlessly with existing ROS path-planning packages. The operator needs only to send the path to T-TAP and T-TAP will analyze the trajectory. This information will allow the operator to intelligently adjust the path so that it is reachable and viable.},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tauthor = {Petlowany, Christina Elisabeth},\n\tmonth = may,\n\tyear = {2019},\n\tdoi = {http://dx.doi.org/10.26153/tsw/5579},\n\tdoi = {http://dx.doi.org/10.26153/tsw/5579},\n\tnote = {Accepted: 2019-11-20T23:58:11Z},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  For many manufacturing tasks, such as welding and cutting, the task trajectory, or path, is known a priori in the object's reference frame. What is not known is whether or not the robot can reach the entirety of the trajectory given the relative location of the object frame to the robot's base frame and its reachable and/or dexterous workspace. The problem increases in complexity with each additional object in the robot's workspace. Some robots need to perform tasks in cluttered or confined environments, such as a glovebox, and the ability to know if and where the manipulator can perform a certain task is crucial for both design and operation. This thesis describes the development, design, and implementation of a Task-Trajectory Analysis Package (T-TAP) within the Robot Operating System (ROS) framework. Reachability has been extensively discussed in the literature, but current reachability visualization tools do not account for task data, and instead describe the robot's global workspace and thus take a long time to compute. Such tools may be useful for designing robotic systems, but their value diminishes when analyzing a specific task and environment. T-TAP focuses on the task space and is capable of producing real-time or near real-time feedback about the validity of a path. The results are shown in an easy-to-interpret visualization of the path points and their relative quality as measured using selected performance metrics. T-TAP contains several capabilities. The first, and simplest, validates reachability for discrete points along the trajectory. An inverse kinematic (IK) solver is used to plan from one trajectory point to the next. The user can use standard ROS IK solvers or utilize their own IK solver. Next, T-TAP uses the Jacobian to analyze the system's performance as it completes the proposed trajectory. It ensures that joint and velocity limits are not violated, singularities are avoided, and is extensible to include additional user-defined performance metrics. T-TAP requires no prior computations, is hardware agnostic, and can be run entirely in simulation. It can reduce the time required to place and plan a trajectory by an order of magnitude. It is designed to work seamlessly with existing ROS path-planning packages. The operator needs only to send the path to T-TAP and T-TAP will analyze the trajectory. This information will allow the operator to intelligently adjust the path so that it is reachable and viable.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wanna-pryor-enablingsemiautonomousbehaviourshandlingmultipleinputstreamsandtaskuncertainty-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://rainhub.org.uk/legacy-disruptors-hmi-iros19/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wanna-pryor-enablingsemiautonomousbehaviourshandlingmultipleinputstreamsandtaskuncertainty-2019', 'https://rainhub.org.uk/legacy-disruptors-hmi-iros19/', event);\">\n    Enabling semi-autonomous behaviours: handling multiple input streams and task uncertainty.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Selma Wanna;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Macau, China, November 2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://rainhub.org.uk/legacy-disruptors-hmi-iros19/\"\n     onclick=\"log_download('wanna-pryor-enablingsemiautonomousbehaviourshandlingmultipleinputstreamsandtaskuncertainty-2019', 'https://rainhub.org.uk/legacy-disruptors-hmi-iros19/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Enabling semi-autonomous behaviours: handling multiple input streams and task uncertainty [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wanna-pryor-enablingsemiautonomousbehaviourshandlingmultipleinputstreamsandtaskuncertainty-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>18 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wanna-pryor-enablingsemiautonomousbehaviourshandlingmultipleinputstreamsandtaskuncertainty-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{wanna_enabling_2019,\n\taddress = {Macau, China},\n\ttitle = {Enabling semi-autonomous behaviours: handling multiple input streams and task uncertainty},\n\turl = {https://rainhub.org.uk/legacy-disruptors-hmi-iros19/},\n\tauthor = {Wanna, Selma and Pryor, Mitch},\n\tmonth = nov,\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zelenak-reid-pryor-reactivejoggerforteleoperationandcontacttasks-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://roscon.ros.org/2019/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zelenak-reid-pryor-reactivejoggerforteleoperationandcontacttasks-2019', 'https://roscon.ros.org/2019/', event);\">\n    Reactive Jogger for Teleoperation and Contact Tasks.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andy Zelenak;  Robert Reid;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Macau, China, October 2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://roscon.ros.org/2019/\"\n     onclick=\"log_download('zelenak-reid-pryor-reactivejoggerforteleoperationandcontacttasks-2019', 'https://roscon.ros.org/2019/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Reactive Jogger for Teleoperation and Contact Tasks [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zelenak-reid-pryor-reactivejoggerforteleoperationandcontacttasks-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zelenak-reid-pryor-reactivejoggerforteleoperationandcontacttasks-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{zelenak_reactive_2019,\n\taddress = {Macau, China},\n\ttitle = {Reactive {Jogger} for {Teleoperation} and {Contact} {Tasks}},\n\turl = {https://roscon.ros.org/2019/},\n\tabstract = {In order to rapidly deploy natural language interfaces for robotics applications, we developed the Universal Meaning Representation Format (UMRF) and TeMoto Action Engine. The proposed UMRF acts as a middle ground for combining existing and cutting edge solutions in the domains of natural language processing and grounding. The open-sourced TeMoto Action Engine offers developers We developed and released a computationally efficient jogger for mobile manipulation that is well-suited for real-world manipulation tasks. Its fast control rates ({\\textgreater}500 Hz) and tolerance for message latency enables teleoperation, admittance control, and end effector pose regulation during base motion. The presentation covers implementation including singularity avoidance, signal filtering, reactive control, and velocity/position control modalities. It includes three use examples: cabinet opening, opening and passing through a sprung door, and contact force regulation. We also quickly present a real-world use case (emergency response in an operational mine). The jogger package is now available as a part of MoveIt.},\n\tauthor = {Zelenak, Andy and Reid, Robert and Pryor, Mitch},\n\tmonth = oct,\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In order to rapidly deploy natural language interfaces for robotics applications, we developed the Universal Meaning Representation Format (UMRF) and TeMoto Action Engine. The proposed UMRF acts as a middle ground for combining existing and cutting edge solutions in the domains of natural language processing and grounding. The open-sourced TeMoto Action Engine offers developers We developed and released a computationally efficient jogger for mobile manipulation that is well-suited for real-world manipulation tasks. Its fast control rates (\\textgreater500 Hz) and tolerance for message latency enables teleoperation, admittance control, and end effector pose regulation during base motion. The presentation covers implementation including singularity avoidance, signal filtering, reactive control, and velocity/position control modalities. It includes three use examples: cabinet opening, opening and passing through a sprung door, and contact force regulation. We also quickly present a real-world use case (emergency response in an operational mine). The jogger package is now available as a part of MoveIt.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"valner-wanna-pryor-universalmeaningrepresentationformatfornaturallanguagetaskengines-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://roscon.ros.org/2019/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'valner-wanna-pryor-universalmeaningrepresentationformatfornaturallanguagetaskengines-2019', 'https://roscon.ros.org/2019/', event);\">\n    Universal Meaning Representation Format for Natural Language Task Engines.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Robert Valner;  Selma Wanna;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Macau, China, October 2019. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://roscon.ros.org/2019/\"\n     onclick=\"log_download('valner-wanna-pryor-universalmeaningrepresentationformatfornaturallanguagetaskengines-2019', 'https://roscon.ros.org/2019/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Universal Meaning Representation Format for Natural Language Task Engines [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/valner-wanna-pryor-universalmeaningrepresentationformatfornaturallanguagetaskengines-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('valner-wanna-pryor-universalmeaningrepresentationformatfornaturallanguagetaskengines-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{valner_universal_2019,\n\taddress = {Macau, China},\n\ttitle = {Universal {Meaning} {Representation} {Format} for {Natural} {Language} {Task} {Engines}},\n\turl = {https://roscon.ros.org/2019/},\n\tabstract = {In order to rapidly deploy natural language interfaces for robotics applications, we developed the Universal Meaning Representation Format (UMRF) and TeMoto Action Engine. The proposed UMRF acts as a middle ground for combining existing and cutting edge solutions in the domains of natural language processing and grounding. The open-sourced TeMoto Action Engine offers developers an UMRF based action execution management system to use as an interface for natural language control, via grounding the UMRF data structures to executable code. We demonstrate the feasibility of the developed work by executing robotic tasks on ROS via different parsing systems, including Google Assistant.},\n\tauthor = {Valner, Robert and Wanna, Selma and Pryor, Mitch},\n\tmonth = oct,\n\tyear = {2019},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In order to rapidly deploy natural language interfaces for robotics applications, we developed the Universal Meaning Representation Format (UMRF) and TeMoto Action Engine. The proposed UMRF acts as a middle ground for combining existing and cutting edge solutions in the domains of natural language processing and grounding. The open-sourced TeMoto Action Engine offers developers an UMRF based action execution management system to use as an interface for natural language control, via grounding the UMRF data structures to executable code. We demonstrate the feasibility of the developed work by executing robotic tasks on ROS via different parsing systems, including Google Assistant.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pettinger-pryor-completingcomplexcontacttasksusingintegratedactiveandpassivecompliantcontrolmethodologies-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T20A006/1070639\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pettinger-pryor-completingcomplexcontacttasksusingintegratedactiveandpassivecompliantcontrolmethodologies-2019', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T20A006/1070639', event);\">\n    Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Pettinger;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Park City, UT, October 2019. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T20A006/1070639\"\n     onclick=\"log_download('pettinger-pryor-completingcomplexcontacttasksusingintegratedactiveandpassivecompliantcontrolmethodologies-2019', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T20A006/1070639', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DSCC2019-9062\"\n     onclick=\"log_download('pettinger-pryor-completingcomplexcontacttasksusingintegratedactiveandpassivecompliantcontrolmethodologies-2019', 'http://doi.org/10.1115/DSCC2019-9062', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pettinger-pryor-completingcomplexcontacttasksusingintegratedactiveandpassivecompliantcontrolmethodologies-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>25 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pettinger-pryor-completingcomplexcontacttasksusingintegratedactiveandpassivecompliantcontrolmethodologies-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pettinger_completing_2019,\n\taddress = {Park City, UT},\n\ttitle = {Completing {Complex} {Contact} {Tasks} {Using} {Integrated} {Active} and {Passive} {Compliant} {Control} {Methodologies}},\n\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T20A006/1070639},\n\tdoi = {10.1115/DSCC2019-9062},\n\tlanguage = {en},\n\turldate = {2020-05-09},\n\tpublisher = {ASME},\n\tauthor = {Pettinger, Adam and Pryor, Mitch},\n\tmonth = oct,\n\tyear = {2019},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ramanathan-zelenak-pryor-instantaneouscenterofrotationbasedmasterslavekinematicmodelingandcontrol-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T17A005/1070613\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ramanathan-zelenak-pryor-instantaneouscenterofrotationbasedmasterslavekinematicmodelingandcontrol-2019', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T17A005/1070613', event);\">\n    Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Vikram Ramanathan;  Andy Zelenak;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Park City, UT, October 2019. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T17A005/1070613\"\n     onclick=\"log_download('ramanathan-zelenak-pryor-instantaneouscenterofrotationbasedmasterslavekinematicmodelingandcontrol-2019', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T17A005/1070613', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DSCC2019-9123\"\n     onclick=\"log_download('ramanathan-zelenak-pryor-instantaneouscenterofrotationbasedmasterslavekinematicmodelingandcontrol-2019', 'http://doi.org/10.1115/DSCC2019-9123', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ramanathan-zelenak-pryor-instantaneouscenterofrotationbasedmasterslavekinematicmodelingandcontrol-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>23 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ramanathan-zelenak-pryor-instantaneouscenterofrotationbasedmasterslavekinematicmodelingandcontrol-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{ramanathan_instantaneous_2019,\n\taddress = {Park City, UT},\n\ttitle = {Instantaneous {Center} of {Rotation}-{Based} {Master}-{Slave} {Kinematic} {Modeling} and {Control}},\n\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2019/59162/V003T17A005/1070613},\n\tdoi = {10.1115/DSCC2019-9123},\n\tlanguage = {en},\n\turldate = {2020-05-09},\n\tpublisher = {ASME},\n\tauthor = {Ramanathan, Vikram and Zelenak, Andy and Pryor, Mitch},\n\tmonth = oct,\n\tyear = {2019},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pettinger-dimoush-pryor-passivetoolchangerdevelopmentforanelasticandcompliantmanipulator-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Passive Tool Changer Development for an Elastic and Compliant Manipulator.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Pettinger;  Conner Dimoush;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)</i>, pages 1200–1205, August 2019. \n  <span class=\"note\">ISSN: 2161-8089</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/COASE.2019.8843255\"\n     onclick=\"log_download('pettinger-dimoush-pryor-passivetoolchangerdevelopmentforanelasticandcompliantmanipulator-2019', 'http://doi.org/10.1109/COASE.2019.8843255', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pettinger-dimoush-pryor-passivetoolchangerdevelopmentforanelasticandcompliantmanipulator-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pettinger-dimoush-pryor-passivetoolchangerdevelopmentforanelasticandcompliantmanipulator-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pettinger_passive_2019,\n\ttitle = {Passive {Tool} {Changer} {Development} for an {Elastic} and {Compliant} {Manipulator}},\n\tdoi = {10.1109/COASE.2019.8843255},\n\tabstract = {Robotic tool changers allow the use of multiple tools or end-effectors by a robotic manipulator and eliminate the need for human intervention to change tools. In this paper, we present the design and testing of a passive mechanical tool changer designed for a project involving the inspection of an acidic and radioactive air duct. The tool changer relied on the active/passive motions of a compliant manipulator to perform tool changes and contains no electrical or pneumatic components. The resulting tool changing operation utilizes a developed compliant controller that relies exclusively on contact forces to guide the manipulator, and thus eliminates the need for precision operation or any assistance from the operator. The design features a locking system to ensure secure storage of tools that are not in use. Furthermore, the connection mechanism includes a bore scope camera for use when tools are not attached or to visually verify tool connections. Testing and demonstrations were performed to validate both the design and operation as well as show both the tools and tool changer perform in an extreme environment. The design requirements, iterative process, and prototype testing with the manipulator are also discussed.},\n\tbooktitle = {2019 {IEEE} 15th {International} {Conference} on {Automation} {Science} and {Engineering} ({CASE})},\n\tauthor = {Pettinger, Adam and Dimoush, Conner and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2019},\n\tnote = {ISSN: 2161-8089},\n\tkeywords = {Cameras, Inspection, Manipulators, Springs, Testing, Tools, acidic air duct, cameras, compliant manipulator, design engineering, design requirements, elastic manipulator, end effectors, end-effectors, industrial manipulators, industrial robots, iterative process, machine tool spindles, manipulator dynamics, mobile robots, motion control, multiple tools, passive mechanical tool changer, passive tool changer development, pneumatic systems, prototype testing, radioactive air duct, robotic manipulator, robotic tool changers, telerobotics},\n\tpages = {1200--1205},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Robotic tool changers allow the use of multiple tools or end-effectors by a robotic manipulator and eliminate the need for human intervention to change tools. In this paper, we present the design and testing of a passive mechanical tool changer designed for a project involving the inspection of an acidic and radioactive air duct. The tool changer relied on the active/passive motions of a compliant manipulator to perform tool changes and contains no electrical or pneumatic components. The resulting tool changing operation utilizes a developed compliant controller that relies exclusively on contact forces to guide the manipulator, and thus eliminates the need for precision operation or any assistance from the operator. The design features a locking system to ensure secure storage of tools that are not in use. Furthermore, the connection mechanism includes a bore scope camera for use when tools are not attached or to visually verify tool connections. Testing and demonstrations were performed to validate both the design and operation as well as show both the tools and tool changer perform in an extreme environment. The design requirements, iterative process, and prototype testing with the manipulator are also discussed.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sharp-virtualfixturegenerationfortaskplanningwithcomplexgeometries-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/78702\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sharp-virtualfixturegenerationfortaskplanningwithcomplexgeometries-2019', 'https://repositories.lib.utexas.edu/handle/2152/78702', event);\">\n    Virtual fixture generation for task planning with complex geometries.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andrew Patrick Sharp.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, May 2019.\n  <span class=\"note\">Accepted: 2019-12-10T00:48:10Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/78702\"\n     onclick=\"log_download('sharp-virtualfixturegenerationfortaskplanningwithcomplexgeometries-2019', 'https://repositories.lib.utexas.edu/handle/2152/78702', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Virtual fixture generation for task planning with complex geometries [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/http://dx.doi.org/10.26153/tsw/5758\"\n     onclick=\"log_download('sharp-virtualfixturegenerationfortaskplanningwithcomplexgeometries-2019', 'http://doi.org/http://dx.doi.org/10.26153/tsw/5758', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sharp-virtualfixturegenerationfortaskplanningwithcomplexgeometries-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sharp-virtualfixturegenerationfortaskplanningwithcomplexgeometries-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{sharp_virtual_2019,\n\ttype = {Dissertation},\n\ttitle = {Virtual fixture generation for task planning with complex geometries},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/78702},\n\tabstract = {Decontaminating and decommissioning aging nuclear facilities and managing nuclear waste required increased automation to reduce personnel dose. Semi-autonomous behaviors, such as virtual fixtures, aid task execution by managing low-level system resources while operators retain high-level control. Virtual fixtures provide operators with geometric constraints or guidance forces in a robotic manipulator’s workspace. This dissertation advances virtual fixture generation through, the previously unexplored, construction of layers of point cloud based Guidance Virtual Fixtures. Point clouds are used for virtual fixture generation, based on complex surface geometry, to provide more expressive, and therefore useful, environmental representations. Thus, this work builds upon previous point cloud based Forbidden Region Virtual Fixtures to address virtual fixture generation shortcomings outlined in the literature. Task input polygonal mesh checks warn operators if defects are found. Task normal vectors and task parameters are used to calculate point cloud layers at task defined distances from the surface. These layers are interpolated and voxelized to maintain point cloud resolution at increasing distances from the task surface. The layers are combined into a bi-directional graph structure for storage and future use. The graph structure is combined with a Forbidden Region Virtual Fixture to create a Task Virtual Fixture. \nTask Virtual Fixture generation was evaluated with multiple input types including parametric surfaces, polygonal meshes, and point cloud data. Results demonstrate surface model concavity affects the growth in the number of offset layer vertices as does distance from the task surface. Task Virtual Fixture generation intuitively modifies VF layer resolution at extended task surface distances. Point cloud sensor data demonstrated sensor data input for &quot;open world&quot; scenarios. Two visualization and task execution environments were developed to apply Task Virtual Fixtures to spatially discrete and spatially continuous non-contact tasks. The first interface, spatially discrete, was constructed with the Robot Operating System, RViz, and MoveIt!. This interface displays reachability information to the operator and is called the Manipulator to Task Transform Tool. The second interface allows operators to employ Task Virtual Fixture information in ABB’s RobotStudio for spatially continuous tasks. A small user study was conducted for each interface to demonstrate more expressive Task Virtual Fixtures are still operator interpretable and assist with task execution.},\n\tlanguage = {en},\n\turldate = {2020-05-09},\n\tauthor = {Sharp, Andrew Patrick},\n\tmonth = may,\n\tyear = {2019},\n\tdoi = {http://dx.doi.org/10.26153/tsw/5758},\n\tdoi = {http://dx.doi.org/10.26153/tsw/5758},\n\tnote = {Accepted: 2019-12-10T00:48:10Z},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Decontaminating and decommissioning aging nuclear facilities and managing nuclear waste required increased automation to reduce personnel dose. Semi-autonomous behaviors, such as virtual fixtures, aid task execution by managing low-level system resources while operators retain high-level control. Virtual fixtures provide operators with geometric constraints or guidance forces in a robotic manipulator’s workspace. This dissertation advances virtual fixture generation through, the previously unexplored, construction of layers of point cloud based Guidance Virtual Fixtures. Point clouds are used for virtual fixture generation, based on complex surface geometry, to provide more expressive, and therefore useful, environmental representations. Thus, this work builds upon previous point cloud based Forbidden Region Virtual Fixtures to address virtual fixture generation shortcomings outlined in the literature. Task input polygonal mesh checks warn operators if defects are found. Task normal vectors and task parameters are used to calculate point cloud layers at task defined distances from the surface. These layers are interpolated and voxelized to maintain point cloud resolution at increasing distances from the task surface. The layers are combined into a bi-directional graph structure for storage and future use. The graph structure is combined with a Forbidden Region Virtual Fixture to create a Task Virtual Fixture. Task Virtual Fixture generation was evaluated with multiple input types including parametric surfaces, polygonal meshes, and point cloud data. Results demonstrate surface model concavity affects the growth in the number of offset layer vertices as does distance from the task surface. Task Virtual Fixture generation intuitively modifies VF layer resolution at extended task surface distances. Point cloud sensor data demonstrated sensor data input for \"open world\" scenarios. Two visualization and task execution environments were developed to apply Task Virtual Fixtures to spatially discrete and spatially continuous non-contact tasks. The first interface, spatially discrete, was constructed with the Robot Operating System, RViz, and MoveIt!. This interface displays reachability information to the operator and is called the Manipulator to Task Transform Tool. The second interface allows operators to employ Task Virtual Fixture information in ABB’s RobotStudio for spatially continuous tasks. A small user study was conducted for each interface to demonstrate more expressive Task Virtual Fixtures are still operator interpretable and assist with task execution.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2018\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2018')\"\n      onkeypress=\"toggleGroup('group_2018')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2018</span>\n      <span class=\"bibbase_group_count\">\n        \n        (21)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"vunder-valner-pryor-kruusame-zelenak-temoto2sourceagnosticcommandtotaskarchitectureenablingincreasedautonomyinremotesystems-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.xcdsystem.com/wmsym/2018/015.html#18370\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'vunder-valner-pryor-kruusame-zelenak-temoto2sourceagnosticcommandtotaskarchitectureenablingincreasedautonomyinremotesystems-2018', 'https://www.xcdsystem.com/wmsym/2018/015.html#18370', event);\">\n    TeMoto2: Source Agnostic Command-to-Task Architecture Enabling Increased Autonomy in Remote Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Veiko Vunder;  Robert Valner;  Mitch Pryor;  Karl Kruusamäe;  and  Andy Zelenak.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceeding of the 2018 Waste Management Symposium</i>, Phoenix, AZ, March 2018. \n  <span class=\"note\">Conference Superior Paper</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.xcdsystem.com/wmsym/2018/015.html#18370\"\n     onclick=\"log_download('vunder-valner-pryor-kruusame-zelenak-temoto2sourceagnosticcommandtotaskarchitectureenablingincreasedautonomyinremotesystems-2018', 'https://www.xcdsystem.com/wmsym/2018/015.html#18370', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"TeMoto2: Source Agnostic Command-to-Task Architecture Enabling Increased Autonomy in Remote Systems [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/vunder-valner-pryor-kruusame-zelenak-temoto2sourceagnosticcommandtotaskarchitectureenablingincreasedautonomyinremotesystems-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('vunder-valner-pryor-kruusame-zelenak-temoto2sourceagnosticcommandtotaskarchitectureenablingincreasedautonomyinremotesystems-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{vunder_temoto2_2018,\n\taddress = {Phoenix, AZ},\n\ttitle = {{TeMoto2}: {Source} {Agnostic} {Command}-to-{Task} {Architecture} {Enabling} {Increased} {Autonomy} in {Remote} {Systems}},\n\turl = {https://www.xcdsystem.com/wmsym/2018/015.html#18370},\n\tbooktitle = {Proceeding of the 2018 {Waste} {Management} {Symposium}},\n\tauthor = {Vunder, Veiko and Valner, Robert and Pryor, Mitch and Kruusamäe, Karl and Zelenak, Andy},\n\tmonth = mar,\n\tyear = {2018},\n\tnote = {Conference Superior Paper},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pitsch-anderson-dewey-pryor-selfnavigatingroboticassistantforlongtermwideareafloorcontaminationmonitoring-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.xcdsystem.com/wmsym/2018/015.html#18370\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pitsch-anderson-dewey-pryor-selfnavigatingroboticassistantforlongtermwideareafloorcontaminationmonitoring-2018', 'https://www.xcdsystem.com/wmsym/2018/015.html#18370', event);\">\n    Self-navigating robotic assistant for long-term wide area floor contamination monitoring.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Meredith Pitsch;  Blake Anderson;  Zachary Dewey;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceeding of the 2018 Waste Management Symposium</i>, Phoenix, AZ, March 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.xcdsystem.com/wmsym/2018/015.html#18370\"\n     onclick=\"log_download('pitsch-anderson-dewey-pryor-selfnavigatingroboticassistantforlongtermwideareafloorcontaminationmonitoring-2018', 'https://www.xcdsystem.com/wmsym/2018/015.html#18370', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Self-navigating robotic assistant for long-term wide area floor contamination monitoring [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://www.xcdsystem.com/wmsym/2018/126.html#18213\"\n     onclick=\"log_download('pitsch-anderson-dewey-pryor-selfnavigatingroboticassistantforlongtermwideareafloorcontaminationmonitoring-2018', 'http://doi.org/https://www.xcdsystem.com/wmsym/2018/126.html#18213', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pitsch-anderson-dewey-pryor-selfnavigatingroboticassistantforlongtermwideareafloorcontaminationmonitoring-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>26 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pitsch-anderson-dewey-pryor-selfnavigatingroboticassistantforlongtermwideareafloorcontaminationmonitoring-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pitsch_self-navigating_2018,\n\taddress = {Phoenix, AZ},\n\ttitle = {Self-navigating robotic assistant for long-term wide area floor contamination monitoring},\n\turl = {https://www.xcdsystem.com/wmsym/2018/015.html#18370},\n\tdoi = {https://www.xcdsystem.com/wmsym/2018/126.html#18213},\n\tbooktitle = {Proceeding of the 2018 {Waste} {Management} {Symposium}},\n\tauthor = {Pitsch, Meredith and Anderson, Blake and Dewey, Zachary and Pryor, Mitch},\n\tmonth = mar,\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zelenak-pryor-barnes-potapinski-dualarmmanipulationusingtemotointerfaceutilizedforremotecompletionoftasksinhazardousenvironments-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sprintrobotics.org/list-of-conference-presentations/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zelenak-pryor-barnes-potapinski-dualarmmanipulationusingtemotointerfaceutilizedforremotecompletionoftasksinhazardousenvironments-2018', 'https://www.sprintrobotics.org/list-of-conference-presentations/', event);\">\n    Dual-arm manipulation using TeMoto interface utilized for remote completion of tasks in hazardous environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andy Zelenak;  Mitch Pryor;  Allison Barnes;  and  Russell Potapinski.\n</span>\n\n  \n\n</span>\n\n  In Galveston, TX, November 2018. Sprint Robotics\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sprintrobotics.org/list-of-conference-presentations/\"\n     onclick=\"log_download('zelenak-pryor-barnes-potapinski-dualarmmanipulationusingtemotointerfaceutilizedforremotecompletionoftasksinhazardousenvironments-2018', 'https://www.sprintrobotics.org/list-of-conference-presentations/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Dual-arm manipulation using TeMoto interface utilized for remote completion of tasks in hazardous environments [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zelenak-pryor-barnes-potapinski-dualarmmanipulationusingtemotointerfaceutilizedforremotecompletionoftasksinhazardousenvironments-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>16 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zelenak-pryor-barnes-potapinski-dualarmmanipulationusingtemotointerfaceutilizedforremotecompletionoftasksinhazardousenvironments-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{zelenak_dual-arm_2018,\n\taddress = {Galveston, TX},\n\ttitle = {Dual-arm manipulation using {TeMoto} interface utilized for remote completion of tasks in hazardous environments},\n\turl = {https://www.sprintrobotics.org/list-of-conference-presentations/},\n\tpublisher = {Sprint Robotics},\n\tauthor = {Zelenak, Andy and Pryor, Mitch and Barnes, Allison and Potapinski, Russell},\n\tmonth = nov,\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pitsch-vonsternberg-pryor-autonomousmobilesensorsurveysystemforuncertainchangingenvironments-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.sprintrobotics.org/list-of-conference-presentations/\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pitsch-vonsternberg-pryor-autonomousmobilesensorsurveysystemforuncertainchangingenvironments-2018', 'https://www.sprintrobotics.org/list-of-conference-presentations/', event);\">\n    Autonomous mobile sensor survey system for uncertain, changing environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Meredith Pitsch;  Alex Sternberg;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Galveston, TX, November 2018. Sprint Robotics\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.sprintrobotics.org/list-of-conference-presentations/\"\n     onclick=\"log_download('pitsch-vonsternberg-pryor-autonomousmobilesensorsurveysystemforuncertainchangingenvironments-2018', 'https://www.sprintrobotics.org/list-of-conference-presentations/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Autonomous mobile sensor survey system for uncertain, changing environments [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pitsch-vonsternberg-pryor-autonomousmobilesensorsurveysystemforuncertainchangingenvironments-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pitsch-vonsternberg-pryor-autonomousmobilesensorsurveysystemforuncertainchangingenvironments-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pitsch_autonomous_2018,\n\taddress = {Galveston, TX},\n\ttitle = {Autonomous mobile sensor survey system for uncertain, changing environments},\n\turl = {https://www.sprintrobotics.org/list-of-conference-presentations/},\n\tpublisher = {Sprint Robotics},\n\tauthor = {Pitsch, Meredith and von Sternberg, Alex and Pryor, Mitch},\n\tmonth = nov,\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zheng-controlofhighprecisionrolltorollmanufacturingsystems-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/74302\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zheng-controlofhighprecisionrolltorollmanufacturingsystems-2018', 'https://repositories.lib.utexas.edu/handle/2152/74302', event);\">\n    Control of high precision roll-to-roll manufacturing systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Grant Zheng.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, December 2018.\n  <span class=\"note\">(reader)</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/74302\"\n     onclick=\"log_download('zheng-controlofhighprecisionrolltorollmanufacturingsystems-2018', 'https://repositories.lib.utexas.edu/handle/2152/74302', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Control of high precision roll-to-roll manufacturing systems [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zheng-controlofhighprecisionrolltorollmanufacturingsystems-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zheng-controlofhighprecisionrolltorollmanufacturingsystems-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{zheng_control_2018,\n\ttype = {Thesis},\n\ttitle = {Control of high precision roll-to-roll manufacturing systems},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/74302},\n\tabstract = {The flexible electronic industry has been growing rapidly over the past decade. One of the barriers to commercialization is the high cost of manufacturing micro- and nano-scale printed electronics using traditional methods. Roll-to-roll manufacturing has been identified as a method of achieving low cost and high throughput. \n A dynamic model of a roll-to-roll system is presented. In all roll-to-roll applications, tension and velocity must be accurately controlled to desired reference trajectories to ensure a quality finished product. Additionally, a registration error model is presented for the control design. Minimization of the registration is the primary objective for flexible electronics, but web tension and velocity cannot be neglected. The model is needed in order to formulate a methodology that can simultaneously control tension, velocity, and registration error in the presence of disturbances.\n Micro and nano-scale features are susceptible to damage from friction between the web and the roller. Therefore, tension estimation techniques is highly desired to eliminate load cells from the system. The reduced order observer, extended Kalman filter, and an unknown input observer is presented.\n Development of tension and velocity control strategies have historically revolved around decentralized SISO control schemes. In order to achieve higher precision, a centralized MIMO strategy is proposed and compared to decentralized SISO. The advantage of the MIMO controller improved handling of the tension velocity coupling in roll-to-roll systems. The tension observer is introduced to the control design and evaluated for overall effectiveness.  \n In simulation, the centralized MIMO control with the unknown input observer demonstrated superior tension and velocity tracking as well as minimal registration error. Development of the proposed MIMO control strategy can enable flexible electronic fabrication using roll-to-roll manufacturing.},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tauthor = {Zheng, Grant},\n\tmonth = dec,\n\tyear = {2018},\n\tnote = {(reader)},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The flexible electronic industry has been growing rapidly over the past decade. One of the barriers to commercialization is the high cost of manufacturing micro- and nano-scale printed electronics using traditional methods. Roll-to-roll manufacturing has been identified as a method of achieving low cost and high throughput. A dynamic model of a roll-to-roll system is presented. In all roll-to-roll applications, tension and velocity must be accurately controlled to desired reference trajectories to ensure a quality finished product. Additionally, a registration error model is presented for the control design. Minimization of the registration is the primary objective for flexible electronics, but web tension and velocity cannot be neglected. The model is needed in order to formulate a methodology that can simultaneously control tension, velocity, and registration error in the presence of disturbances. Micro and nano-scale features are susceptible to damage from friction between the web and the roller. Therefore, tension estimation techniques is highly desired to eliminate load cells from the system. The reduced order observer, extended Kalman filter, and an unknown input observer is presented. Development of tension and velocity control strategies have historically revolved around decentralized SISO control schemes. In order to achieve higher precision, a centralized MIMO strategy is proposed and compared to decentralized SISO. The advantage of the MIMO controller improved handling of the tension velocity coupling in roll-to-roll systems. The tension observer is introduced to the control design and evaluated for overall effectiveness. In simulation, the centralized MIMO control with the unknown input observer demonstrated superior tension and velocity tracking as well as minimal registration error. Development of the proposed MIMO control strategy can enable flexible electronic fabrication using roll-to-roll manufacturing.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"paredes-simplifyingperipheralintegrationinrosformanufacturing-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/67263\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'paredes-simplifyingperipheralintegrationinrosformanufacturing-2018', 'https://repositories.lib.utexas.edu/handle/2152/67263', event);\">\n    Simplifying peripheral integration in ROS for manufacturing.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Edwin S. Paredes.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, June 2018.\n  <span class=\"note\">Accepted: 2018-08-09T17:26:47Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/67263\"\n     onclick=\"log_download('paredes-simplifyingperipheralintegrationinrosformanufacturing-2018', 'https://repositories.lib.utexas.edu/handle/2152/67263', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Simplifying peripheral integration in ROS for manufacturing [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.15781/T29C6SK02\"\n     onclick=\"log_download('paredes-simplifyingperipheralintegrationinrosformanufacturing-2018', 'http://doi.org/10.15781/T29C6SK02', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/paredes-simplifyingperipheralintegrationinrosformanufacturing-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('paredes-simplifyingperipheralintegrationinrosformanufacturing-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{paredes_simplifying_2018,\n\ttype = {Masters {Report}},\n\ttitle = {Simplifying peripheral integration in {ROS} for manufacturing},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/67263},\n\tabstract = {This report summarizes the design and implementation of software to reduce the effort spent integrating peripheral devices into robotic workcells. The motivating application is completion of multiple manufacturing tasks undertaken by Los Alamos National Laboratory (LANL) as part of the Plutonium Sustainment Program. Pit manufacturing in LANL is currently completed inside gloveboxes to protect technicians from radioative contamination. This causes ergonomic strain on operators who must move delicate, heavy objects with their arms fully extended. Furthermore, there is an interest in using the current research-oriented manufacturing capabilities to allow for production scale manufacturing while minimizing infrastructure investments. The project undertaken is a demonstration using modern technology to eliminate human handling of radioactive components and creating a quicker and safer automated manufacturing process. To accomplish this, a multi-use manufacturing glovebox was developed and demonstrated using a Yaskawa SIA5 7 Degree-of-Freedom (DoF) industrial manipulator, Robotiq [superscript TM] three finger gripper, five speed drill press, and three-jaw chuck. The goal is to perform multiple manufacturing tasks in a single glovebox to improve throughput while minimizing infrastructure, integration, and logistical complexity. Actions decisions for these devices include data from Force-Torque sensors, pressure sensors, a 3D depth camera, and sensors (encoders, etc.) on the robot. While the peripheral devices are implemented task agnostically, the manufacturing task demonstration utilizing these peripherals include - but are not limited to - drilling, press fitting, and polishing. Aluminum props were used due to their relatively low cost and because fcc [delta] -phase plutonium alloys exhibit some similar mechanical properties to aluminum [14]. To automate the drilling task a Moog Animatics Smartmotor was integrated with the drill press. The 3-jaw chuck was also automated using an Arduino mega 2560 board with a VNH5019 motor driver shield and the ability to measure the current drawn by the DC motor. Object information is relayed by the 3-D depth camera using an object detection algorithm developed at the University of Texas. A finite state machine ensures that operators are unable to perform tasks that would jeopardize plutonium castings and botch subsequent tasks. To achieve the necessary peripheral integration and reduce the burden on future developers responsible for executing related tasks, a software architecture is presented and was developed and written in C++ using the Robot Operating System (ROS) to control the manipulator, the peripherals above, and easily add additional peripherals in the future. A general approach was taken to developing a complete ROS peripheral architecture, and development focused on aspects of the framework suited for industrial devices such as actuators and sensors. Successful implementation into the glovebox manufacturing project validates the proposed software’s potential to minimize the learning curve and standardize implementation of peripherals thus reducing integration time and effort via re-use and extensibility.},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tauthor = {Paredes, Edwin S.},\n\tmonth = jun,\n\tyear = {2018},\n\tdoi = {10.15781/T29C6SK02},\n\tnote = {Accepted: 2018-08-09T17:26:47Z},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This report summarizes the design and implementation of software to reduce the effort spent integrating peripheral devices into robotic workcells. The motivating application is completion of multiple manufacturing tasks undertaken by Los Alamos National Laboratory (LANL) as part of the Plutonium Sustainment Program. Pit manufacturing in LANL is currently completed inside gloveboxes to protect technicians from radioative contamination. This causes ergonomic strain on operators who must move delicate, heavy objects with their arms fully extended. Furthermore, there is an interest in using the current research-oriented manufacturing capabilities to allow for production scale manufacturing while minimizing infrastructure investments. The project undertaken is a demonstration using modern technology to eliminate human handling of radioactive components and creating a quicker and safer automated manufacturing process. To accomplish this, a multi-use manufacturing glovebox was developed and demonstrated using a Yaskawa SIA5 7 Degree-of-Freedom (DoF) industrial manipulator, Robotiq [superscript TM] three finger gripper, five speed drill press, and three-jaw chuck. The goal is to perform multiple manufacturing tasks in a single glovebox to improve throughput while minimizing infrastructure, integration, and logistical complexity. Actions decisions for these devices include data from Force-Torque sensors, pressure sensors, a 3D depth camera, and sensors (encoders, etc.) on the robot. While the peripheral devices are implemented task agnostically, the manufacturing task demonstration utilizing these peripherals include - but are not limited to - drilling, press fitting, and polishing. Aluminum props were used due to their relatively low cost and because fcc [delta] -phase plutonium alloys exhibit some similar mechanical properties to aluminum [14]. To automate the drilling task a Moog Animatics Smartmotor was integrated with the drill press. The 3-jaw chuck was also automated using an Arduino mega 2560 board with a VNH5019 motor driver shield and the ability to measure the current drawn by the DC motor. Object information is relayed by the 3-D depth camera using an object detection algorithm developed at the University of Texas. A finite state machine ensures that operators are unable to perform tasks that would jeopardize plutonium castings and botch subsequent tasks. To achieve the necessary peripheral integration and reduce the burden on future developers responsible for executing related tasks, a software architecture is presented and was developed and written in C++ using the Robot Operating System (ROS) to control the manipulator, the peripherals above, and easily add additional peripherals in the future. A general approach was taken to developing a complete ROS peripheral architecture, and development focused on aspects of the framework suited for industrial devices such as actuators and sensors. Successful implementation into the glovebox manufacturing project validates the proposed software’s potential to minimize the learning curve and standardize implementation of peripherals thus reducing integration time and effort via re-use and extensibility.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hashem-haas-pryor-mevphotonimagingwithroboticsamplepositioningataresearchreactor-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1007/s10967-018-6151-3\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hashem-haas-pryor-mevphotonimagingwithroboticsamplepositioningataresearchreactor-2018', 'https://doi.org/10.1007/s10967-018-6151-3', event);\">\n    MeV photon imaging with robotic sample positioning at a research reactor.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Nicholas R. Hashem;  Derek A. Haas;  and  Mitchell W. Pryor.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Radioanalytical and Nuclear Chemistry</i>, 318(1): 599–604. October 2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1007/s10967-018-6151-3\"\n     onclick=\"log_download('hashem-haas-pryor-mevphotonimagingwithroboticsamplepositioningataresearchreactor-2018', 'https://doi.org/10.1007/s10967-018-6151-3', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"MeV photon imaging with robotic sample positioning at a research reactor [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1007/s10967-018-6151-3\"\n     onclick=\"log_download('hashem-haas-pryor-mevphotonimagingwithroboticsamplepositioningataresearchreactor-2018', 'http://doi.org/10.1007/s10967-018-6151-3', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hashem-haas-pryor-mevphotonimagingwithroboticsamplepositioningataresearchreactor-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>26 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hashem-haas-pryor-mevphotonimagingwithroboticsamplepositioningataresearchreactor-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{hashem_mev_2018,\n\ttitle = {{MeV} photon imaging with robotic sample positioning at a research reactor},\n\tvolume = {318},\n\tissn = {1588-2780},\n\turl = {https://doi.org/10.1007/s10967-018-6151-3},\n\tdoi = {10.1007/s10967-018-6151-3},\n\tabstract = {This paper summarizes the development and demonstration of an X-ray and gamma-ray radiography capability using a TRIGA MARK-II reactor. Photons are a combination of Bremsstrahlung X-rays and gamma rays from fission and radioactive decay. The energy spectrum of the facility was analyzed with a NaI(Tl) scintillator detector. A digital X-ray camera for use with MeV-range photons images a duplex wire-type penetrameter to analyze unsharpness and spatial resolution. An industrial manipulator precisely positions the sample, which allows objects to have larger dimensions than the detector’s field-of-view. Future work includes performing computed tomography to create 3-dimensional representations of objects.},\n\tlanguage = {en},\n\tnumber = {1},\n\turldate = {2020-05-10},\n\tjournal = {Journal of Radioanalytical and Nuclear Chemistry},\n\tauthor = {Hashem, Nicholas R. and Haas, Derek A. and Pryor, Mitchell W.},\n\tmonth = oct,\n\tyear = {2018},\n\tpages = {599--604},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper summarizes the development and demonstration of an X-ray and gamma-ray radiography capability using a TRIGA MARK-II reactor. Photons are a combination of Bremsstrahlung X-rays and gamma rays from fission and radioactive decay. The energy spectrum of the facility was analyzed with a NaI(Tl) scintillator detector. A digital X-ray camera for use with MeV-range photons images a duplex wire-type penetrameter to analyze unsharpness and spatial resolution. An industrial manipulator precisely positions the sample, which allows objects to have larger dimensions than the detector’s field-of-view. Future work includes performing computed tomography to create 3-dimensional representations of objects.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mehta-peres-shortz-hoyle-lee-saini-chan-pryor-operatorsituationawarenessandphysiologicalstatesduringoffshorewellcontrolscenarios-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.sciencedirect.com/science/article/pii/S0950423018301840\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'mehta-peres-shortz-hoyle-lee-saini-chan-pryor-operatorsituationawarenessandphysiologicalstatesduringoffshorewellcontrolscenarios-2018', 'http://www.sciencedirect.com/science/article/pii/S0950423018301840', event);\">\n    Operator situation awareness and physiological states during offshore well control scenarios.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Ranjana K. Mehta;  S. Camille Peres;  Ashley E. Shortz;  Wimberly Hoyle;  Melissa Lee;  Gurtej Saini;  Hong-Chih Chan;  and  Mitchell W. Pryor.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Loss Prevention in the Process Industries</i>, 55: 332–337. September 2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.sciencedirect.com/science/article/pii/S0950423018301840\"\n     onclick=\"log_download('mehta-peres-shortz-hoyle-lee-saini-chan-pryor-operatorsituationawarenessandphysiologicalstatesduringoffshorewellcontrolscenarios-2018', 'http://www.sciencedirect.com/science/article/pii/S0950423018301840', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Operator situation awareness and physiological states during offshore well control scenarios [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1016/j.jlp.2018.07.010\"\n     onclick=\"log_download('mehta-peres-shortz-hoyle-lee-saini-chan-pryor-operatorsituationawarenessandphysiologicalstatesduringoffshorewellcontrolscenarios-2018', 'http://doi.org/10.1016/j.jlp.2018.07.010', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mehta-peres-shortz-hoyle-lee-saini-chan-pryor-operatorsituationawarenessandphysiologicalstatesduringoffshorewellcontrolscenarios-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>26 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mehta-peres-shortz-hoyle-lee-saini-chan-pryor-operatorsituationawarenessandphysiologicalstatesduringoffshorewellcontrolscenarios-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{mehta_operator_2018,\n\ttitle = {Operator situation awareness and physiological states during offshore well control scenarios},\n\tvolume = {55},\n\tissn = {0950-4230},\n\turl = {http://www.sciencedirect.com/science/article/pii/S0950423018301840},\n\tdoi = {10.1016/j.jlp.2018.07.010},\n\tabstract = {Incident reviews of oil spill events (both large and small) suggest that human error is a contributor to 50\\% of well control incidents (primarily kicks). The purpose of this study was to examine operator situation awareness (SA) and associated physiological load, using heart rate and heart rate variability (HRV), during different simulated offshore well control scenarios (drilling and tripping) and criticality levels (failure presented or not). Ten trained participants completed four scenarios (tripping non-failure, tripping failure, drilling non-failure, and drilling-failure) in an experimental session, lasting ∼6 h. Measures were obtained for each scenario, including speed and accuracy of the task performance, composite scores obtained from the Situational Awareness Rating Technique (SART), and operator heart rate and heart rate variability measures. Greater errors were found in kick-related failure events, and drilling scenarios were associated with longer reaction times. Participants perceived lower SA levels during drilling scenarios, and the was observed for lowest SA during drilling failure scenarios. Finally, while physiological responses did not differ significantly for any of the four scenarios, elevated heart rate was observed with drilling and failure-related scenarios. High variability in participant covert and overt responses may increase the challenges associated with classifying high-risk well control scenarios. It is critical that scenario planners understand and recognize the variability in driller situation awareness and associated physiological load when planning for alternative future scenarios.},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tjournal = {Journal of Loss Prevention in the Process Industries},\n\tauthor = {Mehta, Ranjana K. and Peres, S. Camille and Shortz, Ashley E. and Hoyle, Wimberly and Lee, Melissa and Saini, Gurtej and Chan, Hong-Chih and Pryor, Mitchell W.},\n\tmonth = sep,\n\tyear = {2018},\n\tkeywords = {Drilling, Heart rate, Heart rate variability, Kick, Loss of circulation, Operator performance},\n\tpages = {332--337},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Incident reviews of oil spill events (both large and small) suggest that human error is a contributor to 50% of well control incidents (primarily kicks). The purpose of this study was to examine operator situation awareness (SA) and associated physiological load, using heart rate and heart rate variability (HRV), during different simulated offshore well control scenarios (drilling and tripping) and criticality levels (failure presented or not). Ten trained participants completed four scenarios (tripping non-failure, tripping failure, drilling non-failure, and drilling-failure) in an experimental session, lasting ∼6 h. Measures were obtained for each scenario, including speed and accuracy of the task performance, composite scores obtained from the Situational Awareness Rating Technique (SART), and operator heart rate and heart rate variability measures. Greater errors were found in kick-related failure events, and drilling scenarios were associated with longer reaction times. Participants perceived lower SA levels during drilling scenarios, and the was observed for lowest SA during drilling failure scenarios. Finally, while physiological responses did not differ significantly for any of the four scenarios, elevated heart rate was observed with drilling and failure-related scenarios. High variability in participant covert and overt responses may increase the challenges associated with classifying high-risk well control scenarios. It is critical that scenario planners understand and recognize the variability in driller situation awareness and associated physiological load when planning for alternative future scenarios.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hashem-pryor-landsberger-hunter-janecky-automatinghighprecisionxrayandneutronimagingapplicationswithrobotics-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Automating High-Precision X-Ray and Neutron Imaging Applications With Robotics.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joseph A. Hashem;  Mitch Pryor;  Sheldon Landsberger;  James Hunter;  and  David R. Janecky.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Transactions on Automation Science and Engineering</i>, 15(2): 663–674. April 2018.\n  <span class=\"note\">Conference Name: IEEE Transactions on Automation Science and Engineering</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TASE.2017.2675709\"\n     onclick=\"log_download('hashem-pryor-landsberger-hunter-janecky-automatinghighprecisionxrayandneutronimagingapplicationswithrobotics-2018', 'http://doi.org/10.1109/TASE.2017.2675709', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hashem-pryor-landsberger-hunter-janecky-automatinghighprecisionxrayandneutronimagingapplicationswithrobotics-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hashem-pryor-landsberger-hunter-janecky-automatinghighprecisionxrayandneutronimagingapplicationswithrobotics-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{hashem_automating_2018,\n\ttitle = {Automating {High}-{Precision} {X}-{Ray} and {Neutron} {Imaging} {Applications} {With} {Robotics}},\n\tvolume = {15},\n\tissn = {1558-3783},\n\tdoi = {10.1109/TASE.2017.2675709},\n\tabstract = {Los Alamos National Laboratory and the University of Texas at Austin recently implemented a robotically controlled nondestructive testing (NDT) system for X-ray and neutron imaging. This system is intended to address the need for accurate measurements for a variety of parts and, be able to track measurement geometry at every imaging location, and is designed for high-throughput applications. This system was deployed in a beam port at a nuclear research reactor and in an operational inspection X-ray bay. The nuclear research reactor system consisted of a precision industrial seven-axis robot, 1.1-MW TRIGA research reactor, and a scintillator-mirror-camera-based imaging system. The X-ray bay system incorporated the same robot, a 225-keV microfocus X-ray source, and a custom flat panel digital detector. The robotic positioning arm is programmable and allows imaging in multiple configurations, including planar, cylindrical, as well as other user defined geometries that provide enhanced engineering evaluation capability. The imaging acquisition device is coupled with the robot for automated image acquisition. The robot can achieve target positional repeatability within 17 μm in the 3-D space. Flexible automation with nondestructive imaging saves costs, reduces dosage, adds imaging techniques, and achieves better quality results in less time. Specifics regarding the robotic system and imaging acquisition and evaluation processes are presented. This paper reviews the comprehensive testing and system evaluation to affirm the feasibility of robotic NDT, presents the system configuration, and reviews results for both X-ray and neutron radiography imaging applications.},\n\tnumber = {2},\n\tjournal = {IEEE Transactions on Automation Science and Engineering},\n\tauthor = {Hashem, Joseph A. and Pryor, Mitch and Landsberger, Sheldon and Hunter, James and Janecky, David R.},\n\tmonth = apr,\n\tyear = {2018},\n\tnote = {Conference Name: IEEE Transactions on Automation Science and Engineering},\n\tkeywords = {Austin, Autonomous system, Collision avoidance, Inspection, Los Alamos National Laboratory, NDT, Radiography, Service robots, TRIGA research reactor, University of Texas, X-ray imaging, automated image acquisition, calibration, cameras, collision avoidance, computed tomography (CT), custom flat panel digital detector, electron volt energy 225 keV, flexible automation, helical scanning, high-precision X-ray automation, imaging acquisition device, industrial seven-axis robot, measurement geometry, microfocus X-ray imaging source, microfocus X-ray source, microsensors, mirrors, mobile robots, motion control, neutron detection, neutron imaging application, neutron radiography imaging applications, nondestructive imaging, nondestructive testing, nondestructive testing (NDT), nuclear research reactor system, operational inspection X-ray bay system, path planning, power 1.1 MW, precision movement, radiation damage, radiography, robotic positioning arm, robotically controlled nondestructive testing system, scintillation, scintillation counters, scintillator-mirror-camera-based imaging system, software communication},\n\tpages = {663--674},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Los Alamos National Laboratory and the University of Texas at Austin recently implemented a robotically controlled nondestructive testing (NDT) system for X-ray and neutron imaging. This system is intended to address the need for accurate measurements for a variety of parts and, be able to track measurement geometry at every imaging location, and is designed for high-throughput applications. This system was deployed in a beam port at a nuclear research reactor and in an operational inspection X-ray bay. The nuclear research reactor system consisted of a precision industrial seven-axis robot, 1.1-MW TRIGA research reactor, and a scintillator-mirror-camera-based imaging system. The X-ray bay system incorporated the same robot, a 225-keV microfocus X-ray source, and a custom flat panel digital detector. The robotic positioning arm is programmable and allows imaging in multiple configurations, including planar, cylindrical, as well as other user defined geometries that provide enhanced engineering evaluation capability. The imaging acquisition device is coupled with the robot for automated image acquisition. The robot can achieve target positional repeatability within 17 μm in the 3-D space. Flexible automation with nondestructive imaging saves costs, reduces dosage, adds imaging techniques, and achieves better quality results in less time. Specifics regarding the robotic system and imaging acquisition and evaluation processes are presented. This paper reviews the comprehensive testing and system evaluation to affirm the feasibility of robotic NDT, presents the system configuration, and reviews results for both X-ray and neutron radiography imaging applications.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"valner-kruusame-pryor-temotointuitivemultirangeteleroboticsystemwithnaturalgesturalandverbalinstructioninterface-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.mdpi.com/2218-6581/7/1/9\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'valner-kruusame-pryor-temotointuitivemultirangeteleroboticsystemwithnaturalgesturalandverbalinstructioninterface-2018', 'http://www.mdpi.com/2218-6581/7/1/9', event);\">\n    TeMoto: Intuitive Multi-Range Telerobotic System with Natural Gestural and Verbal Instruction Interface.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Robert Valner;  Karl Kruusamäe;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  <i>Robotics</i>, 7(1): 21. February 2018.\n  <span class=\"note\">Featured cover article</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.mdpi.com/2218-6581/7/1/9\"\n     onclick=\"log_download('valner-kruusame-pryor-temotointuitivemultirangeteleroboticsystemwithnaturalgesturalandverbalinstructioninterface-2018', 'http://www.mdpi.com/2218-6581/7/1/9', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"TeMoto: Intuitive Multi-Range Telerobotic System with Natural Gestural and Verbal Instruction Interface [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.3390/robotics7010009\"\n     onclick=\"log_download('valner-kruusame-pryor-temotointuitivemultirangeteleroboticsystemwithnaturalgesturalandverbalinstructioninterface-2018', 'http://doi.org/10.3390/robotics7010009', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/valner-kruusame-pryor-temotointuitivemultirangeteleroboticsystemwithnaturalgesturalandverbalinstructioninterface-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>23 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('valner-kruusame-pryor-temotointuitivemultirangeteleroboticsystemwithnaturalgesturalandverbalinstructioninterface-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{valner_temoto_2018,\n\ttitle = {{TeMoto}: {Intuitive} {Multi}-{Range} {Telerobotic} {System} with {Natural} {Gestural} and {Verbal} {Instruction} {Interface}},\n\tvolume = {7},\n\tcopyright = {http://creativecommons.org/licenses/by/3.0/},\n\tshorttitle = {{TeMoto}},\n\turl = {http://www.mdpi.com/2218-6581/7/1/9},\n\tdoi = {10.3390/robotics7010009},\n\tabstract = {Teleoperated mobile robots, equipped with object manipulation capabilities, provide safe means for executing dangerous tasks in hazardous environments without putting humans at risk. However, mainly due to a communication delay, complex operator interfaces and insufficient Situational Awareness (SA), the task productivity of telerobots remains inferior to human workers. This paper addresses the shortcomings of telerobots by proposing a combined approach of (i) a scalable and intuitive operator interface with gestural and verbal input, (ii) improved Situational Awareness (SA) through sensor fusion according to documented best practices, (iii) integrated virtual fixtures for task simplification and minimizing the operator’s cognitive burden and (iv) integrated semiautonomous behaviors that further reduce cognitive burden and negate the impact of communication delays, execution latency and/or failures. The proposed teleoperation system, TeMoto, is implemented using ROS (Robot Operating System) to ensure hardware agnosticism, extensibility and community access. The operator’s command interface consists of a Leap Motion Controller for hand tracking, Griffin PowerMate USB as turn knob for scaling and a microphone for speech input. TeMoto is evaluated on multiple robots including two mobile manipulator platforms. In addition to standard, task-specific evaluation techniques (completion time, user studies, number of steps, etc.)—which are platform and task dependent and thus difficult to scale—this paper presents additional metrics for evaluating the user interface including task-independent criteria for measuring generalized (i) task completion efficiency and (ii) operator context switching.},\n\tlanguage = {en},\n\tnumber = {1},\n\turldate = {2018-02-01},\n\tjournal = {Robotics},\n\tauthor = {Valner, Robert and Kruusamäe, Karl and Pryor, Mitch},\n\tmonth = feb,\n\tyear = {2018},\n\tnote = {Featured cover article},\n\tkeywords = {gesture input, human-robot interface, natural language input, supervisory control, teleoperation},\n\tpages = {21},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Teleoperated mobile robots, equipped with object manipulation capabilities, provide safe means for executing dangerous tasks in hazardous environments without putting humans at risk. However, mainly due to a communication delay, complex operator interfaces and insufficient Situational Awareness (SA), the task productivity of telerobots remains inferior to human workers. This paper addresses the shortcomings of telerobots by proposing a combined approach of (i) a scalable and intuitive operator interface with gestural and verbal input, (ii) improved Situational Awareness (SA) through sensor fusion according to documented best practices, (iii) integrated virtual fixtures for task simplification and minimizing the operator’s cognitive burden and (iv) integrated semiautonomous behaviors that further reduce cognitive burden and negate the impact of communication delays, execution latency and/or failures. The proposed teleoperation system, TeMoto, is implemented using ROS (Robot Operating System) to ensure hardware agnosticism, extensibility and community access. The operator’s command interface consists of a Leap Motion Controller for hand tracking, Griffin PowerMate USB as turn knob for scaling and a microphone for speech input. TeMoto is evaluated on multiple robots including two mobile manipulator platforms. In addition to standard, task-specific evaluation techniques (completion time, user studies, number of steps, etc.)—which are platform and task dependent and thus difficult to scale—this paper presents additional metrics for evaluating the user interface including task-independent criteria for measuring generalized (i) task completion efficiency and (ii) operator context switching.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"mcmahon-suarez-plummer-pryor-landsberger-developmentofamodularsensortreeforinspectionofhazardousenvironments-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Development of a modular sensor tree for inspection of hazardous environments.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Conor McMahon;  Christopher Suarez;  Jean Plummer;  Mitch Pryor;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  In Orlando, FL, November 2018. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/mcmahon-suarez-plummer-pryor-landsberger-developmentofamodularsensortreeforinspectionofhazardousenvironments-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('mcmahon-suarez-plummer-pryor-landsberger-developmentofamodularsensortreeforinspectionofhazardousenvironments-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{mcmahon_development_2018,\n\taddress = {Orlando, FL},\n\ttitle = {Development of a modular sensor tree for inspection of hazardous environments},\n\tpublisher = {ANS},\n\tauthor = {McMahon, Conor and Suarez, Christopher and Plummer, Jean and Pryor, Mitch and Landsberger, Sheldon},\n\tmonth = nov,\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wanna-pryor-landsberger-automatedgammaradiationsurveyingwithalanthanumbromidedetector-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Automated gamma radiation surveying with a lanthanum bromide detector.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Selma Wanna;  Mitch Pryor;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  In Orlando, FL, November 2018. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wanna-pryor-landsberger-automatedgammaradiationsurveyingwithalanthanumbromidedetector-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wanna-pryor-landsberger-automatedgammaradiationsurveyingwithalanthanumbromidedetector-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{wanna_automated_2018,\n\taddress = {Orlando, FL},\n\ttitle = {Automated gamma radiation surveying with a lanthanum bromide detector},\n\tpublisher = {ANS},\n\tauthor = {Wanna, Selma and Pryor, Mitch and Landsberger, Sheldon},\n\tmonth = nov,\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"petlowany-pryor-aroboticplatformfortestingplasmapendecontamination-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A robotic platform for testing plasma pen decontamination.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Christina Petlowany;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Orlando, FL, November 2018. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/petlowany-pryor-aroboticplatformfortestingplasmapendecontamination-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('petlowany-pryor-aroboticplatformfortestingplasmapendecontamination-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{petlowany_robotic_2018,\n\taddress = {Orlando, FL},\n\ttitle = {A robotic platform for testing plasma pen decontamination},\n\tpublisher = {ANS},\n\tauthor = {Petlowany, Christina and Pryor, Mitch},\n\tmonth = nov,\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"han-ashok-pryor-vanoort-realtime3dcomputervisionshapeanalysisofcuttingsandcavings-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.onepetro.org/conference-paper/SPE-191634-MS\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'han-ashok-pryor-vanoort-realtime3dcomputervisionshapeanalysisofcuttingsandcavings-2018', 'https://www.onepetro.org/conference-paper/SPE-191634-MS', event);\">\n    Real-Time 3D Computer Vision Shape Analysis of Cuttings and Cavings.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Runqi Han;  Pradeepkumar Ashok;  Mitchell Pryor;  and  Eric Oort.\n</span>\n\n  \n\n</span>\n\n  In pages 16, Dallas, TX, September 2018. Society of Petroleum Engineers\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.onepetro.org/conference-paper/SPE-191634-MS\"\n     onclick=\"log_download('han-ashok-pryor-vanoort-realtime3dcomputervisionshapeanalysisofcuttingsandcavings-2018', 'https://www.onepetro.org/conference-paper/SPE-191634-MS', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Real-Time 3D Computer Vision Shape Analysis of Cuttings and Cavings [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.2118/191634-MS\"\n     onclick=\"log_download('han-ashok-pryor-vanoort-realtime3dcomputervisionshapeanalysisofcuttingsandcavings-2018', 'http://doi.org/10.2118/191634-MS', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/han-ashok-pryor-vanoort-realtime3dcomputervisionshapeanalysisofcuttingsandcavings-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>25 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('han-ashok-pryor-vanoort-realtime3dcomputervisionshapeanalysisofcuttingsandcavings-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{han_real-time_2018,\n\taddress = {Dallas, TX},\n\ttitle = {Real-{Time} {3D} {Computer} {Vision} {Shape} {Analysis} of {Cuttings} and {Cavings}},\n\tisbn = {978-1-61399-572-3},\n\turl = {https://www.onepetro.org/conference-paper/SPE-191634-MS},\n\tdoi = {10.2118/191634-MS},\n\tabstract = {Excessive cuttings and cavings accumulation due to poor hole cleaning and borehole instability can cause costly stuck pipe incidents. Currently, there is no surface instrument to monitor cuttings volume and detect cavings in real-time. An automated},\n\tlanguage = {english},\n\turldate = {2020-05-09},\n\tpublisher = {Society of Petroleum Engineers},\n\tauthor = {Han, Runqi and Ashok, Pradeepkumar and Pryor, Mitchell and van Oort, Eric},\n\tmonth = sep,\n\tyear = {2018},\n\tpages = {16},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Excessive cuttings and cavings accumulation due to poor hole cleaning and borehole instability can cause costly stuck pipe incidents. Currently, there is no surface instrument to monitor cuttings volume and detect cavings in real-time. An automated\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sharp-pryor-datadrivenvirtualfixturesforimprovedsharedcontrol-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2018/51814/V05BT07A028/276112\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sharp-pryor-datadrivenvirtualfixturesforimprovedsharedcontrol-2018', 'https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2018/51814/V05BT07A028/276112', event);\">\n    Data Driven Virtual Fixtures for Improved Shared Control.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andrew Sharp;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In pages 10, Quebec City, CA, August 2018. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2018/51814/V05BT07A028/276112\"\n     onclick=\"log_download('sharp-pryor-datadrivenvirtualfixturesforimprovedsharedcontrol-2018', 'https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2018/51814/V05BT07A028/276112', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Data Driven Virtual Fixtures for Improved Shared Control [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DETC2018-86209\"\n     onclick=\"log_download('sharp-pryor-datadrivenvirtualfixturesforimprovedsharedcontrol-2018', 'http://doi.org/10.1115/DETC2018-86209', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sharp-pryor-datadrivenvirtualfixturesforimprovedsharedcontrol-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sharp-pryor-datadrivenvirtualfixturesforimprovedsharedcontrol-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{sharp_data_2018,\n\taddress = {Quebec City, CA},\n\ttitle = {Data {Driven} {Virtual} {Fixtures} for {Improved} {Shared} {Control}},\n\turl = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2018/51814/V05BT07A028/276112},\n\tdoi = {10.1115/DETC2018-86209},\n\tlanguage = {en},\n\turldate = {2020-05-09},\n\tpublisher = {ASME},\n\tauthor = {Sharp, Andrew and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2018},\n\tpages = {10},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"vunder-valner-mcmahon-kruusame-pryor-improvedsituationalawarenessinrosusingpanosphericvisionandvirtualreality-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Improved Situational Awareness in ROS Using Panospheric Vision and Virtual Reality.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Veiko Vunder;  Robert Valner;  Conor McMahon;  Karl Kruusamäe;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>2018 11th International Conference on Human System Interaction (HSI)</i>, pages 471–477, Gdansk, Poland, July 2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/HSI.2018.8431062\"\n     onclick=\"log_download('vunder-valner-mcmahon-kruusame-pryor-improvedsituationalawarenessinrosusingpanosphericvisionandvirtualreality-2018', 'http://doi.org/10.1109/HSI.2018.8431062', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/vunder-valner-mcmahon-kruusame-pryor-improvedsituationalawarenessinrosusingpanosphericvisionandvirtualreality-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>11 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('vunder-valner-mcmahon-kruusame-pryor-improvedsituationalawarenessinrosusingpanosphericvisionandvirtualreality-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{vunder_improved_2018,\n\taddress = {Gdansk, Poland},\n\ttitle = {Improved {Situational} {Awareness} in {ROS} {Using} {Panospheric} {Vision} and {Virtual} {Reality}},\n\tdoi = {10.1109/HSI.2018.8431062},\n\tabstract = {One of the main difficulties in teleoperated systems is providing an operator with sufficient Situational Awareness (SA). This paper introduces three open-source packages that improve the operator&#x27;s SA using the Robot Operating System (ROS). The first package-rviz\\_textured\\_sphere-allows rendering panospheric camera outputs as spherical images in the ROS visualization software RViz. A system where the visualization of this spherical data using an open-source virtual reality (OSVR) headset in the ROS framework is achieved with the second package: rviz\\_plugin\\_osvr. Finally, the third package-pointcloud\\_painter-projects spherical data onto a 3D depth cloud scan of the scene generated from a rotating lidar. This package outputs a XYZRGB pointcloud that can be visualized either in RViz or using the virtual reality headset. Together, these technologies address the wider issue of limited SA in robotics and represent a substantial advancement in the environment visualization capabilities available to open-source robotics developers.},\n\tbooktitle = {2018 11th {International} {Conference} on {Human} {System} {Interaction} ({HSI})},\n\tpublisher = {IEEE},\n\tauthor = {Vunder, Veiko and Valner, Robert and McMahon, Conor and Kruusamäe, Karl and Pryor, Mitch},\n\tmonth = jul,\n\tyear = {2018},\n\tkeywords = {3D depth cloud scan, Cameras, Data visualization, Distortion, Headphones, Lenses, OSVR headset, ROS, ROS visualization software, RViz, Rendering (computer graphics), Robots, XYZRGB pointcloud, control engineering computing, data visualisation, environment visualization capabilities, human-robot interaction, lidar, mobile robots, open-source packages, open-source robotics developers, open-source virtual reality headset, operating systems (computers), optical radar, package-rviz\\_textured\\_sphere, panospheric camera output rendering, panospheric vision, pointcloud\\_painter-projects spherical data, public domain software, rendering (computer graphics), robot operating system, rviz\\_plugin\\_osvr, situational awareness, spherical images, teleoperated systems, telerobotics, user interfaces, virtual reality},\n\tpages = {471--477},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  One of the main difficulties in teleoperated systems is providing an operator with sufficient Situational Awareness (SA). This paper introduces three open-source packages that improve the operator's SA using the Robot Operating System (ROS). The first package-rviz_textured_sphere-allows rendering panospheric camera outputs as spherical images in the ROS visualization software RViz. A system where the visualization of this spherical data using an open-source virtual reality (OSVR) headset in the ROS framework is achieved with the second package: rviz_plugin_osvr. Finally, the third package-pointcloud_painter-projects spherical data onto a 3D depth cloud scan of the scene generated from a rotating lidar. This package outputs a XYZRGB pointcloud that can be visualized either in RViz or using the virtual reality headset. Together, these technologies address the wider issue of limited SA in robotics and represent a substantial advancement in the environment visualization capabilities available to open-source robotics developers.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sharp-petlowany-pryor-virtualfixtureaugmentationofoperatorselectionofnoncontactmaterialreductiontaskpaths-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/ICONE/proceedings/ICONE26/51531/V009T16A083/274799\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'sharp-petlowany-pryor-virtualfixtureaugmentationofoperatorselectionofnoncontactmaterialreductiontaskpaths-2018', 'https://asmedigitalcollection.asme.org/ICONE/proceedings/ICONE26/51531/V009T16A083/274799', event);\">\n    Virtual Fixture Augmentation of Operator Selection of Non-Contact Material Reduction Task Paths.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andrew Sharp;  Christina Petlowany;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In pages 10, London, England, July 2018. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/ICONE/proceedings/ICONE26/51531/V009T16A083/274799\"\n     onclick=\"log_download('sharp-petlowany-pryor-virtualfixtureaugmentationofoperatorselectionofnoncontactmaterialreductiontaskpaths-2018', 'https://asmedigitalcollection.asme.org/ICONE/proceedings/ICONE26/51531/V009T16A083/274799', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Virtual Fixture Augmentation of Operator Selection of Non-Contact Material Reduction Task Paths [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/ICONE26-82398\"\n     onclick=\"log_download('sharp-petlowany-pryor-virtualfixtureaugmentationofoperatorselectionofnoncontactmaterialreductiontaskpaths-2018', 'http://doi.org/10.1115/ICONE26-82398', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sharp-petlowany-pryor-virtualfixtureaugmentationofoperatorselectionofnoncontactmaterialreductiontaskpaths-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sharp-petlowany-pryor-virtualfixtureaugmentationofoperatorselectionofnoncontactmaterialreductiontaskpaths-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{sharp_virtual_2018,\n\taddress = {London, England},\n\ttitle = {Virtual {Fixture} {Augmentation} of {Operator} {Selection} of {Non}-{Contact} {Material} {Reduction} {Task} {Paths}},\n\turl = {https://asmedigitalcollection.asme.org/ICONE/proceedings/ICONE26/51531/V009T16A083/274799},\n\tdoi = {10.1115/ICONE26-82398},\n\tlanguage = {en},\n\turldate = {2020-05-09},\n\tpublisher = {ASME},\n\tauthor = {Sharp, Andrew and Petlowany, Christina and Pryor, Mitch},\n\tmonth = jul,\n\tyear = {2018},\n\tpages = {10},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"valner-vunder-zelenak-pryor-aabloo-kruusame-intuitivehumanontheloopinterfaceforteleoperatingremotemobilemanipulatorrobots-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Intuitive ‘human-on-the-loop’ interface for tele-operating remote mobile manipulator robots.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Robert Valner;  Veiko Vunder;  Andy Zelenak;  Mitch Pryor;  Alvo Aabloo;  and  Karl Kruusamäe.\n</span>\n\n  \n\n</span>\n\n  In pages 8, Madrid, Spain, June 2018. European Space Agency\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/valner-vunder-zelenak-pryor-aabloo-kruusame-intuitivehumanontheloopinterfaceforteleoperatingremotemobilemanipulatorrobots-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('valner-vunder-zelenak-pryor-aabloo-kruusame-intuitivehumanontheloopinterfaceforteleoperatingremotemobilemanipulatorrobots-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{valner_intuitive_2018,\n\taddress = {Madrid, Spain},\n\ttitle = {Intuitive ‘human-on-the-loop’ interface for tele-operating remote mobile manipulator robots},\n\tpublisher = {European Space Agency},\n\tauthor = {Valner, Robert and Vunder, Veiko and Zelenak, Andy and Pryor, Mitch and Aabloo, Alvo and Kruusamäe, Karl},\n\tmonth = jun,\n\tyear = {2018},\n\tpages = {8},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-thomaz-pryor-affordancediscoveryusingsimulatedexploration-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Affordance Discovery using Simulated Exploration.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato;  Andrea Thomaz;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems</i>, of <i>AAMAS '18</i>, pages 2174–2176, Stockholm, Sweden, July 2018. International Foundation for Autonomous Agents and Multiagent Systems\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-thomaz-pryor-affordancediscoveryusingsimulatedexploration-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-thomaz-pryor-affordancediscoveryusingsimulatedexploration-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{allevato_affordance_2018,\n\taddress = {Stockholm, Sweden},\n\tseries = {{AAMAS} &#x27;18},\n\ttitle = {Affordance {Discovery} using {Simulated} {Exploration}},\n\tabstract = {Allowing robots to understand their world in terms of affordances allows for generalization, learning, and complex planning, while also being intuitive for humans to understand. In recent work, affordances are often learned with hand-coded robot actions, which can limit or bias the model. Real-world training has also been used to learn affordances and manipulation models, but is timeconsuming and unsafe for the robot and its environment.},\n\turldate = {2020-05-09},\n\tbooktitle = {Proceedings of the 17th {International} {Conference} on {Autonomous} {Agents} and {MultiAgent} {Systems}},\n\tpublisher = {International Foundation for Autonomous Agents and Multiagent Systems},\n\tauthor = {Allevato, Adam and Thomaz, Andrea and Pryor, Mitch},\n\tmonth = jul,\n\tyear = {2018},\n\tkeywords = {affordances, feature selection, human-guided learning, mental simulation, robot simulation, transfer learning},\n\tpages = {2174--2176},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Allowing robots to understand their world in terms of affordances allows for generalization, learning, and complex planning, while also being intuitive for humans to understand. In recent work, affordances are often learned with hand-coded robot actions, which can limit or bias the model. Real-world training has also been used to learn affordances and manipulation models, but is timeconsuming and unsafe for the robot and its environment.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"petlowany-paredes-horn-allevato-pryor-automatedgloveboxworkcelldesign-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.xcdsystem.com/wmsym/2018/015.html#18370\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'petlowany-paredes-horn-allevato-pryor-automatedgloveboxworkcelldesign-2018', 'https://www.xcdsystem.com/wmsym/2018/015.html#18370', event);\">\n    Automated Glovebox Workcell Design.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Christina Petlowany;  Edwin Paredes;  Matthew Horn;  Adam Allevato;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceeding of the 2018 Waste Management Symposium</i>, Phoenix, AZ, March 2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.xcdsystem.com/wmsym/2018/015.html#18370\"\n     onclick=\"log_download('petlowany-paredes-horn-allevato-pryor-automatedgloveboxworkcelldesign-2018', 'https://www.xcdsystem.com/wmsym/2018/015.html#18370', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Automated Glovebox Workcell Design [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/petlowany-paredes-horn-allevato-pryor-automatedgloveboxworkcelldesign-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('petlowany-paredes-horn-allevato-pryor-automatedgloveboxworkcelldesign-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{petlowany_automated_2018,\n\taddress = {Phoenix, AZ},\n\ttitle = {Automated {Glovebox} {Workcell} {Design}},\n\turl = {https://www.xcdsystem.com/wmsym/2018/015.html#18370},\n\tbooktitle = {Proceeding of the 2018 {Waste} {Management} {Symposium}},\n\tauthor = {Petlowany, Christina and Paredes, Edwin and Horn, Matthew and Allevato, Adam and Pryor, Mitch},\n\tmonth = mar,\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"vunder-pryor-improvedsituationalawarenessforteleoperatedsystemswithvrheadsetandpanosphericcameraintegration-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Improved situational awareness for teleoperated systems with VR headset and panospheric camera integration.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Veiko Vunder;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Vancouver, CA, September 2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/vunder-pryor-improvedsituationalawarenessforteleoperatedsystemswithvrheadsetandpanosphericcameraintegration-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('vunder-pryor-improvedsituationalawarenessforteleoperatedsystemswithvrheadsetandpanosphericcameraintegration-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{vunder_improved_2018,\n\taddress = {Vancouver, CA},\n\ttitle = {Improved situational awareness for teleoperated systems with {VR} headset and panospheric camera integration},\n\tpublisher = {IEEE},\n\tauthor = {Vunder, Veiko and Pryor, Mitch},\n\tmonth = sep,\n\tyear = {2018},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2017\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2017')\"\n      onkeypress=\"toggleGroup('group_2017')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2017</span>\n      <span class=\"bibbase_group_count\">\n        \n        (13)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"sharp-horn-pryor-operatortrainingforpreferredmanipulatortrajectoriesinaglovebox-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Operator training for preferred manipulator trajectories in a glovebox.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andrew Sharp;  Matthew W. Horn;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)</i>, pages 1–6, March 2017. \n  <span class=\"note\">ISSN: 2162-7576</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ARSO.2017.8025193\"\n     onclick=\"log_download('sharp-horn-pryor-operatortrainingforpreferredmanipulatortrajectoriesinaglovebox-2017', 'http://doi.org/10.1109/ARSO.2017.8025193', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sharp-horn-pryor-operatortrainingforpreferredmanipulatortrajectoriesinaglovebox-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sharp-horn-pryor-operatortrainingforpreferredmanipulatortrajectoriesinaglovebox-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{sharp_operator_2017,\n\ttitle = {Operator training for preferred manipulator trajectories in a glovebox},\n\tdoi = {10.1109/ARSO.2017.8025193},\n\tabstract = {We consider the problem of operator comfort levels with manipulator trajectories in heavily constrained, co-robotic environments. To reduce anxiety and improve user comfort, a trajectory learning system is trained using a set of specified environmental features associated with a waste sorting task. A Trajectory Preference Perceptron was used to learn desired operator feature weights via iterative suboptimal but improved trainer feedback thus relieving the operator of the burden of providing optimal feedback. The object feature weights are stored and updated to handle a fluid environmental scene. A pool of robotics students spanning a range of experience from novice undergraduates to doctoral candidates provided qualitative results to evaluate the method&#x27;s effectiveness.},\n\tbooktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},\n\tauthor = {Sharp, Andrew and Horn, Matthew W. and Pryor, Mitch},\n\tmonth = mar,\n\tyear = {2017},\n\tnote = {ISSN: 2162-7576},\n\tkeywords = {Collision avoidance, Grippers, Hardware, Manipulators, Training, Trajectory, anxiety reduction, control engineering education, data gloves, environmental features, feedback, fluid environmental scene, glovebox, heavily constrained corobotic environment, iterative learning control, iterative suboptimal, learning systems, manipulator trajectories, manipulators, operator comfort level, operator feature weights, operator training, optimal feedback, robotics students, suboptimal control, telerobotics, trainer feedback, training, trajectory control, trajectory learning system training, trajectory preference perceptron, user comfort, waste sorting task},\n\tpages = {1--6},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  We consider the problem of operator comfort levels with manipulator trajectories in heavily constrained, co-robotic environments. To reduce anxiety and improve user comfort, a trajectory learning system is trained using a set of specified environmental features associated with a waste sorting task. A Trajectory Preference Perceptron was used to learn desired operator feature weights via iterative suboptimal but improved trainer feedback thus relieving the operator of the burden of providing optimal feedback. The object feature weights are stored and updated to handle a fluid environmental scene. A pool of robotics students spanning a range of experience from novice undergraduates to doctoral candidates provided qualitative results to evaluate the method's effectiveness.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sharp-kruusame-ebersole-pryor-semiautonomousdualarmmobilemanipulatorsystemwithintuitivesupervisoryuserinterfaces-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Semiautonomous dual-arm mobile manipulator system with intuitive supervisory user interfaces.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   A. Sharp;  K. Kruusamäe;  B. Ebersole;  and  M. Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)</i>, pages 1–6, March 2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ARSO.2017.8025195\"\n     onclick=\"log_download('sharp-kruusame-ebersole-pryor-semiautonomousdualarmmobilemanipulatorsystemwithintuitivesupervisoryuserinterfaces-2017', 'http://doi.org/10.1109/ARSO.2017.8025195', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sharp-kruusame-ebersole-pryor-semiautonomousdualarmmobilemanipulatorsystemwithintuitivesupervisoryuserinterfaces-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sharp-kruusame-ebersole-pryor-semiautonomousdualarmmobilemanipulatorsystemwithintuitivesupervisoryuserinterfaces-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{sharp_semiautonomous_2017,\n\ttitle = {Semiautonomous dual-arm mobile manipulator system with intuitive supervisory user interfaces},\n\tcopyright = {All rights reserved},\n\tdoi = {10.1109/ARSO.2017.8025195},\n\tabstract = {This paper presents the VaultBot dual-arm mobile manipulator and its integration with Robot Operating System, MoveIt!, and RViz, and thus demonstrate how two chronic issues with similar systems were addressed: overly complex integration and user control. Multiple levels of semi-autonomous control were developed for the base, manipulator(s), and coordinated motions involving both. Lower levels of autonomy are always available to increase operator comfort. In order to combat cognitive load increases from context switching the control methods take a human-centered approach by automatically adjusting perspective to keep tasks visualized relative to the operator. Sensor data is fused into a single window alongside the current robot state. These approaches are considered highly intuitive and can be used as effectively as socially well-established mouse-based interactive markers for teleoperation in even high-precision tasks.},\n\tbooktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},\n\tauthor = {Sharp, A. and Kruusamäe, K. and Ebersole, B. and Pryor, M.},\n\tmonth = mar,\n\tyear = {2017},\n\tkeywords = {Hardware, Levels of autonomy, Manipulators, Mobile communication, MoveIt!, ROS, ROS-I, RViz, Robot kinematics, Robot sensing systems, Service robots, VaultBot dual-arm mobile manipulator, high-precision, human-centered approach, human-robot interaction, industrial manipulators, intuitive supervisory user interfaces, manipulators, mobile robots, motion coordination, mouse-based interactive markers, overly complex integration, robot operating system, robot programming, scalable, semi-autonomous behavoirs, semiautonomous dual-arm mobile manipulator system, sensor data fusion, sensor fusion, teleoperation, telerobotics, user control, user interfaces},\n\tpages = {1--6},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents the VaultBot dual-arm mobile manipulator and its integration with Robot Operating System, MoveIt!, and RViz, and thus demonstrate how two chronic issues with similar systems were addressed: overly complex integration and user control. Multiple levels of semi-autonomous control were developed for the base, manipulator(s), and coordinated motions involving both. Lower levels of autonomy are always available to increase operator comfort. In order to combat cognitive load increases from context switching the control methods take a human-centered approach by automatically adjusting perspective to keep tasks visualized relative to the operator. Sensor data is fused into a single window alongside the current robot state. These approaches are considered highly intuitive and can be used as effectively as socially well-established mouse-based interactive markers for teleoperation in even high-precision tasks.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hashem-schneider-pryor-landsberger-theoreticalneutrondamagecalculationsinindustrialroboticmanipulatorsusedfornondestructiveimagingapplications-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://www.sciencedirect.com/science/article/pii/S0149197016302232\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hashem-schneider-pryor-landsberger-theoreticalneutrondamagecalculationsinindustrialroboticmanipulatorsusedfornondestructiveimagingapplications-2017', 'http://www.sciencedirect.com/science/article/pii/S0149197016302232', event);\">\n    Theoretical neutron damage calculations in industrial robotic manipulators used for non-destructive imaging applications.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joseph Hashem;  Erich Schneider;  Mitch Pryor;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  <i>Progress in Nuclear Energy</i>, 94: 71–79. January 2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://www.sciencedirect.com/science/article/pii/S0149197016302232\"\n     onclick=\"log_download('hashem-schneider-pryor-landsberger-theoreticalneutrondamagecalculationsinindustrialroboticmanipulatorsusedfornondestructiveimagingapplications-2017', 'http://www.sciencedirect.com/science/article/pii/S0149197016302232', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Theoretical neutron damage calculations in industrial robotic manipulators used for non-destructive imaging applications [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1016/j.pnucene.2016.09.022\"\n     onclick=\"log_download('hashem-schneider-pryor-landsberger-theoreticalneutrondamagecalculationsinindustrialroboticmanipulatorsusedfornondestructiveimagingapplications-2017', 'http://doi.org/10.1016/j.pnucene.2016.09.022', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hashem-schneider-pryor-landsberger-theoreticalneutrondamagecalculationsinindustrialroboticmanipulatorsusedfornondestructiveimagingapplications-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hashem-schneider-pryor-landsberger-theoreticalneutrondamagecalculationsinindustrialroboticmanipulatorsusedfornondestructiveimagingapplications-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{hashem_theoretical_2017,\n\ttitle = {Theoretical neutron damage calculations in industrial robotic manipulators used for non-destructive imaging applications},\n\tvolume = {94},\n\tissn = {0149-1970},\n\turl = {http://www.sciencedirect.com/science/article/pii/S0149197016302232},\n\tdoi = {10.1016/j.pnucene.2016.09.022},\n\tabstract = {This paper describes how to use MCNP to evaluate the rate of material damage in a robot incurred by exposure to a neutron flux. The example used in this work is that of a robotic manipulator installed in a high intensity, fast, and collimated neutron radiography beam port at the University of Texas at Austin&#x27;s TRIGA Mark II research reactor. This effort includes taking robotic technologies and using them to automate non-destructive imaging tasks in nuclear facilities where the robotic manipulator acts as the motion control system for neutron imaging tasks. Simulated radiation tests are used to analyze the radiation damage to the robot. Once the neutron damage is calculated using MCNP, several possible shielding materials are analyzed to determine the most effective way of minimizing the neutron damage. Neutron damage predictions provide users the means to simulate geometrical and material changes, thus saving time, money, and energy in determining the optimal setup for a robotic system installed in a radiation environment.},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tjournal = {Progress in Nuclear Energy},\n\tauthor = {Hashem, Joseph and Schneider, Erich and Pryor, Mitch and Landsberger, Sheldon},\n\tmonth = jan,\n\tyear = {2017},\n\tkeywords = {MCNP, Neutron radiation damage, Non-destructive testing, Radiography, Research reactor, Robotics},\n\tpages = {71--79},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper describes how to use MCNP to evaluate the rate of material damage in a robot incurred by exposure to a neutron flux. The example used in this work is that of a robotic manipulator installed in a high intensity, fast, and collimated neutron radiography beam port at the University of Texas at Austin's TRIGA Mark II research reactor. This effort includes taking robotic technologies and using them to automate non-destructive imaging tasks in nuclear facilities where the robotic manipulator acts as the motion control system for neutron imaging tasks. Simulated radiation tests are used to analyze the radiation damage to the robot. Once the neutron damage is calculated using MCNP, several possible shielding materials are analyzed to determine the most effective way of minimizing the neutron damage. Neutron damage predictions provide users the means to simulate geometrical and material changes, thus saving time, money, and energy in determining the optimal setup for a robotic system installed in a radiation environment.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"anderson-pryor-landsberger-generatingsurveyplansforautonomousrobotsusingsourceandinstrumentationdata-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.kns.org/inter_paper/lists/page/435\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'anderson-pryor-landsberger-generatingsurveyplansforautonomousrobotsusingsourceandinstrumentationdata-2017', 'https://www.kns.org/inter_paper/lists/page/435', event);\">\n    Generating survey plans for autonomous robots using source and instrumentation data.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Blake Anderson;  Mitch Pryor;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  In pages 9, Gyeongju, Korea, November 2017. Korean Nuclear Society\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.kns.org/inter_paper/lists/page/435\"\n     onclick=\"log_download('anderson-pryor-landsberger-generatingsurveyplansforautonomousrobotsusingsourceandinstrumentationdata-2017', 'https://www.kns.org/inter_paper/lists/page/435', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Generating survey plans for autonomous robots using source and instrumentation data [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/anderson-pryor-landsberger-generatingsurveyplansforautonomousrobotsusingsourceandinstrumentationdata-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('anderson-pryor-landsberger-generatingsurveyplansforautonomousrobotsusingsourceandinstrumentationdata-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{anderson_generating_2017,\n\taddress = {Gyeongju, Korea},\n\ttitle = {Generating survey plans for autonomous robots using source and instrumentation data},\n\turl = {https://www.kns.org/inter_paper/lists/page/435},\n\tpublisher = {Korean Nuclear Society},\n\tauthor = {Anderson, Blake and Pryor, Mitch and Landsberger, Sheldon},\n\tmonth = nov,\n\tyear = {2017},\n\tpages = {9},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zelenak-fernndez-pryor-controlofnonlinearsystemsinnormalformbycomplementarylyapunovfunctions-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A014/258244\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zelenak-fernndez-pryor-controlofnonlinearsystemsinnormalformbycomplementarylyapunovfunctions-2017', 'https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A014/258244', event);\">\n    Control of Nonlinear Systems in Normal Form by Complementary Lyapunov Functions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andy Zelenak;  Benito Fernández;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Cleveland, OH, August 2017. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A014/258244\"\n     onclick=\"log_download('zelenak-fernndez-pryor-controlofnonlinearsystemsinnormalformbycomplementarylyapunovfunctions-2017', 'https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A014/258244', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Control of Nonlinear Systems in Normal Form by Complementary Lyapunov Functions [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DETC2017-67805\"\n     onclick=\"log_download('zelenak-fernndez-pryor-controlofnonlinearsystemsinnormalformbycomplementarylyapunovfunctions-2017', 'http://doi.org/10.1115/DETC2017-67805', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zelenak-fernndez-pryor-controlofnonlinearsystemsinnormalformbycomplementarylyapunovfunctions-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zelenak-fernndez-pryor-controlofnonlinearsystemsinnormalformbycomplementarylyapunovfunctions-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{zelenak_control_2017,\n\taddress = {Cleveland, OH},\n\ttitle = {Control of {Nonlinear} {Systems} in {Normal} {Form} by {Complementary} {Lyapunov} {Functions}},\n\turl = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A014/258244},\n\tdoi = {10.1115/DETC2017-67805},\n\tlanguage = {en},\n\turldate = {2020-05-09},\n\tpublisher = {ASME},\n\tauthor = {Zelenak, Andy and Fernández, Benito and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2017},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zelenak-pitsch-fernndez-pryor-alyapunovproofofstabilityforparallelcontrollersofsisosystems-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A017/258278\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zelenak-pitsch-fernndez-pryor-alyapunovproofofstabilityforparallelcontrollersofsisosystems-2017', 'https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A017/258278', event);\">\n    A Lyapunov Proof of Stability for Parallel Controllers of SISO Systems.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andy Zelenak;  Meredith Pitsch;  Benito Fernández;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Cleveland, OH, August 2017. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A017/258278\"\n     onclick=\"log_download('zelenak-pitsch-fernndez-pryor-alyapunovproofofstabilityforparallelcontrollersofsisosystems-2017', 'https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A017/258278', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Lyapunov Proof of Stability for Parallel Controllers of SISO Systems [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DETC2017-68036\"\n     onclick=\"log_download('zelenak-pitsch-fernndez-pryor-alyapunovproofofstabilityforparallelcontrollersofsisosystems-2017', 'http://doi.org/10.1115/DETC2017-68036', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zelenak-pitsch-fernndez-pryor-alyapunovproofofstabilityforparallelcontrollersofsisosystems-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zelenak-pitsch-fernndez-pryor-alyapunovproofofstabilityforparallelcontrollersofsisosystems-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{zelenak_lyapunov_2017,\n\taddress = {Cleveland, OH},\n\ttitle = {A {Lyapunov} {Proof} of {Stability} for {Parallel} {Controllers} of {SISO} {Systems}},\n\turl = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2017/58202/V006T10A017/258278},\n\tdoi = {10.1115/DETC2017-68036},\n\tlanguage = {en},\n\turldate = {2020-05-09},\n\tpublisher = {ASME},\n\tauthor = {Zelenak, Andy and Pitsch, Meredith and Fernández, Benito and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2017},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"han-ashok-pryor-oort-scott-reese-hampton-realtimeboreholeconditionmonitoringusingnovel3dcuttingssensingtechnology-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.onepetro.org/conference-paper/SPE-184718-MS\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'han-ashok-pryor-oort-scott-reese-hampton-realtimeboreholeconditionmonitoringusingnovel3dcuttingssensingtechnology-2017', 'https://www.onepetro.org/conference-paper/SPE-184718-MS', event);\">\n    Real-Time Borehole Condition Monitoring using Novel 3D Cuttings Sensing Technology.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Runqi Han;  Pradeepkumar Ashok;  Mitchell Pryor;  Eric van Oort;  Paul Scott;  Isaac Reese;  and  Kyle Hampton.\n</span>\n\n  \n\n</span>\n\n  In March 2017. Society of Petroleum Engineers\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.onepetro.org/conference-paper/SPE-184718-MS\"\n     onclick=\"log_download('han-ashok-pryor-oort-scott-reese-hampton-realtimeboreholeconditionmonitoringusingnovel3dcuttingssensingtechnology-2017', 'https://www.onepetro.org/conference-paper/SPE-184718-MS', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Real-Time Borehole Condition Monitoring using Novel 3D Cuttings Sensing Technology [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.2118/184718-MS\"\n     onclick=\"log_download('han-ashok-pryor-oort-scott-reese-hampton-realtimeboreholeconditionmonitoringusingnovel3dcuttingssensingtechnology-2017', 'http://doi.org/10.2118/184718-MS', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/han-ashok-pryor-oort-scott-reese-hampton-realtimeboreholeconditionmonitoringusingnovel3dcuttingssensingtechnology-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('han-ashok-pryor-oort-scott-reese-hampton-realtimeboreholeconditionmonitoringusingnovel3dcuttingssensingtechnology-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{han_real-time_2017,\n\ttitle = {Real-{Time} {Borehole} {Condition} {Monitoring} using {Novel} {3D} {Cuttings} {Sensing} {Technology}},\n\tisbn = {978-1-61399-501-3},\n\turl = {https://www.onepetro.org/conference-paper/SPE-184718-MS},\n\tdoi = {10.2118/184718-MS},\n\tabstract = {Abstract Wellbore instability and stuck pipe incidents are large contributors to drilling-related non-productive time (NPT). Drilling cuttings/cavings monitoring is crucial for early detection and mitigation of such events. Currently, monitoring is},\n\tlanguage = {english},\n\turldate = {2020-05-09},\n\tpublisher = {Society of Petroleum Engineers},\n\tauthor = {Han, Runqi and Ashok, Pradeepkumar and Pryor, Mitchell and Oort, Eric van and Scott, Paul and Reese, Isaac and Hampton, Kyle},\n\tmonth = mar,\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Abstract Wellbore instability and stuck pipe incidents are large contributors to drilling-related non-productive time (NPT). Drilling cuttings/cavings monitoring is crucial for early detection and mitigation of such events. Currently, monitoring is\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"horn-quantifyinggraspqualityusinganinversereinforcementlearningalgorithm-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/47303\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'horn-quantifyinggraspqualityusinganinversereinforcementlearningalgorithm-2017', 'https://repositories.lib.utexas.edu/handle/2152/47303', event);\">\n    Quantifying grasp quality using an inverse reinforcement learning algorithm.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Matthew Horn.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, May 2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/47303\"\n     onclick=\"log_download('horn-quantifyinggraspqualityusinganinversereinforcementlearningalgorithm-2017', 'https://repositories.lib.utexas.edu/handle/2152/47303', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Quantifying grasp quality using an inverse reinforcement learning algorithm [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/horn-quantifyinggraspqualityusinganinversereinforcementlearningalgorithm-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('horn-quantifyinggraspqualityusinganinversereinforcementlearningalgorithm-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{horn_quantifying_2017,\n\ttype = {Thesis},\n\ttitle = {Quantifying grasp quality using an inverse reinforcement learning algorithm},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/47303},\n\tabstract = {This thesis considers the problem of using a learning algorithm to recognize when a mechanical gripper and sensor combination has achieved a robust grasp. Robotic hands are continuously evolving with finer motor control and higher degrees of freedom which can complicate the ability of an operator to determine if a gripper has achieved a successful grasp. Robots working in hazardous environments especially need confirmation of a successful grasp as the cost of failure is often higher than in traditional factory environments. The object set found in a nuclear environment is the focus of this effort. Objects in this environment are typically expensive (or one-of-a-kind), rigid, radioactive (or toxic), dense, and susceptible to dents, scratches, and oxidation. To validate the robustness of a grasp option, an online inverse reinforcement learning approach is evaluated as a method to quantify grasp quality. This approach is applied to an industrial-grade under-actuated robotic hand equipped with 36 pressure sensors. An expert trains the inverse reinforcement learning algorithm to generate a reward function which scores each grasp so - when combined with fuzzy logic - provides a general success or fail along with a confidence level. Utilizing the trained inverse reinforcement learning algorithm in a glovebox environment reduces the number of potential failing and untrustworthy grasps by scoring executed grasps and rejecting grasps that are similar to prior failed grasps while allowing further execution of movement when a grasp has been scored highly. The trained algorithm incorrectly classified grasps of insufficient quality less than 5\\% of the time in experimental hardware tests, showing that the algorithm can be applied to the glovebox environment to improve grasp safety. Thus the combination of grasp selection and pressure sensor validation provides a more efficient, robust, and redundant method to assure items can be safely handled during remote automation processes.},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Horn, Matthew},\n\tmonth = may,\n\tyear = {2017},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This thesis considers the problem of using a learning algorithm to recognize when a mechanical gripper and sensor combination has achieved a robust grasp. Robotic hands are continuously evolving with finer motor control and higher degrees of freedom which can complicate the ability of an operator to determine if a gripper has achieved a successful grasp. Robots working in hazardous environments especially need confirmation of a successful grasp as the cost of failure is often higher than in traditional factory environments. The object set found in a nuclear environment is the focus of this effort. Objects in this environment are typically expensive (or one-of-a-kind), rigid, radioactive (or toxic), dense, and susceptible to dents, scratches, and oxidation. To validate the robustness of a grasp option, an online inverse reinforcement learning approach is evaluated as a method to quantify grasp quality. This approach is applied to an industrial-grade under-actuated robotic hand equipped with 36 pressure sensors. An expert trains the inverse reinforcement learning algorithm to generate a reward function which scores each grasp so - when combined with fuzzy logic - provides a general success or fail along with a confidence level. Utilizing the trained inverse reinforcement learning algorithm in a glovebox environment reduces the number of potential failing and untrustworthy grasps by scoring executed grasps and rejecting grasps that are similar to prior failed grasps while allowing further execution of movement when a grasp has been scored highly. The trained algorithm incorrectly classified grasps of insufficient quality less than 5% of the time in experimental hardware tests, showing that the algorithm can be applied to the glovebox environment to improve grasp safety. Thus the combination of grasp selection and pressure sensor validation provides a more efficient, robust, and redundant method to assure items can be safely handled during remote automation processes.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-sharp-pryor-gettingtheshotsociallyawareviewpointsforautonomouslyobservingtasks-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Getting the shot: Socially-aware viewpoints for autonomously observing tasks.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato;  Andrew Sharp;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)</i>, pages 1–6, March 2017. \n  <span class=\"note\">ISSN: 2162-7576</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ARSO.2017.8025205\"\n     onclick=\"log_download('allevato-sharp-pryor-gettingtheshotsociallyawareviewpointsforautonomouslyobservingtasks-2017', 'http://doi.org/10.1109/ARSO.2017.8025205', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-sharp-pryor-gettingtheshotsociallyawareviewpointsforautonomouslyobservingtasks-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-sharp-pryor-gettingtheshotsociallyawareviewpointsforautonomouslyobservingtasks-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{allevato_getting_2017,\n\ttitle = {Getting the shot: {Socially}-aware viewpoints for autonomously observing tasks},\n\tshorttitle = {Getting the shot},\n\tdoi = {10.1109/ARSO.2017.8025205},\n\tabstract = {In this work, we present an algorithm for autonomously determining the appropriate location from which to observe a human or robot agent (actor) while it completes a task in dynamic environments. We develop theory for selecting such a location using forward physical simulation of randomly-selected candidate viewpoints. The simulated points provide obstacle avoidance, and by incorporating a modified version of the Social Force Model, candidate viewpoints adjust themselves so that they do not encroach on the actor&#x27;s personal space and/or safety region. The best observer position is chosen from these candidates to provide the most complete view of the task volume, taking into account the occlusion caused by the actor itself. We show that our algorithm works under a variety of task volume configurations, actor types (human and robot), and environmental constraints. Finally, the paper shows the results of hardware deployment on a two-robot system-one observer, and one actor. The paper concludes by examining the social impacts of deploying autonomous observation algorithms on real-world systems.},\n\tbooktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},\n\tauthor = {Allevato, Adam and Sharp, Andrew and Pryor, Mitch},\n\tmonth = mar,\n\tyear = {2017},\n\tnote = {ISSN: 2162-7576},\n\tkeywords = {Collision avoidance, Force, Mathematical model, Navigation, Observers, Robot sensing systems, actor personal space, actor safety region, autonomous observation algorithm, autonomous task observation, collision avoidance, dynamic environments, environmental constraint, forward physical simulation, mobile robots, multi-robot systems, observer position, observers, obstacle avoidance, randomly-selected candidate viewpoints, robot agent, social force model, socially-aware viewpoint, task volume configuration, two-robot system},\n\tpages = {1--6},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this work, we present an algorithm for autonomously determining the appropriate location from which to observe a human or robot agent (actor) while it completes a task in dynamic environments. We develop theory for selecting such a location using forward physical simulation of randomly-selected candidate viewpoints. The simulated points provide obstacle avoidance, and by incorporating a modified version of the Social Force Model, candidate viewpoints adjust themselves so that they do not encroach on the actor's personal space and/or safety region. The best observer position is chosen from these candidates to provide the most complete view of the task volume, taking into account the occlusion caused by the actor itself. We show that our algorithm works under a variety of task volume configurations, actor types (human and robot), and environmental constraints. Finally, the paper shows the results of hardware deployment on a two-robot system-one observer, and one actor. The paper concludes by examining the social impacts of deploying autonomous observation algorithms on real-world systems.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pitsch-pryor-temporallystaticenvironmentcoveragewithofflineplanningtechniques-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Temporally static environment coverage with offline planning techniques.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Meredith Pitsch;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>2017 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)</i>, pages 1–2, March 2017. \n  <span class=\"note\">ISSN: 2162-7576</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ARSO.2017.8025194\"\n     onclick=\"log_download('pitsch-pryor-temporallystaticenvironmentcoveragewithofflineplanningtechniques-2017', 'http://doi.org/10.1109/ARSO.2017.8025194', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pitsch-pryor-temporallystaticenvironmentcoveragewithofflineplanningtechniques-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>10 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pitsch-pryor-temporallystaticenvironmentcoveragewithofflineplanningtechniques-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pitsch_temporally_2017,\n\ttitle = {Temporally static environment coverage with offline planning techniques},\n\tdoi = {10.1109/ARSO.2017.8025194},\n\tabstract = {Complete coverage path planning remains a challenge for environments that change over time. Currently, computationally expensive online, sensor-based planning algorithms are used to address the uncertainty caused by any changes to an environment. Temporally static environments, common in many robot coverage tasks such as cleaning or maintenance surveying, see changes only over extended periods of time. Enhancing offline methods to handle such variations is ideal in order to maintain guaranteed optimality and completeness. This work presents a method of enhancing offline coverage path planning algorithms for temporally static maps through the introduction of adaptive permanence for offline planning decisions. The presentation will include a review of offline and online methods as well as a discussion of how to combine their strengths to address the described situation. It will include any developed algorithms as well as experimental results or demonstrations of the proposed coverage algorithm.},\n\tbooktitle = {2017 {IEEE} {Workshop} on {Advanced} {Robotics} and its {Social} {Impacts} ({ARSO})},\n\tauthor = {Pitsch, Meredith and Pryor, Mitch},\n\tmonth = mar,\n\tyear = {2017},\n\tnote = {ISSN: 2162-7576},\n\tkeywords = {Mobile communication, Path planning, Planning, Robot sensing systems, Service robots, Uncertainty, adaptive permanence, cleaning, complete coverage path planning, completeness, environment changes, maintenance surveying, offline planning decision, offline planning technique, online sensor-based planning algorithm, optimality, path planning, robot coverage task, robots, temporally static environment coverage, temporally static map, uncertain systems, uncertainty},\n\tpages = {1--2},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Complete coverage path planning remains a challenge for environments that change over time. Currently, computationally expensive online, sensor-based planning algorithms are used to address the uncertainty caused by any changes to an environment. Temporally static environments, common in many robot coverage tasks such as cleaning or maintenance surveying, see changes only over extended periods of time. Enhancing offline methods to handle such variations is ideal in order to maintain guaranteed optimality and completeness. This work presents a method of enhancing offline coverage path planning algorithms for temporally static maps through the introduction of adaptive permanence for offline planning decisions. The presentation will include a review of offline and online methods as well as a discussion of how to combine their strengths to address the described situation. It will include any developed algorithms as well as experimental results or demonstrations of the proposed coverage algorithm.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-landsberger-mobilemanipulationandsurveysystemforhcanyonandotherapplicationsacrossthedoecomplex-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://xcdsystem.com/wmsym/archives//2017/137.html#17309\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pryor-landsberger-mobilemanipulationandsurveysystemforhcanyonandotherapplicationsacrossthedoecomplex-2017', 'https://xcdsystem.com/wmsym/archives//2017/137.html#17309', event);\">\n    Mobile manipulation and survey system for H-Canyon and other applications across the DOE complex.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitch Pryor;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Waste Management Symposia</i>, Phoenix, AZ, March 2017. \n  <span class=\"note\">Conference Superior Paper</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://xcdsystem.com/wmsym/archives//2017/137.html#17309\"\n     onclick=\"log_download('pryor-landsberger-mobilemanipulationandsurveysystemforhcanyonandotherapplicationsacrossthedoecomplex-2017', 'https://xcdsystem.com/wmsym/archives//2017/137.html#17309', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Mobile manipulation and survey system for H-Canyon and other applications across the DOE complex [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-landsberger-mobilemanipulationandsurveysystemforhcanyonandotherapplicationsacrossthedoecomplex-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-landsberger-mobilemanipulationandsurveysystemforhcanyonandotherapplicationsacrossthedoecomplex-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pryor_mobile_2017,\n\taddress = {Phoenix, AZ},\n\ttitle = {Mobile manipulation and survey system for {H}-{Canyon} and other applications across the {DOE} complex},\n\turl = {https://xcdsystem.com/wmsym/archives//2017/137.html#17309},\n\tbooktitle = {Proceedings of the {Waste} {Management} {Symposia}},\n\tauthor = {Pryor, Mitch and Landsberger, Sheldon},\n\tmonth = mar,\n\tyear = {2017},\n\tnote = {Conference Superior Paper},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-wood-hvass-quigley-rosdoeleveragingopensourceroboticssoftwareforthedoeemmission-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://xcdsystem.com/wmsym/archives//2017/107.html#17181\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pryor-wood-hvass-quigley-rosdoeleveragingopensourceroboticssoftwareforthedoeemmission-2017', 'https://xcdsystem.com/wmsym/archives//2017/107.html#17181', event);\">\n    ROS-DOE: Leveraging open-source robotics software for the DOE-EM mission.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitch Pryor;  Paul Wood;  Paul Hvass;  and  Morgan Quigley.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Waste Management Symposia</i>, Phoenix, AZ, March 2017. \n  <span class=\"note\">Conference Superior Paper</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://xcdsystem.com/wmsym/archives//2017/107.html#17181\"\n     onclick=\"log_download('pryor-wood-hvass-quigley-rosdoeleveragingopensourceroboticssoftwareforthedoeemmission-2017', 'https://xcdsystem.com/wmsym/archives//2017/107.html#17181', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"ROS-DOE: Leveraging open-source robotics software for the DOE-EM mission [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-wood-hvass-quigley-rosdoeleveragingopensourceroboticssoftwareforthedoeemmission-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-wood-hvass-quigley-rosdoeleveragingopensourceroboticssoftwareforthedoeemmission-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pryor_ros-doe_2017,\n\taddress = {Phoenix, AZ},\n\ttitle = {{ROS}-{DOE}: {Leveraging} open-source robotics software for the {DOE}-{EM} mission},\n\turl = {https://xcdsystem.com/wmsym/archives//2017/107.html#17181},\n\tbooktitle = {Proceedings of the {Waste} {Management} {Symposia}},\n\tauthor = {Pryor, Mitch and Wood, Paul and Hvass, Paul and Quigley, Morgan},\n\tmonth = mar,\n\tyear = {2017},\n\tnote = {Conference Superior Paper},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-operatorevaluationofamobileroboticsystemsforinventoryinspectionandcontaminationsurveytasksinddenvironments-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://xcdsystem.com/wmsym/archives//2017/137.html#17309\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pryor-operatorevaluationofamobileroboticsystemsforinventoryinspectionandcontaminationsurveytasksinddenvironments-2017', 'https://xcdsystem.com/wmsym/archives//2017/137.html#17309', event);\">\n    Operator evaluation of a mobile robotic systems for inventory, inspection, and contamination survey tasks in D&D environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the Waste Management Symposia</i>, Phoenix, AZ, March 2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://xcdsystem.com/wmsym/archives//2017/137.html#17309\"\n     onclick=\"log_download('pryor-operatorevaluationofamobileroboticsystemsforinventoryinspectionandcontaminationsurveytasksinddenvironments-2017', 'https://xcdsystem.com/wmsym/archives//2017/137.html#17309', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Operator evaluation of a mobile robotic systems for inventory, inspection, and contamination survey tasks in D&amp;D environments [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-operatorevaluationofamobileroboticsystemsforinventoryinspectionandcontaminationsurveytasksinddenvironments-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-operatorevaluationofamobileroboticsystemsforinventoryinspectionandcontaminationsurveytasksinddenvironments-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pryor_operator_2017,\n\taddress = {Phoenix, AZ},\n\ttitle = {Operator evaluation of a mobile robotic systems for inventory, inspection, and contamination survey tasks in {D}\\&amp;{D} environments},\n\turl = {https://xcdsystem.com/wmsym/archives//2017/137.html#17309},\n\tbooktitle = {Proceedings of the {Waste} {Management} {Symposia}},\n\tauthor = {Pryor, Mitch},\n\tmonth = mar,\n\tyear = {2017},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2016\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2016')\"\n      onkeypress=\"toggleGroup('group_2016')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2016</span>\n      <span class=\"bibbase_group_count\">\n        \n        (15)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"hashem-landsberger-pryor-demonstratingautonomousandrobustsortinginagloveboxenvironment-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Demonstrating autonomous and robust sorting in a glovebox environment.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joseph Hashem;  Sheldon Landsberger;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Pittsburgh, PA, August 2016. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hashem-landsberger-pryor-demonstratingautonomousandrobustsortinginagloveboxenvironment-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hashem-landsberger-pryor-demonstratingautonomousandrobustsortinginagloveboxenvironment-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{hashem_demonstrating_2016,\n\taddress = {Pittsburgh, PA},\n\ttitle = {Demonstrating autonomous and robust sorting in a glovebox environment},\n\tpublisher = {ANS},\n\tauthor = {Hashem, Joseph and Landsberger, Sheldon and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hoss-casebaseddrillingcurriculausingintegratedhilsimulatorandremotecollaborationcenter-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/44625\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hoss-casebaseddrillingcurriculausingintegratedhilsimulatorandremotecollaborationcenter-2016', 'https://repositories.lib.utexas.edu/handle/2152/44625', event);\">\n    Case-based drilling curricula using integrated HIL simulator and remote collaboration center.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Ashton Ashkan Hoss.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, December 2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/44625\"\n     onclick=\"log_download('hoss-casebaseddrillingcurriculausingintegratedhilsimulatorandremotecollaborationcenter-2016', 'https://repositories.lib.utexas.edu/handle/2152/44625', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Case-based drilling curricula using integrated HIL simulator and remote collaboration center [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hoss-casebaseddrillingcurriculausingintegratedhilsimulatorandremotecollaborationcenter-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hoss-casebaseddrillingcurriculausingintegratedhilsimulatorandremotecollaborationcenter-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{hoss_case-based_2016,\n\ttype = {Thesis},\n\ttitle = {Case-based drilling curricula using integrated {HIL} simulator and remote collaboration center},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/44625},\n\tabstract = {The university educational system has raised many concerns in recent years regarding the effectiveness of its curricula and implementation. The focus on course-based training in engineering programs does not provide students sufficient opportunities to apply the attained knowledge and skills to demonstrate their competency. To address this deficiency of academia, industry spends millions of dollars building development programs and on-the-job training. This creates an opportunity for the universities to address this deficiency and increase their students’ marketability, while also addressing problem solving in their curricula. Inspired by a successful program developed and offered at Harvard Business School, the advantages and disadvantages of the case-based method was investigated. It was concluded that the students can benefit the most from a combination of existing educational and case-based curricula elements. Further research expressed the engineering students’ interest and positive feedbacks towards utilization of this method supported by statistical analysis. The aviation industry experienced a great training cost reduction and eliminated the on-the-training accidents after adopting simulators to train their workforce. This encouraged the Drilling \\&amp; Automation team at University of Texas at Austin to develop the existing surface simulator further and utilize it as a tool to train the next generation of engineers to carry out the appropriate performance at the time of failure and emergencies. By considering various effective skills development methods such as Triadic method and Kolb’s Four-Stage Learning Cycle, ten case-based laboratories were designed and proposed. These open-ended student-led laboratories provide the opportunity for students to experience life-like challenges associated with drilling operations using a realistic up-to-date virtual drilling simulator. Students are divided in teams and assigned to different roles (drilling engineer, remote supervising engineer, etc.) where they are required to make decisions and communicate with one another. This creates a realistic work environment where depending on difficulty of each case, different amounts of stress are experienced. To implement the proposed laboratories, down-hole physics models were identified and developed. These mathematical models were then simulated in MATLAB programing language and integrated with one another to form the down-hole simulator. An Application Program Interface, API, was developed to access the surface simulator data and to connect the surface and the down-hole simulators. The integrated developed simulator has potential for future research including automated rig design.},\n\tauthor = {Hoss, Ashton Ashkan},\n\tmonth = dec,\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The university educational system has raised many concerns in recent years regarding the effectiveness of its curricula and implementation. The focus on course-based training in engineering programs does not provide students sufficient opportunities to apply the attained knowledge and skills to demonstrate their competency. To address this deficiency of academia, industry spends millions of dollars building development programs and on-the-job training. This creates an opportunity for the universities to address this deficiency and increase their students’ marketability, while also addressing problem solving in their curricula. Inspired by a successful program developed and offered at Harvard Business School, the advantages and disadvantages of the case-based method was investigated. It was concluded that the students can benefit the most from a combination of existing educational and case-based curricula elements. Further research expressed the engineering students’ interest and positive feedbacks towards utilization of this method supported by statistical analysis. The aviation industry experienced a great training cost reduction and eliminated the on-the-training accidents after adopting simulators to train their workforce. This encouraged the Drilling & Automation team at University of Texas at Austin to develop the existing surface simulator further and utilize it as a tool to train the next generation of engineers to carry out the appropriate performance at the time of failure and emergencies. By considering various effective skills development methods such as Triadic method and Kolb’s Four-Stage Learning Cycle, ten case-based laboratories were designed and proposed. These open-ended student-led laboratories provide the opportunity for students to experience life-like challenges associated with drilling operations using a realistic up-to-date virtual drilling simulator. Students are divided in teams and assigned to different roles (drilling engineer, remote supervising engineer, etc.) where they are required to make decisions and communicate with one another. This creates a realistic work environment where depending on difficulty of each case, different amounts of stress are experienced. To implement the proposed laboratories, down-hole physics models were identified and developed. These mathematical models were then simulated in MATLAB programing language and integrated with one another to form the down-hole simulator. An Application Program Interface, API, was developed to access the surface simulator data and to connect the surface and the down-hole simulators. The integrated developed simulator has potential for future research including automated rig design.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"han-automatedcomputervisionsystemforrealtimedrillingcuttingsmonitoring-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/72723\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'han-automatedcomputervisionsystemforrealtimedrillingcuttingsmonitoring-2016', 'https://repositories.lib.utexas.edu/handle/2152/72723', event);\">\n    Automated computer vision system for real-time drilling cuttings monitoring.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Runqi Han.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, August 2016.\n  <span class=\"note\">Accepted: 2019-02-01T23:51:29Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/72723\"\n     onclick=\"log_download('han-automatedcomputervisionsystemforrealtimedrillingcuttingsmonitoring-2016', 'https://repositories.lib.utexas.edu/handle/2152/72723', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Automated computer vision system for real-time drilling cuttings monitoring [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.15781/T20G3HJ9R\"\n     onclick=\"log_download('han-automatedcomputervisionsystemforrealtimedrillingcuttingsmonitoring-2016', 'http://doi.org/10.15781/T20G3HJ9R', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/han-automatedcomputervisionsystemforrealtimedrillingcuttingsmonitoring-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('han-automatedcomputervisionsystemforrealtimedrillingcuttingsmonitoring-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{han_automated_2016,\n\ttype = {Thesis},\n\ttitle = {Automated computer vision system for real-time drilling cuttings monitoring},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/72723},\n\tabstract = {In rotary drilling operations, cuttings are continuously transported to the surface by drilling fluid. Real-time monitoring of cuttings and cavings is crucial for early detection and remediation of drilling problems such as stuck pipe, lost circulation, high torque and drag, reduction in rate of penetration, and other wellbore instability issues. These incidents are large contributors to drilling-related Non-Productive Time (NPT). At the current stage, a mud logger performs monitoring manually. This work proposes to use computer vision techniques to automate this procedure. To achieve this application, specific requirements should be established to design an automated machine vision system to maintain drilling safety and speed.  Cuttings ramp has been identified as an ideal location to perform the measurement, where cuttings and caving are sliding down a slope at a steady speed. To accomplish this task, an intelligent image processing system must be able to track cuttings speed, measure volume, analyze size, and generate a surface model. Through a detailed review and testing of available 3D sensing techniques, a system consisting of a 2D high-resolution camera and 3D laser profile scanner was designed. By implementing image processing techniques, the cuttings speed on the ramp was estimated which was then synchronized to the 3D depth data from a laser scanner. Finally, the volume of moving cuttings was estimated and a 3D surface profile was reconstructed using point cloud data.  Experimental results in the lab environment validated that such a system can be applied to quantify cuttings volume, size distribution, and reconstruct a 3D profile of cuttings and cavings. This measured result can be stored for further analysis. Overall, this work established a foundation for the design of a sophisticated real-time monitoring system for hole cleaning and wellbore risk reduction.},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tauthor = {Han, Runqi},\n\tmonth = aug,\n\tyear = {2016},\n\tdoi = {10.15781/T20G3HJ9R},\n\tnote = {Accepted: 2019-02-01T23:51:29Z},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In rotary drilling operations, cuttings are continuously transported to the surface by drilling fluid. Real-time monitoring of cuttings and cavings is crucial for early detection and remediation of drilling problems such as stuck pipe, lost circulation, high torque and drag, reduction in rate of penetration, and other wellbore instability issues. These incidents are large contributors to drilling-related Non-Productive Time (NPT). At the current stage, a mud logger performs monitoring manually. This work proposes to use computer vision techniques to automate this procedure. To achieve this application, specific requirements should be established to design an automated machine vision system to maintain drilling safety and speed. Cuttings ramp has been identified as an ideal location to perform the measurement, where cuttings and caving are sliding down a slope at a steady speed. To accomplish this task, an intelligent image processing system must be able to track cuttings speed, measure volume, analyze size, and generate a surface model. Through a detailed review and testing of available 3D sensing techniques, a system consisting of a 2D high-resolution camera and 3D laser profile scanner was designed. By implementing image processing techniques, the cuttings speed on the ramp was estimated which was then synchronized to the 3D depth data from a laser scanner. Finally, the volume of moving cuttings was estimated and a 3D surface profile was reconstructed using point cloud data. Experimental results in the lab environment validated that such a system can be applied to quantify cuttings volume, size distribution, and reconstruct a 3D profile of cuttings and cavings. This measured result can be stored for further analysis. Overall, this work established a foundation for the design of a sophisticated real-time monitoring system for hole cleaning and wellbore risk reduction.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ebersole-pryor-intelligentnavigationofaskidsteerdualarmmanipulatorwithdynamiccenterofgravity-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Intelligent navigation of a skid steer dual-arm manipulator with dynamic center of gravity.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Ben Ebersole;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Pittsburgh, PA, August 2016. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ebersole-pryor-intelligentnavigationofaskidsteerdualarmmanipulatorwithdynamiccenterofgravity-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ebersole-pryor-intelligentnavigationofaskidsteerdualarmmanipulatorwithdynamiccenterofgravity-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{ebersole_intelligent_2016,\n\taddress = {Pittsburgh, PA},\n\ttitle = {Intelligent navigation of a skid steer dual-arm manipulator with dynamic center of gravity},\n\tpublisher = {ANS},\n\tauthor = {Ebersole, Ben and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"vonsternberg-pryor-demonstrationsofageneralizedcontactcontrolframeworkfollowtheleaderandgraspinginsertingapeginahole-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Demonstrations of a generalized contact control framework: follow-the-leader and grasping/inserting a peg in a hole.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Alex Sternberg;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Pittsburgh, PA, August 2016. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/vonsternberg-pryor-demonstrationsofageneralizedcontactcontrolframeworkfollowtheleaderandgraspinginsertingapeginahole-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('vonsternberg-pryor-demonstrationsofageneralizedcontactcontrolframeworkfollowtheleaderandgraspinginsertingapeginahole-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{von_sternberg_demonstrations_2016,\n\taddress = {Pittsburgh, PA},\n\ttitle = {Demonstrations of a generalized contact control framework: follow-the-leader and grasping/inserting a peg in a hole},\n\tpublisher = {ANS},\n\tauthor = {von Sternberg, Alex and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"anderson-pitsch-wanna-park-pryor-landsberger-autonomousinventoryinnuclearenvironmentusingaremoteplatform-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Autonomous inventory in nuclear environment using a remote platform.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Blake Anderson;  Meredith Pitsch;  Selma Wanna;  David Park;  Mitch Pryor;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  In Pittsburgh, PA, August 2016. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/anderson-pitsch-wanna-park-pryor-landsberger-autonomousinventoryinnuclearenvironmentusingaremoteplatform-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('anderson-pitsch-wanna-park-pryor-landsberger-autonomousinventoryinnuclearenvironmentusingaremoteplatform-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{anderson_autonomous_2016,\n\taddress = {Pittsburgh, PA},\n\ttitle = {Autonomous inventory in nuclear environment using a remote platform},\n\tpublisher = {ANS},\n\tauthor = {Anderson, Blake and Pitsch, Meredith and Wanna, Selma and Park, David and Pryor, Mitch and Landsberger, Sheldon},\n\tmonth = aug,\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"sharp-pryor-virtualnormalsurfacefixturesvnsvfforsemiautonomoustaskcompletion-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Virtual normal surface fixtures (VNSVF) for semi-autonomous task completion.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andrew Sharp;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Pittsburgh, PA, August 2016. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/sharp-pryor-virtualnormalsurfacefixturesvnsvfforsemiautonomoustaskcompletion-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('sharp-pryor-virtualnormalsurfacefixturesvnsvfforsemiautonomoustaskcompletion-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{sharp_virtual_2016,\n\taddress = {Pittsburgh, PA},\n\ttitle = {Virtual normal surface fixtures ({VNSVF}) for semi-autonomous task completion},\n\tpublisher = {ANS},\n\tauthor = {Sharp, Andrew and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-thompson-pryor-characterizinggloveboxautomationtasksusingpartiallyobservablemarkovdecisionprocesses-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Characterizing glovebox automation tasks using partially observable Markov decision processes.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam Allevato;  Jack Thompson;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Pittsburgh, PA, August 2016. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-thompson-pryor-characterizinggloveboxautomationtasksusingpartiallyobservablemarkovdecisionprocesses-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-thompson-pryor-characterizinggloveboxautomationtasksusingpartiallyobservablemarkovdecisionprocesses-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{allevato_characterizing_2016,\n\taddress = {Pittsburgh, PA},\n\ttitle = {Characterizing glovebox automation tasks using partially observable {Markov} decision processes},\n\tpublisher = {ANS},\n\tauthor = {Allevato, Adam and Thompson, Jack and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kruusame-thompson-pryor-spatiallymappedhumanrobotinterfaceforteleoperationofhighprecisiontasks-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Spatially-mapped human-robot interface for teleoperation of high-precision tasks.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Karl Kruusamäe;  Jack Thompson;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Pittsburgh, PA, August 2016. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kruusame-thompson-pryor-spatiallymappedhumanrobotinterfaceforteleoperationofhighprecisiontasks-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kruusame-thompson-pryor-spatiallymappedhumanrobotinterfaceforteleoperationofhighprecisiontasks-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{kruusamae_spatially-mapped_2016,\n\taddress = {Pittsburgh, PA},\n\ttitle = {Spatially-mapped human-robot interface for teleoperation of high-precision tasks},\n\tpublisher = {ANS},\n\tauthor = {Kruusamäe, Karl and Thompson, Jack and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"schroeder-harden-pryor-theeffectivenessofcollisiondetectionforhumanrobotinteractioningloveboxenvironment-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  The effectiveness of collision detection for human-robot interaction in glovebox environment.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Kyle Schroeder;  Troy Harden;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Pittsburgh, PA, August 2016. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/schroeder-harden-pryor-theeffectivenessofcollisiondetectionforhumanrobotinteractioningloveboxenvironment-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('schroeder-harden-pryor-theeffectivenessofcollisiondetectionforhumanrobotinteractioningloveboxenvironment-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{schroeder_effectiveness_2016,\n\taddress = {Pittsburgh, PA},\n\ttitle = {The effectiveness of collision detection for human-robot interaction in glovebox environment},\n\tpublisher = {ANS},\n\tauthor = {Schroeder, Kyle and Harden, Troy and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2016},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kruusame-pryor-highprecisiontelerobotwithhumancenteredvariableperspectiveandscalablegesturalinterface-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  High-precision telerobot with human-centered variable perspective and scalable gestural interface.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Karl Kruusamäe;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>2016 9th International Conference on Human System Interactions (HSI)</i>, pages 190–196, Portsmouth, UK, July 2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/HSI.2016.7529630\"\n     onclick=\"log_download('kruusame-pryor-highprecisiontelerobotwithhumancenteredvariableperspectiveandscalablegesturalinterface-2016', 'http://doi.org/10.1109/HSI.2016.7529630', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kruusame-pryor-highprecisiontelerobotwithhumancenteredvariableperspectiveandscalablegesturalinterface-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kruusame-pryor-highprecisiontelerobotwithhumancenteredvariableperspectiveandscalablegesturalinterface-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{kruusamae_high-precision_2016,\n\taddress = {Portsmouth, UK},\n\ttitle = {High-precision telerobot with human-centered variable perspective and scalable gestural interface},\n\tcopyright = {All rights reserved},\n\tdoi = {10.1109/HSI.2016.7529630},\n\tabstract = {Telerobotics (i.e., remote-controlling robots) is highly attractive for tasks in potentially dangerous situations, e.g., search and rescue, space exploration, and handling hazardous materials. However, when telerobots are deployed to complete tasks, the human operator needs to develop task plan and figure out how to execute it using the available control interface. Inappropriate controls can lead to excessive cognitive load and long task completion times. If the human operator can interact with the robot in an intuitive way, he or she can focus more on the task. For that reason, we have designed a human-centered control interface that allows the operator to modify the user perspective, command via hand gestures and natural language, and scale human input motion to any suitable range on the robot. The interface consists of a Leap Motion Controller for hand tracking, microphone for speech detection, and a simple turn knob for varying the scaling factor between the human and robot motions. The teleoperator software utilizes the Robot Operating System (ROS) which enables open-source development and hardware agnosticism. In this paper we demonstrate the feasibility of the proposed system by executing a high-precision task of threading a needle. Furthermore, we present results from a usability study in where people were asked to complete high-precision tasks with both the developed human-centered gestural control input and a conventional functionality-centered drag-and-drop interface.},\n\tbooktitle = {2016 9th {International} {Conference} on {Human} {System} {Interactions} ({HSI})},\n\tpublisher = {IEEE},\n\tauthor = {Kruusamäe, Karl and Pryor, Mitch},\n\tmonth = jul,\n\tyear = {2016},\n\tkeywords = {ROS, Robot kinematics, Robot sensing systems, Service robots, Speech, Teleoperators, Visualization, drag-and-drop interface, gesture recognition, hand gestures, hand tracking, handling hazardous materials, hardware agnosticism, high-precision, high-precision telerobotics, human-centered control interface, human-centered variable perspective, human-robot interaction, human-robot interface, industrial robot, leap motion controller, motion control, natural language, natural languages, open-source development, operating systems (computers), public domain software, robot operating system, robot programming, scalable, scalable gestural interface, search and rescue, space exploration, spatial mapping, speech detection, speech processing, supervisory control, teleoperator, teleoperator software, telerobotics},\n\tpages = {190--196},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Telerobotics (i.e., remote-controlling robots) is highly attractive for tasks in potentially dangerous situations, e.g., search and rescue, space exploration, and handling hazardous materials. However, when telerobots are deployed to complete tasks, the human operator needs to develop task plan and figure out how to execute it using the available control interface. Inappropriate controls can lead to excessive cognitive load and long task completion times. If the human operator can interact with the robot in an intuitive way, he or she can focus more on the task. For that reason, we have designed a human-centered control interface that allows the operator to modify the user perspective, command via hand gestures and natural language, and scale human input motion to any suitable range on the robot. The interface consists of a Leap Motion Controller for hand tracking, microphone for speech detection, and a simple turn knob for varying the scaling factor between the human and robot motions. The teleoperator software utilizes the Robot Operating System (ROS) which enables open-source development and hardware agnosticism. In this paper we demonstrate the feasibility of the proposed system by executing a high-precision task of threading a needle. Furthermore, we present results from a usability study in where people were asked to complete high-precision tasks with both the developed human-centered gestural control input and a conventional functionality-centered drag-and-drop interface.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zelenak-nonlinearcontrolwithtwocomplementarylyapunovfunction-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/46519\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zelenak-nonlinearcontrolwithtwocomplementarylyapunovfunction-2016', 'https://repositories.lib.utexas.edu/handle/2152/46519', event);\">\n    Nonlinear control with two complementary Lyapunov function.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andrew J. Zelenak.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, December 2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/46519\"\n     onclick=\"log_download('zelenak-nonlinearcontrolwithtwocomplementarylyapunovfunction-2016', 'https://repositories.lib.utexas.edu/handle/2152/46519', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Nonlinear control with two complementary Lyapunov function [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.15781/T2JW86S95\"\n     onclick=\"log_download('zelenak-nonlinearcontrolwithtwocomplementarylyapunovfunction-2016', 'http://doi.org/10.15781/T2JW86S95', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zelenak-nonlinearcontrolwithtwocomplementarylyapunovfunction-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zelenak-nonlinearcontrolwithtwocomplementarylyapunovfunction-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{zelenak_nonlinear_2016,\n\ttype = {Dissertation},\n\ttitle = {Nonlinear control with two complementary {Lyapunov} function},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/46519},\n\tabstract = {If a Lyapunov function is known, a dynamic system can be stabilized. However, computing or selecting a Lyapunov function is often challenging. This dissertation presents a new approach which eliminates this challenge: a simple control Lyapunov function [CLF] is assumed then the algorithm seeks to reduce the value of the Lyapunov function. If the control effort would have no effect at any iteration, the CLF is switched in an attempt to regain control. There is some flexibility in choosing these two complementary CLF’s but they must satisfy a few characteristics. The method is proven to asymptotically stabilize a wide range of nonlinear systems and was tested on an even broader variety in simulation. It was also tested on an industrial robot to provide compliant behavior. The simulated and hardware demonstrations provide a broad perspective on the algorithm’s usefulness and limitations. In comparison to the ubiquitous PID controller, the algorithm’s advantages include enhanced performance, ease of tuning, and extensions to higher-order and/or coupled systems. Those claimed advantages are validated by a test with four engineering students, which validates the controller as a viable option for nonlinear control (even at the undergraduate level). The algorithm’s drawbacks include the necessity of a dynamic model and, when linearization is required, the reliance on a small simulation time step; however, for the motivating application –interactive industrial robotic systems – both requirements were already met. Finally, the developed software was released to the public as part of the Robot Operating System (ROS) and the details of that release are included in this report.},\n\tlanguage = {en},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Zelenak, Andrew J.},\n\tmonth = dec,\n\tyear = {2016},\n\tdoi = {10.15781/T2JW86S95},\n\tkeywords = {Dissertation},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  If a Lyapunov function is known, a dynamic system can be stabilized. However, computing or selecting a Lyapunov function is often challenging. This dissertation presents a new approach which eliminates this challenge: a simple control Lyapunov function [CLF] is assumed then the algorithm seeks to reduce the value of the Lyapunov function. If the control effort would have no effect at any iteration, the CLF is switched in an attempt to regain control. There is some flexibility in choosing these two complementary CLF’s but they must satisfy a few characteristics. The method is proven to asymptotically stabilize a wide range of nonlinear systems and was tested on an even broader variety in simulation. It was also tested on an industrial robot to provide compliant behavior. The simulated and hardware demonstrations provide a broad perspective on the algorithm’s usefulness and limitations. In comparison to the ubiquitous PID controller, the algorithm’s advantages include enhanced performance, ease of tuning, and extensions to higher-order and/or coupled systems. Those claimed advantages are validated by a test with four engineering students, which validates the controller as a viable option for nonlinear control (even at the undergraduate level). The algorithm’s drawbacks include the necessity of a dynamic model and, when linearization is required, the reliance on a small simulation time step; however, for the motivating application –interactive industrial robotic systems – both requirements were already met. Finally, the developed software was released to the public as part of the Robot Operating System (ROS) and the details of that release are included in this report.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"ebersole-skidsteerkinematicsfordualarmmobilemanipulatorsystemwithdynamiccenterofgravity-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/46137\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'ebersole-skidsteerkinematicsfordualarmmobilemanipulatorsystemwithdynamiccenterofgravity-2016', 'https://repositories.lib.utexas.edu/handle/2152/46137', event);\">\n    Skid-steer kinematics for dual-arm mobile manipulator system with dynamic center of gravity.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Benjamin Jarrett Ebersole.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, December 2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/46137\"\n     onclick=\"log_download('ebersole-skidsteerkinematicsfordualarmmobilemanipulatorsystemwithdynamiccenterofgravity-2016', 'https://repositories.lib.utexas.edu/handle/2152/46137', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Skid-steer kinematics for dual-arm mobile manipulator system with dynamic center of gravity [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.15781/T2XK84W0N\"\n     onclick=\"log_download('ebersole-skidsteerkinematicsfordualarmmobilemanipulatorsystemwithdynamiccenterofgravity-2016', 'http://doi.org/10.15781/T2XK84W0N', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/ebersole-skidsteerkinematicsfordualarmmobilemanipulatorsystemwithdynamiccenterofgravity-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('ebersole-skidsteerkinematicsfordualarmmobilemanipulatorsystemwithdynamiccenterofgravity-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{ebersole_skid-steer_2016,\n\ttype = {Thesis},\n\ttitle = {Skid-steer kinematics for dual-arm mobile manipulator system with dynamic center of gravity},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/46137},\n\tabstract = {Skid-steer mobile vehicles bridge an important operational gap in robotics between indoor-only and outdoor-only platforms. Traditionally, skid-steer vehicles have been treated and operated as differential-drive vehicles, which is an adequate approximation with a static center of gravity (CG) coincident with the wheelbase center. With a dual-arm mobile manipulator, such as the Nuclear and Applied Robotics Group&#x27;s VaultBot platform, the center of gravity&#x27;s location is dynamic and the differential-drive model is no longer valid. This can result in large errors between desired and actual trajectories over even short periods of time. In this work, the degree to which the platform&#x27;s behavior changes with a dynamic CG and the intuition behind these effects are discussed. Several different approaches leading to the development of a heuristic model built to improve performance, and the evaluation results of said model, are also discussed.},\n\tlanguage = {en},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Ebersole, Benjamin Jarrett},\n\tmonth = dec,\n\tyear = {2016},\n\tdoi = {10.15781/T2XK84W0N},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Skid-steer mobile vehicles bridge an important operational gap in robotics between indoor-only and outdoor-only platforms. Traditionally, skid-steer vehicles have been treated and operated as differential-drive vehicles, which is an adequate approximation with a static center of gravity (CG) coincident with the wheelbase center. With a dual-arm mobile manipulator, such as the Nuclear and Applied Robotics Group's VaultBot platform, the center of gravity's location is dynamic and the differential-drive model is no longer valid. This can result in large errors between desired and actual trajectories over even short periods of time. In this work, the degree to which the platform's behavior changes with a dynamic CG and the intuition behind these effects are discussed. Several different approaches leading to the development of a heuristic model built to improve performance, and the evaluation results of said model, are also discussed.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"vonsternberg-gccfageneralizedcontactcontrolframework-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/39083\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'vonsternberg-gccfageneralizedcontactcontrolframework-2016', 'https://repositories.lib.utexas.edu/handle/2152/39083', event);\">\n    GCCF : a generalized contact control framework.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Alex Sternberg.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, May 2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/39083\"\n     onclick=\"log_download('vonsternberg-gccfageneralizedcontactcontrolframework-2016', 'https://repositories.lib.utexas.edu/handle/2152/39083', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"GCCF : a generalized contact control framework [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.15781/T29882N00\"\n     onclick=\"log_download('vonsternberg-gccfageneralizedcontactcontrolframework-2016', 'http://doi.org/10.15781/T29882N00', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/vonsternberg-gccfageneralizedcontactcontrolframework-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('vonsternberg-gccfageneralizedcontactcontrolframework-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{von_sternberg_gccf_2016,\n\ttype = {Thesis},\n\ttitle = {{GCCF} : a generalized contact control framework},\n\tshorttitle = {{GCCF}},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/39083},\n\tabstract = {The field of robotics has come a long way since the first reprogrammable robot was able to automate simple tasks on an assembly line. However, many industrial robots are stuck doing similar simple tasks in the field, especially in the nuclear industry. Roboticists can expand the task space of industrial robots by making advanced robot technology reliable, easily integrated, and packaged in a manner that does not require an expert in the field to use. One particular field of robotics that could be used to help this task space expansion is compliant control which is used to execute robotic procedures involving contact with environmental objects. It is especially useful when the position or orientation of the environmental objects is not precise. Examples of industrial procedures that a robot could do with compliant control include material reduction, surface finishing, packaging, assembly, material handling, and many more. This thesis explores the state of the art in compliant control and proposes a Generalized Contact Control Framework (GCCF) that packages compliant control laws in a manner that is easy to use for a non-expert. GCCF splits the control of a robot end effector into separate control of each linear and rotational dimension. The user sets the law that controls each dimension independently to one of three intuitive laws. By specifying laws and stiffness independently for each dimension of end effector control, the user can complete a large variety of contact tasks. We illustrate GCCF’s broad capabilities in two flexible demonstrations. The first demonstration provides a graphical user interface to GCCF with which a user can set and reconfigure the control of the end effector while interacting with the robot. This allows the user to subjectively experience the reconfigurablilty as well as the physical behavior prompted by the control. In the second demonstration, we use GCCF to execute multiple contact tasks with the goal of putting a peg in a hole. These demonstrations prove the feasibility and usefulness of GCCF, using the API and ROS compatible package for the controller.},\n\tlanguage = {en},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {von Sternberg, Alex},\n\tmonth = may,\n\tyear = {2016},\n\tdoi = {10.15781/T29882N00},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The field of robotics has come a long way since the first reprogrammable robot was able to automate simple tasks on an assembly line. However, many industrial robots are stuck doing similar simple tasks in the field, especially in the nuclear industry. Roboticists can expand the task space of industrial robots by making advanced robot technology reliable, easily integrated, and packaged in a manner that does not require an expert in the field to use. One particular field of robotics that could be used to help this task space expansion is compliant control which is used to execute robotic procedures involving contact with environmental objects. It is especially useful when the position or orientation of the environmental objects is not precise. Examples of industrial procedures that a robot could do with compliant control include material reduction, surface finishing, packaging, assembly, material handling, and many more. This thesis explores the state of the art in compliant control and proposes a Generalized Contact Control Framework (GCCF) that packages compliant control laws in a manner that is easy to use for a non-expert. GCCF splits the control of a robot end effector into separate control of each linear and rotational dimension. The user sets the law that controls each dimension independently to one of three intuitive laws. By specifying laws and stiffness independently for each dimension of end effector control, the user can complete a large variety of contact tasks. We illustrate GCCF’s broad capabilities in two flexible demonstrations. The first demonstration provides a graphical user interface to GCCF with which a user can set and reconfigure the control of the end effector while interacting with the robot. This allows the user to subjectively experience the reconfigurablilty as well as the physical behavior prompted by the control. In the second demonstration, we use GCCF to execute multiple contact tasks with the goal of putting a peg in a hole. These demonstrations prove the feasibility and usefulness of GCCF, using the API and ROS compatible package for the controller.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"allevato-anobjectrecognitionandposeestimationlibraryforintelligentindustrialautomation-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/39369\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'allevato-anobjectrecognitionandposeestimationlibraryforintelligentindustrialautomation-2016', 'https://repositories.lib.utexas.edu/handle/2152/39369', event);\">\n    An object recognition and pose estimation library for intelligent industrial automation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Adam David Allevato.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, May 2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/39369\"\n     onclick=\"log_download('allevato-anobjectrecognitionandposeestimationlibraryforintelligentindustrialautomation-2016', 'https://repositories.lib.utexas.edu/handle/2152/39369', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An object recognition and pose estimation library for intelligent industrial automation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.15781/T2GH9B905\"\n     onclick=\"log_download('allevato-anobjectrecognitionandposeestimationlibraryforintelligentindustrialautomation-2016', 'http://doi.org/10.15781/T2GH9B905', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/allevato-anobjectrecognitionandposeestimationlibraryforintelligentindustrialautomation-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('allevato-anobjectrecognitionandposeestimationlibraryforintelligentindustrialautomation-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{allevato_object_2016,\n\ttype = {Thesis},\n\ttitle = {An object recognition and pose estimation library for intelligent industrial automation},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/39369},\n\tabstract = {The nuclear-industrial complex is a field characterized by hazardous environments and stringent worker health regulations. Automation is one of the best ways to improve worker health, but many of the work-intensive tasks in the nuclear industry are difficult to automate using rigid industrial manipulators, which are often treated as glorified assembly lines. This thesis presents the idea of intelligent industrial automation, or IIA, as a way to implement automation in diverse and uncertain environments, and shows that robust computer vision is a key technology in achieving deployable IIA. Furthermore, with recent advances in the field of computer vision, including machine-learning based techniques, the time is better than ever for groups such as the Department of Energy (DOE) to implement computer vision and IIA in their processes. A modular software framework for object recognition and pose estimation (ORP) is developed and incorporated into three laboratory demonstrations, each of which represents a different capability relevant to DOE. By using well-proven computer vision techniques and libraries, ORP enables robust task completion in domains that would have previously been impossible without human supervision or custom mechanical designs (such as task-specific fixtures). A vision-enabled manipulation system is shown to reliably pick and place small weapon detonator components 98\\% of the time, making it an ideal candidate for machine tending. A remote inspection and inventory system shows the ability to visually detect the position of nuclear material storage canisters with a standard deviation under 1 mm, allowing it to detect cans that have been moved or tampered with. Finally, using vision, an automated glovebox mixed-waste sorting system is able to sort small objects, which begin in a random configuration, into three containers based on their color (a surrogate for radiation signature) with 94.6\\% accuracy. All three demonstrations proceed autonomously, suggesting that implementing IIA can result in significant improvements in worker safety and productivity at DOE complex sites.},\n\tlanguage = {en},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Allevato, Adam David},\n\tmonth = may,\n\tyear = {2016},\n\tdoi = {10.15781/T2GH9B905},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The nuclear-industrial complex is a field characterized by hazardous environments and stringent worker health regulations. Automation is one of the best ways to improve worker health, but many of the work-intensive tasks in the nuclear industry are difficult to automate using rigid industrial manipulators, which are often treated as glorified assembly lines. This thesis presents the idea of intelligent industrial automation, or IIA, as a way to implement automation in diverse and uncertain environments, and shows that robust computer vision is a key technology in achieving deployable IIA. Furthermore, with recent advances in the field of computer vision, including machine-learning based techniques, the time is better than ever for groups such as the Department of Energy (DOE) to implement computer vision and IIA in their processes. A modular software framework for object recognition and pose estimation (ORP) is developed and incorporated into three laboratory demonstrations, each of which represents a different capability relevant to DOE. By using well-proven computer vision techniques and libraries, ORP enables robust task completion in domains that would have previously been impossible without human supervision or custom mechanical designs (such as task-specific fixtures). A vision-enabled manipulation system is shown to reliably pick and place small weapon detonator components 98% of the time, making it an ideal candidate for machine tending. A remote inspection and inventory system shows the ability to visually detect the position of nuclear material storage canisters with a standard deviation under 1 mm, allowing it to detect cans that have been moved or tampered with. Finally, using vision, an automated glovebox mixed-waste sorting system is able to sort small objects, which begin in a random configuration, into three containers based on their color (a surrogate for radiation signature) with 94.6% accuracy. All three demonstrations proceed autonomously, suggesting that implementing IIA can result in significant improvements in worker safety and productivity at DOE complex sites.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2015\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2015')\"\n      onkeypress=\"toggleGroup('group_2015')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2015</span>\n      <span class=\"bibbase_group_count\">\n        \n        (9)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"anderson-allevato-vonsternberg-thompson-pryor-sensorfusionforautonomousremoteinventoryvalidation-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Sensor fusion for autonomous remote inventory validation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Blake Anderson;  Adam Allevato;  Alex Sternberg;  Jack Thompson;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  May 2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/anderson-allevato-vonsternberg-thompson-pryor-sensorfusionforautonomousremoteinventoryvalidation-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('anderson-allevato-vonsternberg-thompson-pryor-sensorfusionforautonomousremoteinventoryvalidation-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@misc{anderson_sensor_2015,\n\taddress = {Seattle, WA},\n\ttype = {Poster},\n\ttitle = {Sensor fusion for autonomous remote inventory validation},\n\tauthor = {Anderson, Blake and Allevato, Adam and von Sternberg, Alex and Thompson, Jack and Pryor, Mitch},\n\tmonth = may,\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"anderson-developmentofmobileplatformforinventoryandinspectionapplicationsinnuclearenvironments-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/35317\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'anderson-developmentofmobileplatformforinventoryandinspectionapplicationsinnuclearenvironments-2015', 'https://repositories.lib.utexas.edu/handle/2152/35317', event);\">\n    Development of mobile platform for inventory and inspection applications in nuclear environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Blake Anderson.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, December 2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/35317\"\n     onclick=\"log_download('anderson-developmentofmobileplatformforinventoryandinspectionapplicationsinnuclearenvironments-2015', 'https://repositories.lib.utexas.edu/handle/2152/35317', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Development of mobile platform for inventory and inspection applications in nuclear environments [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.15781/T2MV7X\"\n     onclick=\"log_download('anderson-developmentofmobileplatformforinventoryandinspectionapplicationsinnuclearenvironments-2015', 'http://doi.org/10.15781/T2MV7X', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/anderson-developmentofmobileplatformforinventoryandinspectionapplicationsinnuclearenvironments-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>26 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('anderson-developmentofmobileplatformforinventoryandinspectionapplicationsinnuclearenvironments-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{anderson_development_2015,\n\ttype = {Thesis},\n\ttitle = {Development of mobile platform for inventory and inspection applications in nuclear environments},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/35317},\n\tabstract = {The efforts made towards deploying a mobile robotic system at Los Alamos National Laboratory are detailed in this thesis. The platform application is non-contact tasks related to inspection, inventory, and radiation surveying. It is intended for a Special Nuclear Material storage facility featuring a high radiation environment and a variety of storage modes.\nNew robotic capabilities have been developed using several mobile platforms to address the requirements of this application. Many of challenges are common to any warehouse application, such as autonomous task planning, vision, navigation, and inventory data management. Others are specific to a nuclear laboratory environment, such as radiation measurement and analysis, response to radioactive contamination, criticality safety, and restrictive security measures. This thesis describes the progress made towards meeting these challenges, outstanding issues, and future work that is necessary to complete the project.\nNuclear facilities are under ever-increasing demands to reduce worker radiation exposure. Since the vault is a high radiation area, it is one of the first targets at Los Alamos for the application of novel solutions. The deployment of this system promises to enhance worker safety by reducing their presence inside the vault and therefore total occupational dose. As robotic systems become more trusted in the nuclear weapons complex, it also has the potential to reduce total operator labor by performing time-consuming tasks autonomously.},\n\tlanguage = {en},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Anderson, Blake},\n\tmonth = dec,\n\tyear = {2015},\n\tdoi = {10.15781/T2MV7X},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The efforts made towards deploying a mobile robotic system at Los Alamos National Laboratory are detailed in this thesis. The platform application is non-contact tasks related to inspection, inventory, and radiation surveying. It is intended for a Special Nuclear Material storage facility featuring a high radiation environment and a variety of storage modes. New robotic capabilities have been developed using several mobile platforms to address the requirements of this application. Many of challenges are common to any warehouse application, such as autonomous task planning, vision, navigation, and inventory data management. Others are specific to a nuclear laboratory environment, such as radiation measurement and analysis, response to radioactive contamination, criticality safety, and restrictive security measures. This thesis describes the progress made towards meeting these challenges, outstanding issues, and future work that is necessary to complete the project. Nuclear facilities are under ever-increasing demands to reduce worker radiation exposure. Since the vault is a high radiation area, it is one of the first targets at Los Alamos for the application of novel solutions. The deployment of this system promises to enhance worker safety by reducing their presence inside the vault and therefore total occupational dose. As robotic systems become more trusted in the nuclear weapons complex, it also has the potential to reduce total operator labor by performing time-consuming tasks autonomously.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"peterson-pryor-automatedindustrialmanufacturinginhazardousgloveboxenvironments-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Automated industrial manufacturing in hazardous glovebox environments.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Clinton Peterson;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Washington DC, November 2015. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/peterson-pryor-automatedindustrialmanufacturinginhazardousgloveboxenvironments-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('peterson-pryor-automatedindustrialmanufacturinginhazardousgloveboxenvironments-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{peterson_automated_2015,\n\taddress = {Washington DC},\n\ttitle = {Automated industrial manufacturing in hazardous glovebox environments},\n\tpublisher = {ANS},\n\tauthor = {Peterson, Clinton and Pryor, Mitch},\n\tmonth = nov,\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zelenak-pryor-stabilizationofnonlinearsystemsbyswitchedlyapunovfunction-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57243/V001T03A002/228044\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zelenak-pryor-stabilizationofnonlinearsystemsbyswitchedlyapunovfunction-2015', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57243/V001T03A002/228044', event);\">\n    Stabilization of Nonlinear Systems by Switched Lyapunov Function.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andy Zelenak;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In pages 9, Columbus, OH, October 2015. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57243/V001T03A002/228044\"\n     onclick=\"log_download('zelenak-pryor-stabilizationofnonlinearsystemsbyswitchedlyapunovfunction-2015', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57243/V001T03A002/228044', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Stabilization of Nonlinear Systems by Switched Lyapunov Function [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DSCC2015-9650\"\n     onclick=\"log_download('zelenak-pryor-stabilizationofnonlinearsystemsbyswitchedlyapunovfunction-2015', 'http://doi.org/10.1115/DSCC2015-9650', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zelenak-pryor-stabilizationofnonlinearsystemsbyswitchedlyapunovfunction-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zelenak-pryor-stabilizationofnonlinearsystemsbyswitchedlyapunovfunction-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{zelenak_stabilization_2015,\n\taddress = {Columbus, OH},\n\ttitle = {Stabilization of {Nonlinear} {Systems} by {Switched} {Lyapunov} {Function}},\n\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57243/V001T03A002/228044},\n\tdoi = {10.1115/DSCC2015-9650},\n\tlanguage = {en},\n\turldate = {2020-05-09},\n\tpublisher = {ASME},\n\tauthor = {Zelenak, Andy and Pryor, Mitch},\n\tmonth = oct,\n\tyear = {2015},\n\tpages = {9},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zelenak-peterson-thompson-pryor-theadvantagesofvelocitycontrolforreactiverobotmotion-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57267/V003T43A003/230493\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zelenak-peterson-thompson-pryor-theadvantagesofvelocitycontrolforreactiverobotmotion-2015', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57267/V003T43A003/230493', event);\">\n    The Advantages of Velocity Control for Reactive Robot Motion.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andy Zelenak;  Clinton Peterson;  Jack Thompson;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In pages 8, Columbus, OH, October 2015. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57267/V003T43A003/230493\"\n     onclick=\"log_download('zelenak-peterson-thompson-pryor-theadvantagesofvelocitycontrolforreactiverobotmotion-2015', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57267/V003T43A003/230493', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Advantages of Velocity Control for Reactive Robot Motion [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DSCC2015-9713\"\n     onclick=\"log_download('zelenak-peterson-thompson-pryor-theadvantagesofvelocitycontrolforreactiverobotmotion-2015', 'http://doi.org/10.1115/DSCC2015-9713', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zelenak-peterson-thompson-pryor-theadvantagesofvelocitycontrolforreactiverobotmotion-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zelenak-peterson-thompson-pryor-theadvantagesofvelocitycontrolforreactiverobotmotion-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{zelenak_advantages_2015,\n\taddress = {Columbus, OH},\n\ttitle = {The {Advantages} of {Velocity} {Control} for {Reactive} {Robot} {Motion}},\n\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2015/57267/V003T43A003/230493},\n\tdoi = {10.1115/DSCC2015-9713},\n\tlanguage = {en},\n\turldate = {2020-05-09},\n\tpublisher = {ASME},\n\tauthor = {Zelenak, Andy and Peterson, Clinton and Thompson, Jack and Pryor, Mitch},\n\tmonth = oct,\n\tyear = {2015},\n\tpages = {8},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hashem-automatingxrayandneutronimagingapplicationswithflexibleautomation-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/33357\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hashem-automatingxrayandneutronimagingapplicationswithflexibleautomation-2015', 'https://repositories.lib.utexas.edu/handle/2152/33357', event);\">\n    Automating X-ray and neutron imaging applications with flexible automation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joseph Anthony Hashem.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, December 2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/33357\"\n     onclick=\"log_download('hashem-automatingxrayandneutronimagingapplicationswithflexibleautomation-2015', 'https://repositories.lib.utexas.edu/handle/2152/33357', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Automating X-ray and neutron imaging applications with flexible automation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.15781/T2GD6T\"\n     onclick=\"log_download('hashem-automatingxrayandneutronimagingapplicationswithflexibleautomation-2015', 'http://doi.org/10.15781/T2GD6T', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hashem-automatingxrayandneutronimagingapplicationswithflexibleautomation-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>23 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hashem-automatingxrayandneutronimagingapplicationswithflexibleautomation-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{hashem_automating_2015,\n\ttype = {Dissertation},\n\ttitle = {Automating {X}-ray and neutron imaging applications with flexible automation},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/33357},\n\tabstract = {This dissertation advances the capability of autonomous manipulation systems for non-destructive testing applications, specifically computed tomography and radiography. Non-destructive testing is the inspection of a part that does not affect its future usefulness. Radiography and tomography technologies are used to detect material faults inaccessible to direct observation. An industrial 7 degree-of-freedom manipulator has been installed in various x-ray and neutron imaging facilities, including the Nuclear Engineering Teaching Laboratory and Los Alamos National Laboratory, for imaging purposes.\nInspection of numerous components manually is laborious and time consuming, and there is the risk of high radiation dose to the operator. As Low As Reasonably Achievable exposure can be significantly reduced by installing a robot in an x-ray or neutron imaging facility to perform part placement in the beam for radioactive parts and nuclear facilities. Automation has the additional potential benefit of improving part throughput by obviating the need for human personnel to move or exchange parts to be imaged and allowing for flexible orientation of the imaged object with respect to the x-ray or neutron beam. When the process is fully automated, it eliminates the need for a human to enter the beam area.\nThe robot needs to meet certain performance requirements, including high repeatability, precision, stability, and accuracy. The robotic system must be able to precisely position and align parts, and parts need to be held still while the image is taken. Any movement of the specimen during exposure causes image blurring.\nRobotics and remote systems are an integral part of the ALARA approach to radiation safety. Robots increase the distance between workers and hazards and reduce time that workers must be exposed. Research performed aims to expand the role of automation at nuclear facilities by reducing the burden on human operators. The robot’s control system must manage collision detection, grasping, and motion planning to reduce the amount of time that an operator spends micro-managing such a system via tele-operation.\nThe subject of this work includes modeling (in MCNP) and measuring flux, dose rates, and DPA rates of neutron imaging facilities to develop predictions of radiation flux, dose profiles, and radiation damage by examining neutron and gamma fields during operation. Dose and flux predictions provide users the means to simulate geometrical and material changes and additions to a facility, thus saving time, money, and energy in determining the optimal setup for the robotic system.},\n\tlanguage = {en},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Hashem, Joseph Anthony},\n\tmonth = dec,\n\tyear = {2015},\n\tdoi = {10.15781/T2GD6T},\n\tkeywords = {Dissertation},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This dissertation advances the capability of autonomous manipulation systems for non-destructive testing applications, specifically computed tomography and radiography. Non-destructive testing is the inspection of a part that does not affect its future usefulness. Radiography and tomography technologies are used to detect material faults inaccessible to direct observation. An industrial 7 degree-of-freedom manipulator has been installed in various x-ray and neutron imaging facilities, including the Nuclear Engineering Teaching Laboratory and Los Alamos National Laboratory, for imaging purposes. Inspection of numerous components manually is laborious and time consuming, and there is the risk of high radiation dose to the operator. As Low As Reasonably Achievable exposure can be significantly reduced by installing a robot in an x-ray or neutron imaging facility to perform part placement in the beam for radioactive parts and nuclear facilities. Automation has the additional potential benefit of improving part throughput by obviating the need for human personnel to move or exchange parts to be imaged and allowing for flexible orientation of the imaged object with respect to the x-ray or neutron beam. When the process is fully automated, it eliminates the need for a human to enter the beam area. The robot needs to meet certain performance requirements, including high repeatability, precision, stability, and accuracy. The robotic system must be able to precisely position and align parts, and parts need to be held still while the image is taken. Any movement of the specimen during exposure causes image blurring. Robotics and remote systems are an integral part of the ALARA approach to radiation safety. Robots increase the distance between workers and hazards and reduce time that workers must be exposed. Research performed aims to expand the role of automation at nuclear facilities by reducing the burden on human operators. The robot’s control system must manage collision detection, grasping, and motion planning to reduce the amount of time that an operator spends micro-managing such a system via tele-operation. The subject of this work includes modeling (in MCNP) and measuring flux, dose rates, and DPA rates of neutron imaging facilities to develop predictions of radiation flux, dose profiles, and radiation damage by examining neutron and gamma fields during operation. Dose and flux predictions provide users the means to simulate geometrical and material changes and additions to a facility, thus saving time, money, and energy in determining the optimal setup for the robotic system.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"peterson-industrialautomationandcontrolinhazardousnuclearenvironments-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/31978\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'peterson-industrialautomationandcontrolinhazardousnuclearenvironments-2015', 'https://repositories.lib.utexas.edu/handle/2152/31978', event);\">\n    Industrial automation and control in hazardous nuclear environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Clinton II Dean Peterson.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, May 2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/31978\"\n     onclick=\"log_download('peterson-industrialautomationandcontrolinhazardousnuclearenvironments-2015', 'https://repositories.lib.utexas.edu/handle/2152/31978', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Industrial automation and control in hazardous nuclear environments [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.15781/T25P75\"\n     onclick=\"log_download('peterson-industrialautomationandcontrolinhazardousnuclearenvironments-2015', 'http://doi.org/10.15781/T25P75', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/peterson-industrialautomationandcontrolinhazardousnuclearenvironments-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>23 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('peterson-industrialautomationandcontrolinhazardousnuclearenvironments-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{peterson_industrial_2015,\n\ttype = {Thesis},\n\ttitle = {Industrial automation and control in hazardous nuclear environments},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/31978},\n\tabstract = {This report discusses the design and implementation of an automated system for use in geometrically-constrained, hazardous glovebox environments. This system’s purpose is to reduce a hemispherical plutonium pit into smaller pieces that fit inside of a crucible. The size reduction of plutonium pits supports stockpile stewardship efforts by the United States Department of Energy. The automation of this process increases the safety of radiation workers by handling radioactive nuclear material. This decreases glovebox worker dose and exposure to tools, sharps, and fines. This effort examines the hardware and software framework developed to support the use of a Port Deployed Manipulator (PDM) for a contact task. This research effort uses a 7 Degree-of-Freedom (DOF) PDM and a micropunch to reduce hemispherical pit surrogates. Formulation of the material reduction execution algorithm involved addressing a variety of topics related to industrial automation: 1. Collision detection and object recognition based on user-specified parameters. 2. Joint torque monitoring 3. Online motion planning for contact tasks 4. Object-in-hand industrial manufacturing 5. Grasping and handling of nuclear material 6. Software compliance via robust nonlinear control methods A high-bandwidth collision detection algorithm involving joint torque monitoring was developed to increase robot safety during operation. The motion planning algorithm developed for this effort takes variable geometric properties to be used with a range of hemishells. The algorithm’s feasibility was validated on a hardware test bed in a laboratory setting. Hardware cold tests conclude that mechanical compliance is sufficient for task completion. However, software compliance would increase performance, ef- ficiency, and safety during task execution. Two different nonlinear force control laws (feedback linearization and sliding mode control) that minimize object shear forces were developed using a simplified material reduction simulation. It is recommended that glovebox automation research continue to increase worker safety throughout the DOE complex.},\n\tlanguage = {en},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Peterson, Clinton II Dean},\n\tmonth = may,\n\tyear = {2015},\n\tdoi = {10.15781/T25P75},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This report discusses the design and implementation of an automated system for use in geometrically-constrained, hazardous glovebox environments. This system’s purpose is to reduce a hemispherical plutonium pit into smaller pieces that fit inside of a crucible. The size reduction of plutonium pits supports stockpile stewardship efforts by the United States Department of Energy. The automation of this process increases the safety of radiation workers by handling radioactive nuclear material. This decreases glovebox worker dose and exposure to tools, sharps, and fines. This effort examines the hardware and software framework developed to support the use of a Port Deployed Manipulator (PDM) for a contact task. This research effort uses a 7 Degree-of-Freedom (DOF) PDM and a micropunch to reduce hemispherical pit surrogates. Formulation of the material reduction execution algorithm involved addressing a variety of topics related to industrial automation: 1. Collision detection and object recognition based on user-specified parameters. 2. Joint torque monitoring 3. Online motion planning for contact tasks 4. Object-in-hand industrial manufacturing 5. Grasping and handling of nuclear material 6. Software compliance via robust nonlinear control methods A high-bandwidth collision detection algorithm involving joint torque monitoring was developed to increase robot safety during operation. The motion planning algorithm developed for this effort takes variable geometric properties to be used with a range of hemishells. The algorithm’s feasibility was validated on a hardware test bed in a laboratory setting. Hardware cold tests conclude that mechanical compliance is sufficient for task completion. However, software compliance would increase performance, ef- ficiency, and safety during task execution. Two different nonlinear force control laws (feedback linearization and sliding mode control) that minimize object shear forces were developed using a simplified material reduction simulation. It is recommended that glovebox automation research continue to increase worker safety throughout the DOE complex.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"oneil-pryor-autonomousmobilesystemforinventoryandinspectiontasksinhazardousenvironments-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Autonomous mobile system for inventory and inspection tasks in hazardous environments.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Brian O'Neil;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Hamburg, Germany, September 2015. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/oneil-pryor-autonomousmobilesystemforinventoryandinspectiontasksinhazardousenvironments-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('oneil-pryor-autonomousmobilesystemforinventoryandinspectiontasksinhazardousenvironments-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{oneil_autonomous_2015,\n\taddress = {Hamburg, Germany},\n\ttitle = {Autonomous mobile system for inventory and inspection tasks in hazardous environments},\n\tpublisher = {IEEE},\n\tauthor = {O&#x27;Neil, Brian and Pryor, Mitch},\n\tmonth = sep,\n\tyear = {2015},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hashem-pryor-performingneutronimagingofmockuraniumfuelrodswitharoboticmanipulator-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Performing neutron imaging of mock uranium fuel rods with a robotic manipulator.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joseph Hashem;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In San Antonio, TX, June 2015. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hashem-pryor-performingneutronimagingofmockuraniumfuelrodswitharoboticmanipulator-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hashem-pryor-performingneutronimagingofmockuraniumfuelrodswitharoboticmanipulator-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{hashem_performing_2015,\n\taddress = {San Antonio, TX},\n\ttitle = {Performing neutron imaging of mock uranium fuel rods with a robotic manipulator},\n\tpublisher = {ANS},\n\tauthor = {Hashem, Joseph and Pryor, Mitch},\n\tmonth = jun,\n\tyear = {2015},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2014\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2014')\"\n      onkeypress=\"toggleGroup('group_2014')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2014</span>\n      <span class=\"bibbase_group_count\">\n        \n        (14)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"leonard-afirstprinciplesdirectionaldrillingsimulatorforcontroldesign-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/33523\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'leonard-afirstprinciplesdirectionaldrillingsimulatorforcontroldesign-2014', 'https://repositories.lib.utexas.edu/handle/2152/33523', event);\">\n    A first-principles directional drilling simulator for control design.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Rebecca Leigh Leonard.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, December 2014.\n  <span class=\"note\">Accepted: 2016-03-04T18:44:49Z</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/33523\"\n     onclick=\"log_download('leonard-afirstprinciplesdirectionaldrillingsimulatorforcontroldesign-2014', 'https://repositories.lib.utexas.edu/handle/2152/33523', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A first-principles directional drilling simulator for control design [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.15781/T23424\"\n     onclick=\"log_download('leonard-afirstprinciplesdirectionaldrillingsimulatorforcontroldesign-2014', 'http://doi.org/10.15781/T23424', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/leonard-afirstprinciplesdirectionaldrillingsimulatorforcontroldesign-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('leonard-afirstprinciplesdirectionaldrillingsimulatorforcontroldesign-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{leonard_first-principles_2014,\n\ttype = {Thesis},\n\ttitle = {A first-principles directional drilling simulator for control design},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/33523},\n\tabstract = {A directional drilling simulator was constructed using a re-formulation of first-principles classical mechanics in order to serve as a platform for advanced control design. Dedicated focus was placed on building a modular solution that would interface with an existing Supervisory Control And Data Acquisition (SCADA) architecture. Model complexity was restricted to include only the features required to make an immediate step change in tool face control performance through more accurate determination of torsional dead time and time constant values. Development of this simulator advanced the art of drilling automation by building a foundation upon which developers may design novel control schemes using big data gathered in the modern oilfield. \nThis first-principles model is supported by theoretical formulation of equations of motion that capture fundamental behavior of the drill string during both rotary and slide drilling operations. Wellbore trajectory was interpolated between survey points using the Minimum Curvature Method, and a semi-soft-string drill string model was assumed. Equations of motion were derived using energy methods captured in both Hamiltonian and Lagrangian mechanics and solved using the finite-element method. Transient dynamic solutions were obtained using Newmark integration methods.  \nA sensitivity analysis was conducted to determine which parameters played the most influential roles in dynamic drill string behavior for various operational scenarios and to what extent those parameters influenced torsional dead time and time constant calculations. The torsional time constant was chosen as a measure of correlation between case studies, due to the significant role this value plays in state-of-the-art tool face control algorithms. Simulation results were validated using field data collected from rigs using a SCADA system to operate in various shale plays in North America. Results from field tests were used to compare torsional time constant values calculated using manually-determined, simulation-based, and analytical methods and investigate directional drilling performance over a range of operational scenarios.  \nSimulation-based time constant calculation results were consistently more accurate than analytically-determined values when compared to manually-tuned values. The first-principles directional drilling simulator developed for this study will be adopted by the existing SCADA system in order to standardize and improve slide drilling performance.},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tauthor = {Leonard, Rebecca Leigh},\n\tmonth = dec,\n\tyear = {2014},\n\tdoi = {10.15781/T23424},\n\tnote = {Accepted: 2016-03-04T18:44:49Z},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  A directional drilling simulator was constructed using a re-formulation of first-principles classical mechanics in order to serve as a platform for advanced control design. Dedicated focus was placed on building a modular solution that would interface with an existing Supervisory Control And Data Acquisition (SCADA) architecture. Model complexity was restricted to include only the features required to make an immediate step change in tool face control performance through more accurate determination of torsional dead time and time constant values. Development of this simulator advanced the art of drilling automation by building a foundation upon which developers may design novel control schemes using big data gathered in the modern oilfield. This first-principles model is supported by theoretical formulation of equations of motion that capture fundamental behavior of the drill string during both rotary and slide drilling operations. Wellbore trajectory was interpolated between survey points using the Minimum Curvature Method, and a semi-soft-string drill string model was assumed. Equations of motion were derived using energy methods captured in both Hamiltonian and Lagrangian mechanics and solved using the finite-element method. Transient dynamic solutions were obtained using Newmark integration methods. A sensitivity analysis was conducted to determine which parameters played the most influential roles in dynamic drill string behavior for various operational scenarios and to what extent those parameters influenced torsional dead time and time constant calculations. The torsional time constant was chosen as a measure of correlation between case studies, due to the significant role this value plays in state-of-the-art tool face control algorithms. Simulation results were validated using field data collected from rigs using a SCADA system to operate in various shale plays in North America. Results from field tests were used to compare torsional time constant values calculated using manually-determined, simulation-based, and analytical methods and investigate directional drilling performance over a range of operational scenarios. Simulation-based time constant calculation results were consistently more accurate than analytically-determined values when compared to manually-tuned values. The first-principles directional drilling simulator developed for this study will be adopted by the existing SCADA system in order to standardize and improve slide drilling performance.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zelenak-pryor-gaussianbasedadaptivefuzzycontrol-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Gaussian-based adaptive fuzzy control.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   A. Zelenak;  and  M. Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>2014 IEEE Conference on Norbert Wiener in the 21st Century (21CW)</i>, pages 1–8, June 2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/NORBERT.2014.6893857\"\n     onclick=\"log_download('zelenak-pryor-gaussianbasedadaptivefuzzycontrol-2014', 'http://doi.org/10.1109/NORBERT.2014.6893857', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zelenak-pryor-gaussianbasedadaptivefuzzycontrol-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zelenak-pryor-gaussianbasedadaptivefuzzycontrol-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{zelenak_gaussian-based_2014,\n\ttitle = {Gaussian-based adaptive fuzzy control},\n\tdoi = {10.1109/NORBERT.2014.6893857},\n\tabstract = {Fuzzy logic controllers are well known for robustness and performance, and it has been proven that fuzzy logic controllers can approximate an optimal controller with arbitrary accuracy. However, adapting fuzzy rule bases towards an optimal solution has proven challenging. This paper describes a new adaptive algorithm for a fuzzy logic controller. Previously studied adaptive algorithms such as Lyapunov methods and neural-network methods effectively reduce error, but they are complex and potentially distort the rule base so that it loses robustness. The proposed method “shapes” the fuzzy rule base as a normal distribution to maintain robustness. The algorithm is tested on a robotic clamping operation; in three experiments, it reduced the error variance by 35\\%, 44\\%, and 53\\%.},\n\tbooktitle = {2014 {IEEE} {Conference} on {Norbert} {Wiener} in the 21st {Century} ({21CW})},\n\tauthor = {Zelenak, A. and Pryor, M.},\n\tmonth = jun,\n\tyear = {2014},\n\tkeywords = {Controls},\n\tpages = {1--8},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Fuzzy logic controllers are well known for robustness and performance, and it has been proven that fuzzy logic controllers can approximate an optimal controller with arbitrary accuracy. However, adapting fuzzy rule bases towards an optimal solution has proven challenging. This paper describes a new adaptive algorithm for a fuzzy logic controller. Previously studied adaptive algorithms such as Lyapunov methods and neural-network methods effectively reduce error, but they are complex and potentially distort the rule base so that it loses robustness. The proposed method “shapes” the fuzzy rule base as a normal distribution to maintain robustness. The algorithm is tested on a robotic clamping operation; in three experiments, it reduced the error variance by 35%, 44%, and 53%.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"shor-pryor-vanoort-drillstringvibrationobservationmodelingandpreventionintheoilandgasindustry-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T37A004/229758\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'shor-pryor-vanoort-drillstringvibrationobservationmodelingandpreventionintheoilandgasindustry-2014', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T37A004/229758', event);\">\n    Drillstring Vibration Observation, Modeling and Prevention in the Oil and Gas Industry.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Roman J. Shor;  Mitch Pryor;  and  Eric Oort.\n</span>\n\n  \n\n</span>\n\n  In pages 10, San Antonio, TX, October 2014. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T37A004/229758\"\n     onclick=\"log_download('shor-pryor-vanoort-drillstringvibrationobservationmodelingandpreventionintheoilandgasindustry-2014', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T37A004/229758', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Drillstring Vibration Observation, Modeling and Prevention in the Oil and Gas Industry [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DSCC2014-6147\"\n     onclick=\"log_download('shor-pryor-vanoort-drillstringvibrationobservationmodelingandpreventionintheoilandgasindustry-2014', 'http://doi.org/10.1115/DSCC2014-6147', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/shor-pryor-vanoort-drillstringvibrationobservationmodelingandpreventionintheoilandgasindustry-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('shor-pryor-vanoort-drillstringvibrationobservationmodelingandpreventionintheoilandgasindustry-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{shor_drillstring_2014,\n\taddress = {San Antonio, TX},\n\ttitle = {Drillstring {Vibration} {Observation}, {Modeling} and {Prevention} in the {Oil} and {Gas} {Industry}},\n\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46209/V003T37A004/229758},\n\tdoi = {10.1115/DSCC2014-6147},\n\tabstract = {As well designs become increasingly complicated, a complete understanding of drillstring vibrations is key to maximize drilling efficiency and reduce bit wear as well as prevent drillstring, tool, and borehole damage. This paper presents a review of the past fifty years of work on drillstring dynamics models and the proposed and accepted vibration mitigation applications within the drilling industry. Early modeling began with simplistic models in efforts to understand downhole processes. Once downhole sensors were deployed and the basic modes of vibration were understood, proprietary systems were developed and — only recently — successfully deployed to detect and mitigate the effects of certain undesired vibrational modes, specifically stick-slip torsional vibrations. Future systems and their effectiveness will depend on a refined understanding of the various modes of vibration and their interaction, as well as improved real-time downhole sensing techniques. Implementation of high-fidelity models to deduce and correct the downhole drillstring state will subsequently improve the operational drilling efficiency.},\n\tlanguage = {en},\n\turldate = {2020-05-10},\n\tpublisher = {ASME},\n\tauthor = {Shor, Roman J. and Pryor, Mitch and van Oort, Eric},\n\tmonth = oct,\n\tyear = {2014},\n\tpages = {10},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  As well designs become increasingly complicated, a complete understanding of drillstring vibrations is key to maximize drilling efficiency and reduce bit wear as well as prevent drillstring, tool, and borehole damage. This paper presents a review of the past fifty years of work on drillstring dynamics models and the proposed and accepted vibration mitigation applications within the drilling industry. Early modeling began with simplistic models in efforts to understand downhole processes. Once downhole sensors were deployed and the basic modes of vibration were understood, proprietary systems were developed and — only recently — successfully deployed to detect and mitigate the effects of certain undesired vibrational modes, specifically stick-slip torsional vibrations. Future systems and their effectiveness will depend on a refined understanding of the various modes of vibration and their interaction, as well as improved real-time downhole sensing techniques. Implementation of high-fidelity models to deduce and correct the downhole drillstring state will subsequently improve the operational drilling efficiency.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zelenak-brabec-thompson-hashem-fernandez-pryor-intelligentgraspingwiththeroboticopposablethumb-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1080/08839514.2014.952917\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zelenak-brabec-thompson-hashem-fernandez-pryor-intelligentgraspingwiththeroboticopposablethumb-2014', 'https://doi.org/10.1080/08839514.2014.952917', event);\">\n    Intelligent Grasping with the Robotic Opposable Thumb.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andy Zelenak;  Cheryl Brabec;  Jack Thompson;  Joey Hashem;  Benito Fernandez;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  <i>Applied Artificial Intelligence</i>, 28(8): 737–750. September 2014.\n  <span class=\"note\">Publisher: Taylor & Francis _eprint: https://doi.org/10.1080/08839514.2014.952917</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1080/08839514.2014.952917\"\n     onclick=\"log_download('zelenak-brabec-thompson-hashem-fernandez-pryor-intelligentgraspingwiththeroboticopposablethumb-2014', 'https://doi.org/10.1080/08839514.2014.952917', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Intelligent Grasping with the Robotic Opposable Thumb [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1080/08839514.2014.952917\"\n     onclick=\"log_download('zelenak-brabec-thompson-hashem-fernandez-pryor-intelligentgraspingwiththeroboticopposablethumb-2014', 'http://doi.org/10.1080/08839514.2014.952917', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zelenak-brabec-thompson-hashem-fernandez-pryor-intelligentgraspingwiththeroboticopposablethumb-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zelenak-brabec-thompson-hashem-fernandez-pryor-intelligentgraspingwiththeroboticopposablethumb-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{zelenak_intelligent_2014,\n\ttitle = {Intelligent {Grasping} with the {Robotic} {Opposable} {Thumb}},\n\tvolume = {28},\n\tissn = {0883-9514},\n\turl = {https://doi.org/10.1080/08839514.2014.952917},\n\tdoi = {10.1080/08839514.2014.952917},\n\tabstract = {Recent advances in the field of grasp planning have used heuristics, dimensionality reduction, machine learning, and haptic feedback, with a high degree of success, to plan grasps for simple grippers and/or simple object geometry. We look at applying some of these techniques to the anthropomorphic Meka gripper. First, dimensionality reduction is attempted. We show that dimensionality reduction does not accurately predict the thumb position. A new algorithm is proposed in which measurements from 2D images are used to classify the thumb opposition angle to one of three positions. The remaining joints employ a reactive torque-control strategy to complete the grasp. The algorithm achieves force closure for 82\\% of 39 household objects. It is simple, computationally fast, and achieves a success rate that is similar to other contemporary grasp planning algorithms.},\n\tnumber = {8},\n\turldate = {2020-05-10},\n\tjournal = {Applied Artificial Intelligence},\n\tauthor = {Zelenak, Andy and Brabec, Cheryl and Thompson, Jack and Hashem, Joey and Fernandez, Benito and Pryor, Mitch},\n\tmonth = sep,\n\tyear = {2014},\n\tnote = {Publisher: Taylor \\&amp; Francis\n\\_eprint: https://doi.org/10.1080/08839514.2014.952917},\n\tpages = {737--750},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Recent advances in the field of grasp planning have used heuristics, dimensionality reduction, machine learning, and haptic feedback, with a high degree of success, to plan grasps for simple grippers and/or simple object geometry. We look at applying some of these techniques to the anthropomorphic Meka gripper. First, dimensionality reduction is attempted. We show that dimensionality reduction does not accurately predict the thumb position. A new algorithm is proposed in which measurements from 2D images are used to classify the thumb opposition angle to one of three positions. The remaining joints employ a reactive torque-control strategy to complete the grasp. The algorithm achieves force closure for 82% of 39 household objects. It is simple, computationally fast, and achieves a success rate that is similar to other contemporary grasp planning algorithms.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zelenak-pryor-schroeder-anextendedkalmanfilterforcollisiondetectionduringmanipulatorcontacttasks-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46186/V001T11A005/228334\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zelenak-pryor-schroeder-anextendedkalmanfilterforcollisiondetectionduringmanipulatorcontacttasks-2014', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46186/V001T11A005/228334', event);\">\n    An Extended Kalman Filter for Collision Detection During Manipulator Contact Tasks.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andy Zelenak;  Mitch Pryor;  and  Kyle Schroeder.\n</span>\n\n  \n\n</span>\n\n  In San Antonio, TX, October 2014. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46186/V001T11A005/228334\"\n     onclick=\"log_download('zelenak-pryor-schroeder-anextendedkalmanfilterforcollisiondetectionduringmanipulatorcontacttasks-2014', 'https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46186/V001T11A005/228334', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An Extended Kalman Filter for Collision Detection During Manipulator Contact Tasks [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DSCC2014-6330\"\n     onclick=\"log_download('zelenak-pryor-schroeder-anextendedkalmanfilterforcollisiondetectionduringmanipulatorcontacttasks-2014', 'http://doi.org/10.1115/DSCC2014-6330', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zelenak-pryor-schroeder-anextendedkalmanfilterforcollisiondetectionduringmanipulatorcontacttasks-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zelenak-pryor-schroeder-anextendedkalmanfilterforcollisiondetectionduringmanipulatorcontacttasks-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{zelenak_extended_2014,\n\taddress = {San Antonio, TX},\n\ttitle = {An {Extended} {Kalman} {Filter} for {Collision} {Detection} {During} {Manipulator} {Contact} {Tasks}},\n\turl = {https://asmedigitalcollection.asme.org/DSCC/proceedings/DSCC2014/46186/V001T11A005/228334},\n\tdoi = {10.1115/DSCC2014-6330},\n\tlanguage = {en},\n\turldate = {2020-05-08},\n\tpublisher = {ASME},\n\tauthor = {Zelenak, Andy and Pryor, Mitch and Schroeder, Kyle},\n\tmonth = oct,\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"thompson-redesigningthehumanrobotinterfaceintuitiveteleoperationofanthropomorphicrobots-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/28284\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'thompson-redesigningthehumanrobotinterfaceintuitiveteleoperationofanthropomorphicrobots-2014', 'https://repositories.lib.utexas.edu/handle/2152/28284', event);\">\n    Redesigning the human-robot interface : intuitive teleoperation of anthropomorphic robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Jack Lyle Thompson.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, The University of Texas at Austin, December 2014.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/28284\"\n     onclick=\"log_download('thompson-redesigningthehumanrobotinterfaceintuitiveteleoperationofanthropomorphicrobots-2014', 'https://repositories.lib.utexas.edu/handle/2152/28284', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Redesigning the human-robot interface : intuitive teleoperation of anthropomorphic robots [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/thompson-redesigningthehumanrobotinterfaceintuitiveteleoperationofanthropomorphicrobots-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('thompson-redesigningthehumanrobotinterfaceintuitiveteleoperationofanthropomorphicrobots-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{thompson_redesigning_2014,\n\taddress = {The University of Texas at Austin},\n\ttype = {Thesis},\n\ttitle = {Redesigning the human-robot interface : intuitive teleoperation of anthropomorphic robots},\n\tshorttitle = {Redesigning the human-robot interface},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/28284},\n\tabstract = {A novel interface for robotic teleoperation was developed to enable accurate and highly efficient teleoperation of the Industrial Reconfigurable Anthropomorphic Dual-arm (IRAD) system and other robotic systems. In order to achieve a revolutionary increase in operator productivity, the bilateral/master-slave approach must give way to shared autonomy and unilateral control; autonomy must be employed where possible, and appropriate sensory feedback only where autonomy is impossible; and today’s low-information/high feedback model must be replaced by one that emphasizes feedforward precision and minimal corrective feedback. This is emphasized for task spaces outside of the traditional anthropomorphic scale such as mobile manipulation (i.e. large task spaces) and high precision tasks (i.e. very small task spaces). The system is demonstrated using an anthropomorphically dimensioned industrial manipulator working in task spaces from one meter to less than one millimeter, in both simulation and hardware. This thesis discusses the design requirements and philosophy of this interface, provides a summary of prototype teleoperation hardware, simulation environment, test-bed hardware, and experimental results.},\n\tlanguage = {en},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Thompson, Jack Lyle},\n\tmonth = dec,\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  A novel interface for robotic teleoperation was developed to enable accurate and highly efficient teleoperation of the Industrial Reconfigurable Anthropomorphic Dual-arm (IRAD) system and other robotic systems. In order to achieve a revolutionary increase in operator productivity, the bilateral/master-slave approach must give way to shared autonomy and unilateral control; autonomy must be employed where possible, and appropriate sensory feedback only where autonomy is impossible; and today’s low-information/high feedback model must be replaced by one that emphasizes feedforward precision and minimal corrective feedback. This is emphasized for task spaces outside of the traditional anthropomorphic scale such as mobile manipulation (i.e. large task spaces) and high precision tasks (i.e. very small task spaces). The system is demonstrated using an anthropomorphically dimensioned industrial manipulator working in task spaces from one meter to less than one millimeter, in both simulation and hardware. This thesis discusses the design requirements and philosophy of this interface, provides a summary of prototype teleoperation hardware, simulation environment, test-bed hardware, and experimental results.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zelenak-schroeder-landsberger-integrationofcomplianceandcollisiondetectionalgorithmsforindustrialsystems-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Integration of compliance and collision detection algorithms for industrial systems.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andrew Zelenak;  Kyle Schroeder;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ANS Embedded Topical on Decommissioning and Remote Systems</i>, Reno, NV, November 2014. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zelenak-schroeder-landsberger-integrationofcomplianceandcollisiondetectionalgorithmsforindustrialsystems-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zelenak-schroeder-landsberger-integrationofcomplianceandcollisiondetectionalgorithmsforindustrialsystems-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{zelenak_integration_2014,\n\taddress = {Reno, NV},\n\ttitle = {Integration of compliance and collision detection algorithms for industrial systems},\n\tbooktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},\n\tpublisher = {ANS},\n\tauthor = {Zelenak, Andrew and Schroeder, Kyle and Landsberger, Sheldon},\n\tmonth = nov,\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"oneil-pryor-3dobjectrecognitionandposeestimationforremotematerialhandling-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  3D object recognition and pose estimation for remote material handling.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Brian O'Neil;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ANS Embedded Topical on Decommissioning and Remote Systems</i>, Reno, NV, November 2014. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/oneil-pryor-3dobjectrecognitionandposeestimationforremotematerialhandling-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('oneil-pryor-3dobjectrecognitionandposeestimationforremotematerialhandling-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{oneil_3d_2014,\n\taddress = {Reno, NV},\n\ttitle = {{3D} object recognition and pose estimation for remote material handling},\n\tbooktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},\n\tpublisher = {ANS},\n\tauthor = {O&#x27;Neil, Brian and Pryor, Mitch},\n\tmonth = nov,\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"anderson-sharp-pryor-lowcostmobileplatformandsensorsuiteforremoteradiationsurveying-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Low-cost mobile platform and sensor suite for remote radiation surveying.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Blake Anderson;  Andrew Sharp;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ANS Embedded Topical on Decommissioning and Remote Systems</i>, Reno, NV, November 2014. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/anderson-sharp-pryor-lowcostmobileplatformandsensorsuiteforremoteradiationsurveying-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('anderson-sharp-pryor-lowcostmobileplatformandsensorsuiteforremoteradiationsurveying-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{anderson_low-cost_2014,\n\taddress = {Reno, NV},\n\ttitle = {Low-cost mobile platform and sensor suite for remote radiation surveying},\n\tbooktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},\n\tpublisher = {ANS},\n\tauthor = {Anderson, Blake and Sharp, Andrew and Pryor, Mitch},\n\tmonth = nov,\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hashem-pryor-landsberger-implementationofflexibleautomationforneutronradiographyapplications-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Implementation of flexible automation for neutron radiography applications.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joseph Hashem;  Mitch Pryor;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ANS Embedded Topical on Decommissioning and Remote Systems</i>, Reno, NV, November 2014. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hashem-pryor-landsberger-implementationofflexibleautomationforneutronradiographyapplications-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hashem-pryor-landsberger-implementationofflexibleautomationforneutronradiographyapplications-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{hashem_implementation_2014,\n\taddress = {Reno, NV},\n\ttitle = {Implementation of flexible automation for neutron radiography applications},\n\tbooktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},\n\tpublisher = {ANS},\n\tauthor = {Hashem, Joseph and Pryor, Mitch and Landsberger, Sheldon},\n\tmonth = nov,\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"peterson-pryor-landsberger-evaluatingautomationformaterialreductioningloveboxesusingplutoniumsurrogates-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Evaluating automation for material reduction in gloveboxes using plutonium surrogates.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Clinton Peterson;  Mitch Pryor;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ANS Embedded Topical on Decommissioning and Remote Systems</i>, Reno, NV, November 2014. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/peterson-pryor-landsberger-evaluatingautomationformaterialreductioningloveboxesusingplutoniumsurrogates-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('peterson-pryor-landsberger-evaluatingautomationformaterialreductioningloveboxesusingplutoniumsurrogates-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{peterson_evaluating_2014,\n\taddress = {Reno, NV},\n\ttitle = {Evaluating automation for material reduction in gloveboxes using plutonium surrogates},\n\tbooktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},\n\tpublisher = {ANS},\n\tauthor = {Peterson, Clinton and Pryor, Mitch and Landsberger, Sheldon},\n\tmonth = nov,\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"thompson-pryor-usercenteredinterfaceforscalableergonomicroboticteleoperation-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  User-centered interface for scalable, ergonomic robotic teleoperation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Jack Thompson;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ANS Embedded Topical on Decommissioning and Remote Systems</i>, Reno, NV, November 2014. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/thompson-pryor-usercenteredinterfaceforscalableergonomicroboticteleoperation-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('thompson-pryor-usercenteredinterfaceforscalableergonomicroboticteleoperation-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{thompson_user-centered_2014,\n\taddress = {Reno, NV},\n\ttitle = {User-centered interface for scalable, ergonomic robotic teleoperation},\n\tbooktitle = {Proceedings of the {ANS} {Embedded} {Topical} on {Decommissioning} and {Remote} {Systems}},\n\tpublisher = {ANS},\n\tauthor = {Thompson, Jack and Pryor, Mitch},\n\tmonth = nov,\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hashem-pryor-feasibilityforindustrialrobotsusedinnondestructivetestingapplications-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Feasibility for industrial robots used in non-destructive testing applications.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Nicholas Hashem;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In College Station, PA, April 2014. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hashem-pryor-feasibilityforindustrialrobotsusedinnondestructivetestingapplications-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hashem-pryor-feasibilityforindustrialrobotsusedinnondestructivetestingapplications-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{hashem_feasibility_2014,\n\taddress = {College Station, PA},\n\ttitle = {Feasibility for industrial robots used in non-destructive testing applications},\n\tpublisher = {ANS},\n\tauthor = {Hashem, Nicholas and Pryor, Mitch},\n\tmonth = apr,\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"thompson-pryor-spatialinterfaceforusercentricroboticteleoperationanddemonstrationonahighprecisiontask-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Spatial interface for user-centric robotic teleoperation and demonstration on a high precision task.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Jack Thompson;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Workshop on Tele-operation at the IEEE Conference on Intelligent Robots and Systems</i>, Chicago, IL, September 2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/thompson-pryor-spatialinterfaceforusercentricroboticteleoperationanddemonstrationonahighprecisiontask-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('thompson-pryor-spatialinterfaceforusercentricroboticteleoperationanddemonstrationonahighprecisiontask-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{thompson_spatial_2014,\n\taddress = {Chicago, IL},\n\ttitle = {Spatial interface for user-centric robotic teleoperation and demonstration on a high precision task},\n\tbooktitle = {Workshop on {Tele}-operation at the {IEEE} {Conference} on {Intelligent} {Robots} and {Systems}},\n\tpublisher = {IEEE},\n\tauthor = {Thompson, Jack and Pryor, Mitch},\n\tmonth = sep,\n\tyear = {2014},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2013\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2013')\"\n      onkeypress=\"toggleGroup('group_2013')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2013</span>\n      <span class=\"bibbase_group_count\">\n        \n        (11)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"landsberger-biegalski-kapsimalis-pryor-tamalis-nuclearforensicseducationattheuniversityoftexasataustin-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://doi.org/10.1007/s10967-012-2067-5\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'landsberger-biegalski-kapsimalis-pryor-tamalis-nuclearforensicseducationattheuniversityoftexasataustin-2013', 'https://doi.org/10.1007/s10967-012-2067-5', event);\">\n    Nuclear forensics education at the University of Texas at Austin.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   S. Landsberger;  S. Biegalski;  R. Kapsimalis;  M. Pryor;  and  D. Tamalis.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Radioanalytical and Nuclear Chemistry</i>, 296(1): 333–337. April 2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://doi.org/10.1007/s10967-012-2067-5\"\n     onclick=\"log_download('landsberger-biegalski-kapsimalis-pryor-tamalis-nuclearforensicseducationattheuniversityoftexasataustin-2013', 'https://doi.org/10.1007/s10967-012-2067-5', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Nuclear forensics education at the University of Texas at Austin [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1007/s10967-012-2067-5\"\n     onclick=\"log_download('landsberger-biegalski-kapsimalis-pryor-tamalis-nuclearforensicseducationattheuniversityoftexasataustin-2013', 'http://doi.org/10.1007/s10967-012-2067-5', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/landsberger-biegalski-kapsimalis-pryor-tamalis-nuclearforensicseducationattheuniversityoftexasataustin-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('landsberger-biegalski-kapsimalis-pryor-tamalis-nuclearforensicseducationattheuniversityoftexasataustin-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{landsberger_nuclear_2013,\n\ttitle = {Nuclear forensics education at the {University} of {Texas} at {Austin}},\n\tvolume = {296},\n\tissn = {1588-2780},\n\turl = {https://doi.org/10.1007/s10967-012-2067-5},\n\tdoi = {10.1007/s10967-012-2067-5},\n\tabstract = {Nuclear forensics continues to be an integral part of the Domestic Nuclear Detection Office, the Defense Threat Reduction Agency and the National Nuclear Security Administration. As with our previous three-year Nuclear Forensics Education Award Program we will continue to offer a comprehensive educational program and closely collaborate with national laboratories to pursue common research. Our research will primarily focus on analysis of radioactive debris following a nuclear or radiological dispersive device event or the investigation of the pedigree of nuclear materials in nonproliferation. This research will include using Compton suppression and gamma coincidence low-level gamma ray counting, investigation of nuclear fuel cycles for nonproliferation, on-site inspection within the context of the Comprehensive Nuclear-Test-Ban Treaty and radioxenon detection physics. We also offer a graduate program in nuclear robotics, an interdisciplinary program in the automation of handling special nuclear materials. To better equip our students who are entering the workforce at the national laboratories and government agencies we are also proposing the development of several new laboratory modules for non-destructive identification of fission products in environmental samples and irradiated uranium specimens at various enrichments and characterizing naturally occurring radioactive material. Collaboration with Florida Memorial University a Historically Black Colleges and Universities will continue for training and collaborative research.},\n\tlanguage = {en},\n\tnumber = {1},\n\turldate = {2020-05-10},\n\tjournal = {Journal of Radioanalytical and Nuclear Chemistry},\n\tauthor = {Landsberger, S. and Biegalski, S. and Kapsimalis, R. and Pryor, M. and Tamalis, D.},\n\tmonth = apr,\n\tyear = {2013},\n\tpages = {333--337},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Nuclear forensics continues to be an integral part of the Domestic Nuclear Detection Office, the Defense Threat Reduction Agency and the National Nuclear Security Administration. As with our previous three-year Nuclear Forensics Education Award Program we will continue to offer a comprehensive educational program and closely collaborate with national laboratories to pursue common research. Our research will primarily focus on analysis of radioactive debris following a nuclear or radiological dispersive device event or the investigation of the pedigree of nuclear materials in nonproliferation. This research will include using Compton suppression and gamma coincidence low-level gamma ray counting, investigation of nuclear fuel cycles for nonproliferation, on-site inspection within the context of the Comprehensive Nuclear-Test-Ban Treaty and radioxenon detection physics. We also offer a graduate program in nuclear robotics, an interdisciplinary program in the automation of handling special nuclear materials. To better equip our students who are entering the workforce at the national laboratories and government agencies we are also proposing the development of several new laboratory modules for non-destructive identification of fission products in environmental samples and irradiated uranium specimens at various enrichments and characterizing naturally occurring radioactive material. Collaboration with Florida Memorial University a Historically Black Colleges and Universities will continue for training and collaborative research.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"zelenak-acompliantcontrollawforindustrialdualarmmanipulators-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/22232\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'zelenak-acompliantcontrollawforindustrialdualarmmanipulators-2013', 'https://repositories.lib.utexas.edu/handle/2152/22232', event);\">\n    A compliant control law for industrial, dual-arm manipulators.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Andrew J. Zelenak.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, May 2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/22232\"\n     onclick=\"log_download('zelenak-acompliantcontrollawforindustrialdualarmmanipulators-2013', 'https://repositories.lib.utexas.edu/handle/2152/22232', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A compliant control law for industrial, dual-arm manipulators [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/zelenak-acompliantcontrollawforindustrialdualarmmanipulators-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('zelenak-acompliantcontrollawforindustrialdualarmmanipulators-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{zelenak_compliant_2013,\n\ttype = {Thesis},\n\ttitle = {A compliant control law for industrial, dual-arm manipulators},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/22232},\n\tabstract = {Many of the first robots ever built, decades even before the first industrial robots, were humanoids. It seems like researchers have always sought to imitate the human form with their robots, and with good reason. Humans are incredibly flexible; they can perform a huge variety of tasks, from locomotion over rough terrain, to delicate assembly, to heavy lifting. A human’s second arm allows him to lift twice as much weight. His workspace is approximately doubled, and he can perform a broader variety of tasks as items are passed back and forth between hands. We sought to impart some of that same functionality to a strong, rigid, dual-arm robot. Specifically, we developed a control law that allows two robot arms to lift and manipulate an object in cooperation.\nAs opposed to the prior art, our control law is tailored for industrial robots. These robots do not usually allow torque control and their control frequency is generally 60 Hz. Through the use of fuzzy logic, the control law is quite robust at 60 Hz control rates. Its simple structure reduces the computational cost of the algorithm by approximately 75\\% over Jacobian-based methods. Stability is proven and the controller parameters can be adjusted to handle perturbances of arbitrary magnitude. Since the robots behave as an admittance, torque control is not required. Several experiments were conducted to benchmark and validate the performance of this control law. The controller is able to maintain a clamp force within ± 4N despite a wide variation in trajectory and control frequency. This fine level of force control makes the controller suitable for delicate tasks.\nThe conclusion suggests several extensions that would make this control law more useful. For example, adaptive control would improve the performance. A position feedback controller should be cascaded so that the robot arms’ tracking accuracy is improved. Many tasks (such as co-robotics) require external compliance, and we show how external compliance could easily be incorporated.},\n\tlanguage = {en\\_US},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Zelenak, Andrew J.},\n\tmonth = may,\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Many of the first robots ever built, decades even before the first industrial robots, were humanoids. It seems like researchers have always sought to imitate the human form with their robots, and with good reason. Humans are incredibly flexible; they can perform a huge variety of tasks, from locomotion over rough terrain, to delicate assembly, to heavy lifting. A human’s second arm allows him to lift twice as much weight. His workspace is approximately doubled, and he can perform a broader variety of tasks as items are passed back and forth between hands. We sought to impart some of that same functionality to a strong, rigid, dual-arm robot. Specifically, we developed a control law that allows two robot arms to lift and manipulate an object in cooperation. As opposed to the prior art, our control law is tailored for industrial robots. These robots do not usually allow torque control and their control frequency is generally 60 Hz. Through the use of fuzzy logic, the control law is quite robust at 60 Hz control rates. Its simple structure reduces the computational cost of the algorithm by approximately 75% over Jacobian-based methods. Stability is proven and the controller parameters can be adjusted to handle perturbances of arbitrary magnitude. Since the robots behave as an admittance, torque control is not required. Several experiments were conducted to benchmark and validate the performance of this control law. The controller is able to maintain a clamp force within ± 4N despite a wide variation in trajectory and control frequency. This fine level of force control makes the controller suitable for delicate tasks. The conclusion suggests several extensions that would make this control law more useful. For example, adaptive control would improve the performance. A position feedback controller should be cascaded so that the robot arms’ tracking accuracy is improved. Many tasks (such as co-robotics) require external compliance, and we show how external compliance could easily be incorporated.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"oneil-objectrecognitionandposeestimationfornuclearmanipulationinnuclearmaterialshandlingapplications-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/21610\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'oneil-objectrecognitionandposeestimationfornuclearmanipulationinnuclearmaterialshandlingapplications-2013', 'https://repositories.lib.utexas.edu/handle/2152/21610', event);\">\n    Object recognition and pose estimation for nuclear manipulation in nuclear materials handling applications.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Brian Erick O'Neil.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, May 2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/21610\"\n     onclick=\"log_download('oneil-objectrecognitionandposeestimationfornuclearmanipulationinnuclearmaterialshandlingapplications-2013', 'https://repositories.lib.utexas.edu/handle/2152/21610', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Object recognition and pose estimation for nuclear manipulation in nuclear materials handling applications [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/oneil-objectrecognitionandposeestimationfornuclearmanipulationinnuclearmaterialshandlingapplications-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('oneil-objectrecognitionandposeestimationfornuclearmanipulationinnuclearmaterialshandlingapplications-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{oneil_object_2013,\n\ttype = {Dissertation},\n\ttitle = {Object recognition and pose estimation for nuclear manipulation in nuclear materials handling applications},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/21610},\n\tabstract = {This dissertation advances the capability of autonomous or semiautonomous robotic manipulation systems by providing the tools required to turn depth sensor measurements into a meaningful representation of the objects present in the robot&#x27;s environment. This process happens in two steps. First, the points from depth imagery are separated into clusters representing individual objects by a Euclidean clustering scheme. Each cluster is then passed to a recognition algorithm that determines what it is, and where it is. This information allows the robot to determine a pose of the object for grasp planning or obstacle avoidance. To accomplish this, the recognition system must extract mathematical representation of each point cluster. To this end, this dissertation presents a new feature descriptor, the Cylindrical Projection Histogram which captures the shape, size, and viewpoint of the object while maintaining invariance to image scale. These features are used to train a classifier which can then determine the label and pose of each cluster identified in a scene. The results are used to inform a probabilistic model of the object, that quantifies uncertainty and allows Bayesian update of the object&#x27;s label and position. Experimental results on live data show a 97.2\\% correct recognition rate for a classifier based on the Cylindrical Projection Histogram. This is a significant improvement over another state-of-the art feature that gives an 89.6\\% recognition rate on the same object set. With statistical filtering over 10 frames, the raw recognition rate improve to 100\\% and 92.3\\% respectively. For pose estimation, both features offe rrotational pose estimation performance from 12° to 30°, and pose errors below 1 cm. This work supports deployment of robotic manipulation systems in unstructured glovebox environments in US Department of Energy facilities. The recognition performance of the CPH classifier is adequate for this purpose. The pose estimation performance is sufficient for gross pick-and-place tasks of simple objects, but not sufficient for dexterous manipulation. However, the pose estimation, along with the probabilistic model, support post-recognition pose refinement techniques.},\n\tlanguage = {en\\_US},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {O&#x27;Neil, Brian Erick},\n\tmonth = may,\n\tyear = {2013},\n\tkeywords = {Dissertation},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This dissertation advances the capability of autonomous or semiautonomous robotic manipulation systems by providing the tools required to turn depth sensor measurements into a meaningful representation of the objects present in the robot's environment. This process happens in two steps. First, the points from depth imagery are separated into clusters representing individual objects by a Euclidean clustering scheme. Each cluster is then passed to a recognition algorithm that determines what it is, and where it is. This information allows the robot to determine a pose of the object for grasp planning or obstacle avoidance. To accomplish this, the recognition system must extract mathematical representation of each point cluster. To this end, this dissertation presents a new feature descriptor, the Cylindrical Projection Histogram which captures the shape, size, and viewpoint of the object while maintaining invariance to image scale. These features are used to train a classifier which can then determine the label and pose of each cluster identified in a scene. The results are used to inform a probabilistic model of the object, that quantifies uncertainty and allows Bayesian update of the object's label and position. Experimental results on live data show a 97.2% correct recognition rate for a classifier based on the Cylindrical Projection Histogram. This is a significant improvement over another state-of-the art feature that gives an 89.6% recognition rate on the same object set. With statistical filtering over 10 frames, the raw recognition rate improve to 100% and 92.3% respectively. For pose estimation, both features offe rrotational pose estimation performance from 12° to 30°, and pose errors below 1 cm. This work supports deployment of robotic manipulation systems in unstructured glovebox environments in US Department of Energy facilities. The recognition performance of the CPH classifier is adequate for this purpose. The pose estimation performance is sufficient for gross pick-and-place tasks of simple objects, but not sufficient for dexterous manipulation. However, the pose estimation, along with the probabilistic model, support post-recognition pose refinement techniques.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"williams-pryor-automateddesignofrobotichumanmanufacturingworkcellsinradioactiveenvironments-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Automated design of robotic/human manufacturing workcells in radioactive environments.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joshua Williams;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2013 ANS Annual Meeting</i>, Atlanta, GA, June 2013. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/williams-pryor-automateddesignofrobotichumanmanufacturingworkcellsinradioactiveenvironments-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('williams-pryor-automateddesignofrobotichumanmanufacturingworkcellsinradioactiveenvironments-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{williams_automated_2013,\n\taddress = {Atlanta, GA},\n\ttitle = {Automated design of robotic/human manufacturing workcells in radioactive environments},\n\tbooktitle = {Proceedings of the 2013 {ANS} {Annual} {Meeting}},\n\tpublisher = {ANS},\n\tauthor = {Williams, Joshua and Pryor, Mitch},\n\tmonth = jun,\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hashem-hunter-pryor-automatingxrayandneutronnondestructivetestingapplication-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Automating x-ray and neutron non-destructive testing application.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joseph Hashem;  James Hunter;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In Washington DC, November 2013. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hashem-hunter-pryor-automatingxrayandneutronnondestructivetestingapplication-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hashem-hunter-pryor-automatingxrayandneutronnondestructivetestingapplication-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{hashem_automating_2013,\n\taddress = {Washington DC},\n\ttitle = {Automating x-ray and neutron non-destructive testing application},\n\tpublisher = {ANS},\n\tauthor = {Hashem, Joseph and Hunter, James and Pryor, Mitch},\n\tmonth = nov,\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"brabec-ashapeprimitivebasedgraspingstrategyusingvisualobjectrecognitioninconfinedhazardousenvironments-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/23635\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'brabec-ashapeprimitivebasedgraspingstrategyusingvisualobjectrecognitioninconfinedhazardousenvironments-2013', 'https://repositories.lib.utexas.edu/handle/2152/23635', event);\">\n    A shape primitive-based grasping strategy using visual object recognition in confined, hazardous environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Cheryl Lynn Brabec.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, December 2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/23635\"\n     onclick=\"log_download('brabec-ashapeprimitivebasedgraspingstrategyusingvisualobjectrecognitioninconfinedhazardousenvironments-2013', 'https://repositories.lib.utexas.edu/handle/2152/23635', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A shape primitive-based grasping strategy using visual object recognition in confined, hazardous environments [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/brabec-ashapeprimitivebasedgraspingstrategyusingvisualobjectrecognitioninconfinedhazardousenvironments-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('brabec-ashapeprimitivebasedgraspingstrategyusingvisualobjectrecognitioninconfinedhazardousenvironments-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{brabec_shape_2013,\n\ttype = {Thesis},\n\ttitle = {A shape primitive-based grasping strategy using visual object recognition in confined, hazardous environments},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/23635},\n\tabstract = {Grasping can be a complicated process for robotics due to the replication of human fine motor skills and typically high degrees of freedom in robotic hands. Robotic hands that are underactuated provide a method by which grasps can be executed without the onerous task of calculating every fingertip placement. The general shape configuration modes available to underactuated hands lend themselves well to an approach of grasping by shape primitives, and especially so when applied to gloveboxes in the nuclear domain due to the finite number of objects anticipated and the safe assumption that objects in the set are rigid. Thus, the object set found in a glovebox can be categorized as a small set of primitives such as cylinders, cubes, and bowls/hemispheres, etc. These same assumptions can also be leveraged for reliable identification and pose estimation within a glovebox. This effort develops and simulates a simple, but robust and effective grasp planning algorithm for a 7DOF industrial robot and three fingered dexterous, but underactuated robotic hand. The proposed grasping algorithm creates a grasp by generating a vector to the object from the base of the robot and manipulating that vector to be in a suitable starting location for a grasp. The grasp preshapes are selected to match shape primitives and are built-in to the Robotiq gripper used for algorithm demonstration purposes. If a grasp is found to be unsuitable via an inverse kinematics solution check, the algorithm procedurally generates additional grasps to try based on object geometry until a solution can be found or all possibilities are exhausted. The algorithm was tested and found capable of generating valid grasps for visually identified objects, and can recalculate grasps if one is found to be incompatible with the current kinematics of the robotic arm.},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Brabec, Cheryl Lynn},\n\tmonth = dec,\n\tyear = {2013},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Grasping can be a complicated process for robotics due to the replication of human fine motor skills and typically high degrees of freedom in robotic hands. Robotic hands that are underactuated provide a method by which grasps can be executed without the onerous task of calculating every fingertip placement. The general shape configuration modes available to underactuated hands lend themselves well to an approach of grasping by shape primitives, and especially so when applied to gloveboxes in the nuclear domain due to the finite number of objects anticipated and the safe assumption that objects in the set are rigid. Thus, the object set found in a glovebox can be categorized as a small set of primitives such as cylinders, cubes, and bowls/hemispheres, etc. These same assumptions can also be leveraged for reliable identification and pose estimation within a glovebox. This effort develops and simulates a simple, but robust and effective grasp planning algorithm for a 7DOF industrial robot and three fingered dexterous, but underactuated robotic hand. The proposed grasping algorithm creates a grasp by generating a vector to the object from the base of the robot and manipulating that vector to be in a suitable starting location for a grasp. The grasp preshapes are selected to match shape primitives and are built-in to the Robotiq gripper used for algorithm demonstration purposes. If a grasp is found to be unsuitable via an inverse kinematics solution check, the algorithm procedurally generates additional grasps to try based on object geometry until a solution can be found or all possibilities are exhausted. The algorithm was tested and found capable of generating valid grasps for visually identified objects, and can recalculate grasps if one is found to be incompatible with the current kinematics of the robotic arm.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"williams-automatedconceptualdesignofmanufacturingworkcellsinradioactiveenvironments-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/21429\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'williams-automatedconceptualdesignofmanufacturingworkcellsinradioactiveenvironments-2013', 'https://repositories.lib.utexas.edu/handle/2152/21429', event);\">\n    Automated conceptual design of manufacturing workcells in radioactive environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joshua Murry Williams.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, August 2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/21429\"\n     onclick=\"log_download('williams-automatedconceptualdesignofmanufacturingworkcellsinradioactiveenvironments-2013', 'https://repositories.lib.utexas.edu/handle/2152/21429', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Automated conceptual design of manufacturing workcells in radioactive environments [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/williams-automatedconceptualdesignofmanufacturingworkcellsinradioactiveenvironments-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('williams-automatedconceptualdesignofmanufacturingworkcellsinradioactiveenvironments-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{williams_automated_2013,\n\ttype = {Dissertation},\n\ttitle = {Automated conceptual design of manufacturing workcells in radioactive environments},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/21429},\n\tabstract = {The design of manufacturing systems in hazardous environments is complex, requiring interdisciplinary knowledge to determine which components and operators (human or robotic) are feasible. When conceptualizing designs, some options may be overlooked or unknowingly infeasible due to the design engineers&#x27; lack of knowledge in a particular field or ineffective communication of requirements between disciplines. To alleviate many of these design issues, we develop a computational design tool to automate the synthesis of conceptual manufacturing system designs and optimization of preliminary layouts. To generate workcell concepts for manufacturing processes, we create a knowledge-based system (KBS) that performs functional modeling using a common language, a generic component database, and a rule set. The KBS produces high-level task plans for specific manufacturing processes and allocates needed material handling tasks between compatible human and/or robotic labor. We develop an extended pattern search (EPS) algorithm to optimize system layouts based on worker dose and cycle time minimization using the functions and sequencing of generated task plans. The KBS and EPS algorithm were applied to the design of glovebox processing systems at Los Alamos National Laboratory (LANL). Our computational design tool successfully generates design concepts with varied task allocation and processing sub-tasks and layouts with favorable manipulation workspaces. This work establishes a framework for automated conceptual design while providing designers with a beneficial tool for designing manufacturing systems in an interdisciplinary and highly constrained domain.},\n\tlanguage = {en\\_US},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Williams, Joshua Murry},\n\tmonth = aug,\n\tyear = {2013},\n\tkeywords = {Dissertation},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The design of manufacturing systems in hazardous environments is complex, requiring interdisciplinary knowledge to determine which components and operators (human or robotic) are feasible. When conceptualizing designs, some options may be overlooked or unknowingly infeasible due to the design engineers' lack of knowledge in a particular field or ineffective communication of requirements between disciplines. To alleviate many of these design issues, we develop a computational design tool to automate the synthesis of conceptual manufacturing system designs and optimization of preliminary layouts. To generate workcell concepts for manufacturing processes, we create a knowledge-based system (KBS) that performs functional modeling using a common language, a generic component database, and a rule set. The KBS produces high-level task plans for specific manufacturing processes and allocates needed material handling tasks between compatible human and/or robotic labor. We develop an extended pattern search (EPS) algorithm to optimize system layouts based on worker dose and cycle time minimization using the functions and sequencing of generated task plans. The KBS and EPS algorithm were applied to the design of glovebox processing systems at Los Alamos National Laboratory (LANL). Our computational design tool successfully generates design concepts with varied task allocation and processing sub-tasks and layouts with favorable manipulation workspaces. This work establishes a framework for automated conceptual design while providing designers with a beneficial tool for designing manufacturing systems in an interdisciplinary and highly constrained domain.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"schroeder-requirementsforeffectivecollisiondetectiononindustrialserialmanipulators-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/21585\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'schroeder-requirementsforeffectivecollisiondetectiononindustrialserialmanipulators-2013', 'https://repositories.lib.utexas.edu/handle/2152/21585', event);\">\n    Requirements for effective collision detection on industrial serial manipulators.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Kyle Anthony Schroeder.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, August 2013.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/21585\"\n     onclick=\"log_download('schroeder-requirementsforeffectivecollisiondetectiononindustrialserialmanipulators-2013', 'https://repositories.lib.utexas.edu/handle/2152/21585', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Requirements for effective collision detection on industrial serial manipulators [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/schroeder-requirementsforeffectivecollisiondetectiononindustrialserialmanipulators-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('schroeder-requirementsforeffectivecollisiondetectiononindustrialserialmanipulators-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{schroeder_requirements_2013,\n\ttype = {Dissertation},\n\ttitle = {Requirements for effective collision detection on industrial serial manipulators},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/21585},\n\tabstract = {Human-robot interaction (HRI) is the future of robotics.  It is essential in the expanding markets, such as surgical, medical, and therapy robots.  However, existing industrial systems can also benefit from safe and effective HRI.  Many robots are now being fitted with joint torque sensors to enable effective human-robot collision detection.  Many existing and off-the-shelf industrial robotic systems are not equipped with these sensors.  This work presents and demonstrates a method for effective collision detection on a system with motor current feedback instead of joint torque sensors.  The effectiveness of this system is also evaluated by simulating collisions with human hands and arms. Joint torques are estimated from the input motor currents.  The joint friction and hysteresis losses are estimated for each joint of an SIA5D 7 Degree of Freedom (DOF) manipulator.  The estimated joint torques are validated by comparing to joint torques predicted by the recursive application of Newton-Euler equations.  During a pick and place motion, the estimation error in joint 2 is less than 10 Newton meters.  Acceleration increased the estimation uncertainty resulting in estimation errors of 20 Newton meters over the entire workspace. When the manipulator makes contact with the environment or a human, the same technique can be used to estimate contact torques from motor current.  Current-estimated contact torque is validated against the calculated torque due to a measured force.  The error in contact force is less than 10 Newtons.  Collision detection is demonstrated on the SIA5D using estimated joint torques. The effectiveness of the collision detection is explored through simulated collisions with the human hands and arms.  Simulated collisions are performed both for a typical pick and place motion as well as trajectories that transverse the entire workspace.  The simulated forces and pressures are compared to acceptable maximums for human hands and arms.  During pick and place motions with vertical and lateral end effector motions at 10mm/s and 25mm/s, the maximum forces and pressures remained below acceptable levels.  At and near singular configurations some collisions can be difficult to detect.  Fortunately, these configurations are generally avoided for kinematic reasons.},\n\tlanguage = {en\\_US},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Schroeder, Kyle Anthony},\n\tmonth = aug,\n\tyear = {2013},\n\tkeywords = {Dissertation},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Human-robot interaction (HRI) is the future of robotics. It is essential in the expanding markets, such as surgical, medical, and therapy robots. However, existing industrial systems can also benefit from safe and effective HRI. Many robots are now being fitted with joint torque sensors to enable effective human-robot collision detection. Many existing and off-the-shelf industrial robotic systems are not equipped with these sensors. This work presents and demonstrates a method for effective collision detection on a system with motor current feedback instead of joint torque sensors. The effectiveness of this system is also evaluated by simulating collisions with human hands and arms. Joint torques are estimated from the input motor currents. The joint friction and hysteresis losses are estimated for each joint of an SIA5D 7 Degree of Freedom (DOF) manipulator. The estimated joint torques are validated by comparing to joint torques predicted by the recursive application of Newton-Euler equations. During a pick and place motion, the estimation error in joint 2 is less than 10 Newton meters. Acceleration increased the estimation uncertainty resulting in estimation errors of 20 Newton meters over the entire workspace. When the manipulator makes contact with the environment or a human, the same technique can be used to estimate contact torques from motor current. Current-estimated contact torque is validated against the calculated torque due to a measured force. The error in contact force is less than 10 Newtons. Collision detection is demonstrated on the SIA5D using estimated joint torques. The effectiveness of the collision detection is explored through simulated collisions with the human hands and arms. Simulated collisions are performed both for a typical pick and place motion as well as trajectories that transverse the entire workspace. The simulated forces and pressures are compared to acceptable maximums for human hands and arms. During pick and place motions with vertical and lateral end effector motions at 10mm/s and 25mm/s, the maximum forces and pressures remained below acceptable levels. At and near singular configurations some collisions can be difficult to detect. Fortunately, these configurations are generally avoided for kinematic reasons.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"williams-pryor-aknowledgebasedapproachfortheautomateddesignofrobotichumanmanufacturingworkcellsinhazardousenvironments-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830292\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'williams-pryor-aknowledgebasedapproachfortheautomateddesignofrobotichumanmanufacturingworkcellsinhazardousenvironments-2013', 'http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830292', event);\">\n    A Knowledge-Based Approach for the Automated Design of Robotic/Human Manufacturing Workcells in Hazardous Environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joshua M. Williams;  and  Mitch W. Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference</i>, pages 7–17, August 2013. American Society of Mechanical Engineers\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830292\"\n     onclick=\"log_download('williams-pryor-aknowledgebasedapproachfortheautomateddesignofrobotichumanmanufacturingworkcellsinhazardousenvironments-2013', 'http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830292', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Knowledge-Based Approach for the Automated Design of Robotic/Human Manufacturing Workcells in Hazardous Environments [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DETC2013-12670\"\n     onclick=\"log_download('williams-pryor-aknowledgebasedapproachfortheautomateddesignofrobotichumanmanufacturingworkcellsinhazardousenvironments-2013', 'http://doi.org/10.1115/DETC2013-12670', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/williams-pryor-aknowledgebasedapproachfortheautomateddesignofrobotichumanmanufacturingworkcellsinhazardousenvironments-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('williams-pryor-aknowledgebasedapproachfortheautomateddesignofrobotichumanmanufacturingworkcellsinhazardousenvironments-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{williams_knowledge-based_2013,\n\ttitle = {A {Knowledge}-{Based} {Approach} for the {Automated} {Design} of {Robotic}/{Human} {Manufacturing} {Workcells} in {Hazardous} {Environments}},\n\turl = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830292},\n\tdoi = {10.1115/DETC2013-12670},\n\turldate = {2014-06-10},\n\tbooktitle = {{ASME} 2013 {International} {Design} {Engineering} {Technical} {Conferences} and {Computers} and {Information} in {Engineering} {Conference}},\n\tpublisher = {American Society of Mechanical Engineers},\n\tauthor = {Williams, Joshua M. and Pryor, Mitch W.},\n\tmonth = aug,\n\tyear = {2013},\n\tpages = {7--17},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"schroeder-pryor-harden-ablackboxmodelforestimatingjointtorqueinanindustrialserialmanipulator-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830783\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'schroeder-pryor-harden-ablackboxmodelforestimatingjointtorqueinanindustrialserialmanipulator-2013', 'http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830783', event);\">\n    A Black Box Model for Estimating Joint Torque in an Industrial Serial Manipulator.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Kyle A. Schroeder;  Mitch Pryor;  and  Troy Harden.\n</span>\n\n  \n\n</span>\n\n  In <i>ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference</i>, pages 62–71, August 2013. American Society of Mechanical Engineers\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830783\"\n     onclick=\"log_download('schroeder-pryor-harden-ablackboxmodelforestimatingjointtorqueinanindustrialserialmanipulator-2013', 'http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830783', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Black Box Model for Estimating Joint Torque in an Industrial Serial Manipulator [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/DETC2013-12407\"\n     onclick=\"log_download('schroeder-pryor-harden-ablackboxmodelforestimatingjointtorqueinanindustrialserialmanipulator-2013', 'http://doi.org/10.1115/DETC2013-12407', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/schroeder-pryor-harden-ablackboxmodelforestimatingjointtorqueinanindustrialserialmanipulator-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('schroeder-pryor-harden-ablackboxmodelforestimatingjointtorqueinanindustrialserialmanipulator-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{schroeder_black_2013,\n\ttitle = {A {Black} {Box} {Model} for {Estimating} {Joint} {Torque} in an {Industrial} {Serial} {Manipulator}},\n\turl = {http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1830783},\n\tdoi = {10.1115/DETC2013-12407},\n\turldate = {2014-06-10},\n\tbooktitle = {{ASME} 2013 {International} {Design} {Engineering} {Technical} {Conferences} and {Computers} and {Information} in {Engineering} {Conference}},\n\tpublisher = {American Society of Mechanical Engineers},\n\tauthor = {Schroeder, Kyle A. and Pryor, Mitch and Harden, Troy},\n\tmonth = aug,\n\tyear = {2013},\n\tpages = {62--71},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"schroeder-pryor-harden-industrialmanipulatorcollisiondetectiondemonstratedusingmotorcurrentfeedbackandpositioncontrol-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Industrial Manipulator Collision Detection Demonstrated Using Motor Current Feedback and Position Control.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Kyle Schroeder;  Mitch Pryor;  and  Troy Harden.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2013 ANS Annual Meeting</i>, Atlanta, GA, June 2013. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/schroeder-pryor-harden-industrialmanipulatorcollisiondetectiondemonstratedusingmotorcurrentfeedbackandpositioncontrol-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('schroeder-pryor-harden-industrialmanipulatorcollisiondetectiondemonstratedusingmotorcurrentfeedbackandpositioncontrol-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{schroeder_industrial_2013,\n\taddress = {Atlanta, GA},\n\ttitle = {Industrial {Manipulator} {Collision} {Detection} {Demonstrated} {Using} {Motor} {Current} {Feedback} and {Position} {Control}},\n\tbooktitle = {Proceedings of the 2013 {ANS} {Annual} {Meeting}},\n\tpublisher = {ANS},\n\tauthor = {Schroeder, Kyle and Pryor, Mitch and Harden, Troy},\n\tmonth = jun,\n\tyear = {2013},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2012\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2012')\"\n      onkeypress=\"toggleGroup('group_2012')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2012</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"hashem-therequirementsandimplementationofdynamicallydeployedroboticsystemsforuseinconfinedhazardousenvironments-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/19692\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hashem-therequirementsandimplementationofdynamicallydeployedroboticsystemsforuseinconfinedhazardousenvironments-2012', 'https://repositories.lib.utexas.edu/handle/2152/19692', event);\">\n    The requirements and implementation of dynamically-deployed robotic systems for use in confined, hazardous environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joseph Anthony Hashem.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, December 2012.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/19692\"\n     onclick=\"log_download('hashem-therequirementsandimplementationofdynamicallydeployedroboticsystemsforuseinconfinedhazardousenvironments-2012', 'https://repositories.lib.utexas.edu/handle/2152/19692', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The requirements and implementation of dynamically-deployed robotic systems for use in confined, hazardous environments [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hashem-therequirementsandimplementationofdynamicallydeployedroboticsystemsforuseinconfinedhazardousenvironments-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hashem-therequirementsandimplementationofdynamicallydeployedroboticsystemsforuseinconfinedhazardousenvironments-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{hashem_requirements_2012,\n\ttype = {Thesis},\n\ttitle = {The requirements and implementation of dynamically-deployed robotic systems for use in confined, hazardous environments},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/19692},\n\tabstract = {This report discusses the design and operation of dynamically-deployed robotic systems for use in confined, hazardous environments, such as those found in Department of Energy gloveboxes to handle nuclear material while keeping humans at a safe distance. The Department of Energy faces unique technical and operational challenges to automate glovebox operations. These operations share characteristics such as confined spaces, extremely harsh environmental conditions, simplified field serviceability, and portability. Human-scale uncertainty must be tolerated since many glovebox tasks require manipulation of objects whose positions are not predefined and vary in unpredictable ways due to external factors including humans in the loop, interactions with preexisting systems, and completing experimental (as opposed to manufacturing tasks) where the final state of handled objects may not be known. Completion of automated tasks is much more difficult without any a priori knowledge of the item to be handled. \nThis effort will examine both the software and hardware requirements and technical challenges associated with this domain. The examined hardware testbeds include two seven degree-of-freedom glovebox manipulators (5 kg payload each) in a dual-arm configuration deployed via gloveports as well as a similar but larger (10 kg payload) manipulator deployed via a transfer port. Several critical operational capabilities are demonstrated, including deployment, collision detection, manipulation, trajectory generation, tele-manipulation, and calibration. \nImplementing automation within the confines of a glovebox is far from trivial. The unique environmental and system requirements include confined operating spaces, pre-existing, fixed environments, difficulties when performing complex maintenance and repair, and unconventional workspace envelopes. Many glovebox processes are still experimental, so flexible robotic systems are necessary to test and perfect process methodologies while keeping humans at a safe distance. The need for a gloveport-deployed robotic system that can be easily inserted and removed from an existing glovebox stems from these set of challenges. \nPort-deployed systems allow the operators to move away from hazards while allowing them to return when (or if) necessary. Ultimately, port-deployed manipulators provide a flexible and reversible approach for increasing the use of automation in glovebox environments, without significant redesign of existing processes or the environment where they occur.},\n\tlanguage = {en\\_US},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Hashem, Joseph Anthony},\n\tmonth = dec,\n\tyear = {2012},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This report discusses the design and operation of dynamically-deployed robotic systems for use in confined, hazardous environments, such as those found in Department of Energy gloveboxes to handle nuclear material while keeping humans at a safe distance. The Department of Energy faces unique technical and operational challenges to automate glovebox operations. These operations share characteristics such as confined spaces, extremely harsh environmental conditions, simplified field serviceability, and portability. Human-scale uncertainty must be tolerated since many glovebox tasks require manipulation of objects whose positions are not predefined and vary in unpredictable ways due to external factors including humans in the loop, interactions with preexisting systems, and completing experimental (as opposed to manufacturing tasks) where the final state of handled objects may not be known. Completion of automated tasks is much more difficult without any a priori knowledge of the item to be handled. This effort will examine both the software and hardware requirements and technical challenges associated with this domain. The examined hardware testbeds include two seven degree-of-freedom glovebox manipulators (5 kg payload each) in a dual-arm configuration deployed via gloveports as well as a similar but larger (10 kg payload) manipulator deployed via a transfer port. Several critical operational capabilities are demonstrated, including deployment, collision detection, manipulation, trajectory generation, tele-manipulation, and calibration. Implementing automation within the confines of a glovebox is far from trivial. The unique environmental and system requirements include confined operating spaces, pre-existing, fixed environments, difficulties when performing complex maintenance and repair, and unconventional workspace envelopes. Many glovebox processes are still experimental, so flexible robotic systems are necessary to test and perfect process methodologies while keeping humans at a safe distance. The need for a gloveport-deployed robotic system that can be easily inserted and removed from an existing glovebox stems from these set of challenges. Port-deployed systems allow the operators to move away from hazards while allowing them to return when (or if) necessary. Ultimately, port-deployed manipulators provide a flexible and reversible approach for increasing the use of automation in glovebox environments, without significant redesign of existing processes or the environment where they occur.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"oneil-brabec-pryor-hazardousworkspacemodelingformanipulatorsusingspatialhazardfunctions-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Hazardous workspace modeling for manipulators using spatial hazard functions.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   B. O'Neil;  C. Brabec;  and  M. Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)</i>, pages 1–6, November 2012. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/SSRR.2012.6523880\"\n     onclick=\"log_download('oneil-brabec-pryor-hazardousworkspacemodelingformanipulatorsusingspatialhazardfunctions-2012', 'http://doi.org/10.1109/SSRR.2012.6523880', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/oneil-brabec-pryor-hazardousworkspacemodelingformanipulatorsusingspatialhazardfunctions-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('oneil-brabec-pryor-hazardousworkspacemodelingformanipulatorsusingspatialhazardfunctions-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{oneil_hazardous_2012,\n\ttitle = {Hazardous workspace modeling for manipulators using spatial hazard functions},\n\tdoi = {10.1109/SSRR.2012.6523880},\n\tabstract = {This paper describes an approach to motion planning that includes hazards individually characterized as continuous functions of space. These functions contribute to a complex and discontinuous yet practical representation of the hazards found in a manipulator&#x27;s workspace. The hazard model is a smoothed and scaled representation of the actual physical hazard sampled discretely over the robot&#x27;s workspace. This research is primarily motivated to reduce damage to manipulators working in high-radiation environments, but is easily extended to other spatial hazards including heat sources, overlapping workspaces, etc. The gradient of the hazard function is used to generate a force that can be included by an artificial potential field motion planner easing its integration with other existing techniques used for obstacle avoidance, target acquisition, etc. The motion planner additionally scales the robot&#x27;s velocity in proportion to the magnitude of the hazard model and determines the path. This results in a motion influenced in the direction of greatest hazard reduction at a speed that reduces the time the robot is subject to abnormally high hazard. These techniques are demonstrated on a port-deployed glovebox manipulator in a simulated hazardous environment. Over the course of a demonstration task, the radiation exposure to the robot is reduced by over 50\\%.},\n\tbooktitle = {2012 {IEEE} {International} {Symposium} on {Safety}, {Security}, and {Rescue} {Robotics} ({SSRR})},\n\tauthor = {O&#x27;Neil, B. and Brabec, C. and Pryor, M.},\n\tmonth = nov,\n\tyear = {2012},\n\tkeywords = {artificial potential field motion planner, collision avoidance, continuous space functions, hazard model, hazard reduction, hazardous areas, hazardous workspace modeling, heat sources, high-radiation environments, industrial manipulators, manipulator workspace, motion planner, motion planning approach, obstacle avoidance, port-deployed glovebox manipulator, radiation effects, radiation exposure, robot velocity, scaled representation, simulated hazardous environment, spatial hazard functions, target acquisition},\n\tpages = {1--6},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper describes an approach to motion planning that includes hazards individually characterized as continuous functions of space. These functions contribute to a complex and discontinuous yet practical representation of the hazards found in a manipulator's workspace. The hazard model is a smoothed and scaled representation of the actual physical hazard sampled discretely over the robot's workspace. This research is primarily motivated to reduce damage to manipulators working in high-radiation environments, but is easily extended to other spatial hazards including heat sources, overlapping workspaces, etc. The gradient of the hazard function is used to generate a force that can be included by an artificial potential field motion planner easing its integration with other existing techniques used for obstacle avoidance, target acquisition, etc. The motion planner additionally scales the robot's velocity in proportion to the magnitude of the hazard model and determines the path. This results in a motion influenced in the direction of greatest hazard reduction at a speed that reduces the time the robot is subject to abnormally high hazard. These techniques are demonstrated on a port-deployed glovebox manipulator in a simulated hazardous environment. Over the course of a demonstration task, the radiation exposure to the robot is reduced by over 50%.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-realtimemonitoringofstudentprocrastinationinapsifirstyearprogrammingcourse-2012\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://peer.asee.org/real-time-monitoring-of-student-procrastination-in-a-psi-first-year-programming-course\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pryor-realtimemonitoringofstudentprocrastinationinapsifirstyearprogrammingcourse-2012', 'https://peer.asee.org/real-time-monitoring-of-student-procrastination-in-a-psi-first-year-programming-course', event);\">\n    Real-time Monitoring of Student Procrastination in a PSI First-year Programming Course.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitchell Pryor.\n</span>\n\n  \n\n</span>\n\n  In pages 25.1099.1–25.1099.14, June 2012. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://peer.asee.org/real-time-monitoring-of-student-procrastination-in-a-psi-first-year-programming-course\"\n     onclick=\"log_download('pryor-realtimemonitoringofstudentprocrastinationinapsifirstyearprogrammingcourse-2012', 'https://peer.asee.org/real-time-monitoring-of-student-procrastination-in-a-psi-first-year-programming-course', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Real-time Monitoring of Student Procrastination in a PSI First-year Programming Course [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-realtimemonitoringofstudentprocrastinationinapsifirstyearprogrammingcourse-2012\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-realtimemonitoringofstudentprocrastinationinapsifirstyearprogrammingcourse-2012')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pryor_real-time_2012,\n\ttitle = {Real-time {Monitoring} of {Student} {Procrastination} in a {PSI} {First}-year {Programming} {Course}},\n\turl = {https://peer.asee.org/real-time-monitoring-of-student-procrastination-in-a-psi-first-year-programming-course},\n\turldate = {2018-12-29},\n\tauthor = {Pryor, Mitchell},\n\tmonth = jun,\n\tyear = {2012},\n\tpages = {25.1099.1--25.1099.14},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2011\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2011')\"\n      onkeypress=\"toggleGroup('group_2011')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2011</span>\n      <span class=\"bibbase_group_count\">\n        \n        (6)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"williams-pryor-landsberger-schulte-acompleteapproachtoreduceoperatordosageinhazardousenvironments-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Complete Approach to Reduce Operator Dosage in Hazardous Environments.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joshua Williams;  Mitch Pryor;  Sheldon Landsberger;  and  Louis D. Schulte.\n</span>\n\n  \n\n</span>\n\n  In Knoxville, TN, August 2011. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/williams-pryor-landsberger-schulte-acompleteapproachtoreduceoperatordosageinhazardousenvironments-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('williams-pryor-landsberger-schulte-acompleteapproachtoreduceoperatordosageinhazardousenvironments-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{williams_complete_2011,\n\taddress = {Knoxville, TN},\n\ttitle = {A {Complete} {Approach} to {Reduce} {Operator} {Dosage} in {Hazardous} {Environments}},\n\tpublisher = {ANS},\n\tauthor = {Williams, Joshua and Pryor, Mitch and Landsberger, Sheldon and Schulte, Louis D.},\n\tmonth = aug,\n\tyear = {2011},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"schroeder-pryor-harden-ontheuseofjointtorquesensorsforcollisiondetectioninaconfinedenvironment-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  On the Use of Joint Torque Sensors for Collision Detection in a Confined Environment.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Kyle Schroeder;  Mitch Pryor;  and  Troy Harden.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2011 ANS International Topical Meeting on Robotics and Remote Systems</i>, pages 1–11, Knoxville, TN, August 2011. American Nuclear Society\n  <span class=\"note\">(best paper, 2nd place)</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/schroeder-pryor-harden-ontheuseofjointtorquesensorsforcollisiondetectioninaconfinedenvironment-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('schroeder-pryor-harden-ontheuseofjointtorquesensorsforcollisiondetectioninaconfinedenvironment-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{schroeder_use_2011,\n\taddress = {Knoxville, TN},\n\ttitle = {On the {Use} of {Joint} {Torque} {Sensors} for {Collision} {Detection} in a {Confined} {Environment}},\n\tbooktitle = {Proceedings of the 2011 {ANS} {International} {Topical} {Meeting} on {Robotics} and {Remote} {Systems}},\n\tpublisher = {American Nuclear Society},\n\tauthor = {Schroeder, Kyle and Pryor, Mitch and Harden, Troy},\n\tmonth = aug,\n\tyear = {2011},\n\tnote = {(best paper, 2nd place)},\n\tpages = {1--11},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"oneil-pryor-landsberger-agraphbasedmodelingapproachforautomatingneutronradiographyexperimentation-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A graph-based modeling approach for automating neutron radiography experimentation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Brian O'Neil;  Mitch Pryor;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2011 ANS International Topical Meeting on Robotics and Remote Systems</i>, pages 1–12, Knoxville, TN, August 2011. American Nuclear Society\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/oneil-pryor-landsberger-agraphbasedmodelingapproachforautomatingneutronradiographyexperimentation-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('oneil-pryor-landsberger-agraphbasedmodelingapproachforautomatingneutronradiographyexperimentation-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{oneil_graph-based_2011,\n\taddress = {Knoxville, TN},\n\ttitle = {A graph-based modeling approach for automating neutron radiography experimentation},\n\tbooktitle = {Proceedings of the 2011 {ANS} {International} {Topical} {Meeting} on {Robotics} and {Remote} {Systems}},\n\tpublisher = {American Nuclear Society},\n\tauthor = {O&#x27;Neil, Brian and Pryor, Mitch and Landsberger, Sheldon},\n\tmonth = aug,\n\tyear = {2011},\n\tpages = {1--12},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"brabec-schroeder-williams-oneil-pryor-reducingtheoperatorsburdenduringteleoperationinvolvingcontacttasks-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Reducing the operator’s burden during teleoperation involving contact tasks.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Cheryl Brabec;  Kyle Schroeder;  Joshua Williams;  Brian O'Neil;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2011 ANS International Topical Meeting on Robotics and Remote Systems</i>, pages 1–12, Knoxville, TN, August 2011. American Nuclear Society\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/brabec-schroeder-williams-oneil-pryor-reducingtheoperatorsburdenduringteleoperationinvolvingcontacttasks-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('brabec-schroeder-williams-oneil-pryor-reducingtheoperatorsburdenduringteleoperationinvolvingcontacttasks-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{brabec_reducing_2011,\n\taddress = {Knoxville, TN},\n\ttitle = {Reducing the operator’s burden during teleoperation involving contact tasks},\n\tbooktitle = {Proceedings of the 2011 {ANS} {International} {Topical} {Meeting} on {Robotics} and {Remote} {Systems}},\n\tpublisher = {American Nuclear Society},\n\tauthor = {Brabec, Cheryl and Schroeder, Kyle and Williams, Joshua and O&#x27;Neil, Brian and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2011},\n\tpages = {1--12},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hashem-oneil-pryor-integratingfixedandflexiblesolutionsforgloveboxautomation-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Integrating fixed and flexible solutions for glovebox automation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joeseph Hashem;  Brian O'Neil;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2011 ANS International Topical Meeting on Robotics and Remote Systems</i>, pages 1–12, Knoxville, TN, August 2011. American Nuclear Society\n  <span class=\"note\">(best paper, 3rd place)</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hashem-oneil-pryor-integratingfixedandflexiblesolutionsforgloveboxautomation-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hashem-oneil-pryor-integratingfixedandflexiblesolutionsforgloveboxautomation-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{hashem_integrating_2011,\n\taddress = {Knoxville, TN},\n\ttitle = {Integrating fixed and flexible solutions for glovebox automation},\n\tbooktitle = {Proceedings of the 2011 {ANS} {International} {Topical} {Meeting} on {Robotics} and {Remote} {Systems}},\n\tpublisher = {American Nuclear Society},\n\tauthor = {Hashem, Joeseph and O&#x27;Neil, Brian and Pryor, Mitch},\n\tmonth = aug,\n\tyear = {2011},\n\tnote = {(best paper, 3rd place)},\n\tpages = {1--12},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"schroeder-pryor-frameworkforuseofgeneralizedforceandtorquedataintransitionallevelsofautonomy-2011\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Framework for Use of Generalized Force and Torque Data in Transitional Levels of Autonomy.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Kyle Schroeder;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In  Sabina Jeschke;  Honghai Liu;  and  Daniel Schilberg., editor(s), <i>Intelligent Robotics and Applications</i>, pages 442–451, December 2011. Springer Berlin Heidelberg\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1007/978-3-642-25489-5_43\"\n     onclick=\"log_download('schroeder-pryor-frameworkforuseofgeneralizedforceandtorquedataintransitionallevelsofautonomy-2011', 'http://doi.org/10.1007/978-3-642-25489-5_43', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/schroeder-pryor-frameworkforuseofgeneralizedforceandtorquedataintransitionallevelsofautonomy-2011\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('schroeder-pryor-frameworkforuseofgeneralizedforceandtorquedataintransitionallevelsofautonomy-2011')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{schroeder_framework_2011,\n\ttitle = {Framework for {Use} of {Generalized} {Force} and {Torque} {Data} in {Transitional} {Levels} of {Autonomy}},\n\tisbn = {978-3-642-25489-5},\n\tdoi = {10.1007/978-3-642-25489-5_43},\n\tabstract = {Manipulation of hazardous materials requires the use of robotics to limit exposure of human operators to the danger. In order to improve manipulator effectiveness while ensuring reliability and redundancy, layers of control are implemented in increments. Each level of autonomy is established such that should a fault occur, the control system can be operated at a lower level of autonomy. Force and torque data can be used as both a structural element of a level of autonomy and for fault detection. This paper presents a framework for the use of generalized force and torque data for improving manipulator safety, operational effectiveness, and world model augmentation. The framework is applied to a demonstration of the automated door opening.},\n\tlanguage = {en},\n\tbooktitle = {Intelligent {Robotics} and {Applications}},\n\tpublisher = {Springer Berlin Heidelberg},\n\tauthor = {Schroeder, Kyle and Pryor, Mitch},\n\teditor = {Jeschke, Sabina and Liu, Honghai and Schilberg, Daniel},\n\tmonth = dec,\n\tyear = {2011},\n\tkeywords = {autonomy, force control, position based force control},\n\tpages = {442--451},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Manipulation of hazardous materials requires the use of robotics to limit exposure of human operators to the danger. In order to improve manipulator effectiveness while ensuring reliability and redundancy, layers of control are implemented in increments. Each level of autonomy is established such that should a fault occur, the control system can be operated at a lower level of autonomy. Force and torque data can be used as both a structural element of a level of autonomy and for fault detection. This paper presents a framework for the use of generalized force and torque data for improving manipulator safety, operational effectiveness, and world model augmentation. The framework is applied to a demonstration of the automated door opening.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2010\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2010')\"\n      onkeypress=\"toggleGroup('group_2010')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2010</span>\n      <span class=\"bibbase_group_count\">\n        \n        (4)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"oneil-graphbasedworldmodelforroboticmanipulation-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-08-1734\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'oneil-graphbasedworldmodelforroboticmanipulation-2010', 'https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-08-1734', event);\">\n    Graph-based world-model for robotic manipulation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Brian Erick O'Neil.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, August 2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-08-1734\"\n     onclick=\"log_download('oneil-graphbasedworldmodelforroboticmanipulation-2010', 'https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-08-1734', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Graph-based world-model for robotic manipulation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/oneil-graphbasedworldmodelforroboticmanipulation-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('oneil-graphbasedworldmodelforroboticmanipulation-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{oneil_graph-based_2010,\n\ttype = {Thesis},\n\ttitle = {Graph-based world-model for robotic manipulation},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-08-1734},\n\tabstract = {There has been a significant push in robotics research toward robot autonomy. However, full autonomy is currently impractical for all but the most clearly defined tasks in the most structured environments. However, as tasks become less defined and environments become cluttered and less controlled, there is still a benefit to implementing semi-autonomous behaviors where aspects of the tasks are completed autonomously thus reducing the burden on the human operator. A key component of a robot control system that supports this functionality is a robust world model to act as a repository of environmental information. \nThe research community has provided many world-modeling solutions to support autonomous vehicle navigation. As such, they focus primarily on preventing collisions with the environment. Modeling schemes designed for collision prevention are of limited use to robotic manipulators that must have contact interaction with the environment as a matter of course.  \nThis thesis presents a world-modeling scheme that abstracts the model of the environment into a graph structure. This abstraction separates the concepts of entities in the environment from their relationships to the environment. The result is an intuitive world model that supports not only collision detection, but also motion planning and grasping. The graph-based world model presented can be searched by semantic type and tag values, allowing any number of agents to simultaneously use and update the model without causing failures elsewhere in the system. These capabilities are demonstrated on two different automated hot-cell glovebox systems, and one mobile manipulation system for use in remote contamination testing.},\n\tlanguage = {eng},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {O&#x27;Neil, Brian Erick},\n\tmonth = aug,\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  There has been a significant push in robotics research toward robot autonomy. However, full autonomy is currently impractical for all but the most clearly defined tasks in the most structured environments. However, as tasks become less defined and environments become cluttered and less controlled, there is still a benefit to implementing semi-autonomous behaviors where aspects of the tasks are completed autonomously thus reducing the burden on the human operator. A key component of a robot control system that supports this functionality is a robust world model to act as a repository of environmental information. The research community has provided many world-modeling solutions to support autonomous vehicle navigation. As such, they focus primarily on preventing collisions with the environment. Modeling schemes designed for collision prevention are of limited use to robotic manipulators that must have contact interaction with the environment as a matter of course. This thesis presents a world-modeling scheme that abstracts the model of the environment into a graph structure. This abstraction separates the concepts of entities in the environment from their relationships to the environment. The result is an intuitive world model that supports not only collision detection, but also motion planning and grasping. The graph-based world model presented can be searched by semantic type and tag values, allowing any number of agents to simultaneously use and update the model without causing failures elsewhere in the system. These capabilities are demonstrated on two different automated hot-cell glovebox systems, and one mobile manipulation system for use in remote contamination testing.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"schroeder-ontheuseofgeneralizedforcedataforkinematicallycontrolledmanipulators-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2150\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'schroeder-ontheuseofgeneralizedforcedataforkinematicallycontrolledmanipulators-2010', 'https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2150', event);\">\n    On the use of generalized force data for kinematically controlled manipulators.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Kyle Schroeder.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, December 2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2150\"\n     onclick=\"log_download('schroeder-ontheuseofgeneralizedforcedataforkinematicallycontrolledmanipulators-2010', 'https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2150', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"On the use of generalized force data for kinematically controlled manipulators [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/schroeder-ontheuseofgeneralizedforcedataforkinematicallycontrolledmanipulators-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('schroeder-ontheuseofgeneralizedforcedataforkinematicallycontrolledmanipulators-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{schroeder_use_2010,\n\ttype = {Thesis},\n\ttitle = {On the use of generalized force data for kinematically controlled manipulators},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2150},\n\tabstract = {The Department of Energy national laboratories, like Los Alamos National Lab or Sandia National Lab, perform work on radioactive and chemically dangerous materials. Gloveboxes are often used to shield workers from these hazards, but they cannot completely eliminate the danger and often create new safety concerns due to reduced operator dexterity and ergonomic posture. When feasible, robots can be employed to remove the human from the radioactive hazard; allowing them to analyze the situation and make decisions remotely.\n Force sensor data from the manipulator can be used to simplify the control of these remote systems as well as make them more robust. Much research has been done to develop force and torque control algorithms to introduce compliance or detect collisions. Many of these algorithms are very complicated and currently only implemented in research institutions on torque-controlled manipulators. The literature review discusses many such controllers which have been developed and/or demonstrated. This thesis reviews, develops, and demonstrates several beneficial algorithms which can be implemented on commercially-available kinematically-controlled robots using commercially-available sensors with a reasonable investment of time.\n Force data is used to improve safety and manage contact forces while kinematically controlling the robot, as well as improve the world model. Safety is improved by detecting anomalous and/or excessive forces during operation. Environmental modeling data is inferred from position and/or force data. A six-axis sensor and joint torque sensors on 2 7DOF manipulators are used to demonstrate the proposed algorithms in two DOE relevant applications: remotely opening an incompletely modeled cabinet door and moving a robot in a confined space.},\n\tlanguage = {en\\_US},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Schroeder, Kyle},\n\tmonth = dec,\n\tyear = {2010},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The Department of Energy national laboratories, like Los Alamos National Lab or Sandia National Lab, perform work on radioactive and chemically dangerous materials. Gloveboxes are often used to shield workers from these hazards, but they cannot completely eliminate the danger and often create new safety concerns due to reduced operator dexterity and ergonomic posture. When feasible, robots can be employed to remove the human from the radioactive hazard; allowing them to analyze the situation and make decisions remotely. Force sensor data from the manipulator can be used to simplify the control of these remote systems as well as make them more robust. Much research has been done to develop force and torque control algorithms to introduce compliance or detect collisions. Many of these algorithms are very complicated and currently only implemented in research institutions on torque-controlled manipulators. The literature review discusses many such controllers which have been developed and/or demonstrated. This thesis reviews, develops, and demonstrates several beneficial algorithms which can be implemented on commercially-available kinematically-controlled robots using commercially-available sensors with a reasonable investment of time. Force data is used to improve safety and manage contact forces while kinematically controlling the robot, as well as improve the world model. Safety is improved by detecting anomalous and/or excessive forces during operation. Environmental modeling data is inferred from position and/or force data. A six-axis sensor and joint torque sensors on 2 7DOF manipulators are used to demonstrate the proposed algorithms in two DOE relevant applications: remotely opening an incompletely modeled cabinet door and moving a robot in a confined space.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"williams-improvedmanipulatorconfigurationsforgraspingandtaskcompletionbasedonmanipulability-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2174\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'williams-improvedmanipulatorconfigurationsforgraspingandtaskcompletionbasedonmanipulability-2010', 'https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2174', event);\">\n    Improved manipulator configurations for grasping and task completion based on manipulability.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Joshua Williams.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The, December 2010.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2174\"\n     onclick=\"log_download('williams-improvedmanipulatorconfigurationsforgraspingandtaskcompletionbasedonmanipulability-2010', 'https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2174', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Improved manipulator configurations for grasping and task completion based on manipulability [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/williams-improvedmanipulatorconfigurationsforgraspingandtaskcompletionbasedonmanipulability-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('williams-improvedmanipulatorconfigurationsforgraspingandtaskcompletionbasedonmanipulability-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{williams_improved_2010,\n\ttype = {Thesis},\n\ttitle = {Improved manipulator configurations for grasping and task completion based on manipulability},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2010-12-2174},\n\tabstract = {When a robotic system executes a task, there are a number of responsibilities that belong to either the operator and/or the robot. A more autonomous system has more responsibilities in the completion of a task and must possess the decision making skills necessary to adequately deal with these responsibilities. The system must also handle environmental constraints that limit the region of operability and complicate the execution of tasks. There are decisions about the robot’s internal configuration and how the manipulator should move through space, avoid obstacles, and grasp objects. These motions usually have limits and performance requirements associated with them. \n Successful completion of tasks in a given environment is aided by knowledge of the robot’s capabilities in its workspace. This not only indicates if a task is possible but can suggest how a task should be completed. In this work, we develop a grasping strategy for selecting and attaining grasp configurations for flexible tasks in environments containing obstacles. This is done by sampling for valid grasping configurations at locations throughout the workspace to generate a task plane. Locations in the task plane that contain more valid configurations are stipulated to have higher dexterity and thus provide greater manipulability of targets. For valid configurations found in the plane, we develop a strategy for selecting which configurations to choose when grasping and/or placing an object at a given location in the workspace. \n These workspace task planes can also be utilized as a design tool to configure the system around the manipulator’s capabilities. We determine the quality of manipulator positioning in the workspace based on manipulability and locate the best location of targets for manipulation. The knowledge of valid manipulator configurations throughout the workspace can be used to extend the application of task planes to motion planning between grasping configurations. This guides the end-effector through more dexterous workspace regions and to configurations that move the arm away from obstacles.\n The task plane technique employed here accurately captures a manipulator’s capabilities. Initial tests for exploiting these capabilities for system design and operation were successful, thus demonstrating this method as a viable starting point for incrementally increasing system autonomy.},\n\tschool = {The},\n\tauthor = {Williams, Joshua},\n\tmonth = dec,\n\tyear = {2010},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  When a robotic system executes a task, there are a number of responsibilities that belong to either the operator and/or the robot. A more autonomous system has more responsibilities in the completion of a task and must possess the decision making skills necessary to adequately deal with these responsibilities. The system must also handle environmental constraints that limit the region of operability and complicate the execution of tasks. There are decisions about the robot’s internal configuration and how the manipulator should move through space, avoid obstacles, and grasp objects. These motions usually have limits and performance requirements associated with them. Successful completion of tasks in a given environment is aided by knowledge of the robot’s capabilities in its workspace. This not only indicates if a task is possible but can suggest how a task should be completed. In this work, we develop a grasping strategy for selecting and attaining grasp configurations for flexible tasks in environments containing obstacles. This is done by sampling for valid grasping configurations at locations throughout the workspace to generate a task plane. Locations in the task plane that contain more valid configurations are stipulated to have higher dexterity and thus provide greater manipulability of targets. For valid configurations found in the plane, we develop a strategy for selecting which configurations to choose when grasping and/or placing an object at a given location in the workspace. These workspace task planes can also be utilized as a design tool to configure the system around the manipulator’s capabilities. We determine the quality of manipulator positioning in the workspace based on manipulability and locate the best location of targets for manipulation. The knowledge of valid manipulator configurations throughout the workspace can be used to extend the application of task planes to motion planning between grasping configurations. This guides the end-effector through more dexterous workspace regions and to configurations that move the arm away from obstacles. The task plane technique employed here accurately captures a manipulator’s capabilities. Initial tests for exploiting these capabilities for system design and operation were successful, thus demonstrating this method as a viable starting point for incrementally increasing system autonomy.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"oneil-schroeder-williams-pryor-amodularapproachtoincrementalimprovementsinmanipulatorautomation-2010\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Modular Approach to Incremental Improvements in Manipulator Automation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Brian O'Neil;  Kyle Schroeder;  Joshua Williams;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceeding of the ANS Winter Student Conference</i>, Ann Arbor, MI, April 2010. ANS\n  <span class=\"note\">(awareded conference best paper)</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/oneil-schroeder-williams-pryor-amodularapproachtoincrementalimprovementsinmanipulatorautomation-2010\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('oneil-schroeder-williams-pryor-amodularapproachtoincrementalimprovementsinmanipulatorautomation-2010')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{oneil_modular_2010,\n\taddress = {Ann Arbor, MI},\n\ttitle = {A {Modular} {Approach} to {Incremental} {Improvements} in {Manipulator} {Automation}},\n\tbooktitle = {Proceeding of the {ANS} {Winter} {Student} {Conference}},\n\tpublisher = {ANS},\n\tauthor = {O&#x27;Neil, Brian and Schroeder, Kyle and Williams, Joshua and Pryor, Mitch},\n\tmonth = apr,\n\tyear = {2010},\n\tnote = {(awareded conference best paper)},\n}\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2009\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2009')\"\n      onkeypress=\"toggleGroup('group_2009')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2009</span>\n      <span class=\"bibbase_group_count\">\n        \n        (8)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"steinfeld-criteriabasedevaluationofstoppingtrajectoriesinserialmanipulators-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2009-12-397\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'steinfeld-criteriabasedevaluationofstoppingtrajectoriesinserialmanipulators-2009', 'https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2009-12-397', event);\">\n    Criteria based evaluation of stopping trajectories in serial manipulators.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Bryan Christopher Steinfeld.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, December 2009.\n  <span class=\"note\">(reader)</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2009-12-397\"\n     onclick=\"log_download('steinfeld-criteriabasedevaluationofstoppingtrajectoriesinserialmanipulators-2009', 'https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2009-12-397', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Criteria based evaluation of stopping trajectories in serial manipulators [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/steinfeld-criteriabasedevaluationofstoppingtrajectoriesinserialmanipulators-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('steinfeld-criteriabasedevaluationofstoppingtrajectoriesinserialmanipulators-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{steinfeld_criteria_2009,\n\ttype = {Thesis},\n\ttitle = {Criteria based evaluation of stopping trajectories in serial manipulators},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/ETD-UT-2009-12-397},\n\tabstract = {In the past few years, there has been a large push towards adapting traditional industrial manipulators to other, more consumer-centric applications [1]. These include not only house and elderly care, but also towards medical applications that manipulators may be especially suited for, such as rehabilitation of patients who have suffered neurological trauma [2]. Impeding this push are the strict safety requirements necessary to certify a manipulator for use. These requirements include low speed operation and preventing humans from entering the manipulator workspace [3]. These restrictions effectively prevent a manipulator from being used in many of these applications. Previous work done in manipulator safety research has focused on improving the system’s knowledge of its environment and controlling the manipulator’s motion to keep away from potential hazards. These methods are extremely important in terms of avoiding potential collisions but provide little insight into the situation that occurs once a hazard occurs and the manipulator is forced to react. In order to improve upon the ability to evaluate a manipulator’s overall safety, this report establishes a framework to evaluate the capacity of a manipulator to safely “halt” itself. Two sets of criteria are presented in this report. The first set seeks to\nquantify both the potential of the manipulator to avoid a collision during the stopping motion and the potential severity of the collision. The second set of criteria quantifies the effect of the stopping motion at the actuator level, allowing the operator to identify potential hardware faults and the capacity to which the actuators are performing. A framework for mapping the manipulator’s actuator parameters for the gear reduction ratio and the motor torque to the potential safety criteria performance is formulated to allow the manipulator designer to match task requirements to the manipulator design. Finally, an examination of the effects on operating parameters such as manipulator configuration, end-effector load, and operating speed is presented with a 6DOF industrial manipulator. This analysis showed that the operating speed of the manipulator is the most important determinant of the safety performance, with the distance traveled by the manipulator increasing by a factor of 15 for all configurations when the speed is increased only by a factor of four. Recommendations for the application of these criteria are presented to the reader as well.},\n\tlanguage = {eng},\n\turldate = {2020-05-10},\n\tauthor = {Steinfeld, Bryan Christopher},\n\tmonth = dec,\n\tyear = {2009},\n\tnote = {(reader)},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In the past few years, there has been a large push towards adapting traditional industrial manipulators to other, more consumer-centric applications [1]. These include not only house and elderly care, but also towards medical applications that manipulators may be especially suited for, such as rehabilitation of patients who have suffered neurological trauma [2]. Impeding this push are the strict safety requirements necessary to certify a manipulator for use. These requirements include low speed operation and preventing humans from entering the manipulator workspace [3]. These restrictions effectively prevent a manipulator from being used in many of these applications. Previous work done in manipulator safety research has focused on improving the system’s knowledge of its environment and controlling the manipulator’s motion to keep away from potential hazards. These methods are extremely important in terms of avoiding potential collisions but provide little insight into the situation that occurs once a hazard occurs and the manipulator is forced to react. In order to improve upon the ability to evaluate a manipulator’s overall safety, this report establishes a framework to evaluate the capacity of a manipulator to safely “halt” itself. Two sets of criteria are presented in this report. The first set seeks to quantify both the potential of the manipulator to avoid a collision during the stopping motion and the potential severity of the collision. The second set of criteria quantifies the effect of the stopping motion at the actuator level, allowing the operator to identify potential hardware faults and the capacity to which the actuators are performing. A framework for mapping the manipulator’s actuator parameters for the gear reduction ratio and the motor torque to the potential safety criteria performance is formulated to allow the manipulator designer to match task requirements to the manipulator design. Finally, an examination of the effects on operating parameters such as manipulator configuration, end-effector load, and operating speed is presented with a 6DOF industrial manipulator. This analysis showed that the operating speed of the manipulator is the most important determinant of the safety performance, with the distance traveled by the manipulator increasing by a factor of 15 for all configurations when the speed is increased only by a factor of four. Recommendations for the application of these criteria are presented to the reader as well.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"rabindran-adifferentialbasedparallelforcevelocityactuationconcepttheoryandexperiments-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/6899\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'rabindran-adifferentialbasedparallelforcevelocityactuationconcepttheoryandexperiments-2009', 'https://repositories.lib.utexas.edu/handle/2152/6899', event);\">\n    A differential-based parallel force/velocity actuation concept : theory and experiments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Dinesh Rabindran.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, May 2009.\n  <span class=\"note\">(committee member)</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/6899\"\n     onclick=\"log_download('rabindran-adifferentialbasedparallelforcevelocityactuationconcepttheoryandexperiments-2009', 'https://repositories.lib.utexas.edu/handle/2152/6899', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A differential-based parallel force/velocity actuation concept : theory and experiments [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/rabindran-adifferentialbasedparallelforcevelocityactuationconcepttheoryandexperiments-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('rabindran-adifferentialbasedparallelforcevelocityactuationconcepttheoryandexperiments-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{rabindran_differential-based_2009,\n\ttype = {Dissertation},\n\ttitle = {A differential-based parallel force/velocity actuation concept : theory and experiments},\n\tshorttitle = {A differential-based parallel force/velocity actuation concept},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/6899},\n\tabstract = {Robots are now moving from their conventional confined habitats such as factory floors to human environments where they assist and physically interact with people. The requirement for inherent mechanical safety is overarching in such human-robot interaction systems. We propose a dual actuator called Parallel Force/Velocity Actuator \n(PFVA) that combines a Force Actuator (FA) (low velocity input) and a Velocity Actuator (VA) (high velocity input) using a differential gear train. In this arrangement mechanical safety can be achieved by limiting the torque on the FA and thus making it a backdriveable input. In addition, the kinematic redundancy in the drive can be used to control output velocity while satisfying secondary operational objectives. Our research focus was on three areas: (i) scalable parametric design of the PFVA, (ii) analytical modeling of the PFVA and experimental testing on a single-joint prototype, and (iii) generalized model formulation for PFVA-driven serial robot manipulators. In our analysis, the ratio of velocity ratios between the FA and the VA, called the relative scale factor, emerged as a purely geometric and dominant design parameter. Based on a dimensionless parametric design of PFVAs using power-flow and load distributions between the inputs, a prototype was designed and built using commercial-off-the-shelf components. Using controlled experiments, two performance-limiting phenomena in our prototype, friction and dynamic coupling between the two inputs, were identified. Two other experiments were conducted to characterize the operational performance of the actuator in velocity-mode and in what we call ‘torque-limited’ mode (i.e. when the FA input can be backdriven). Our theoretical and experimental results showed that the PFVA can be mechanical safe to both slow collisions and impacts due to the backdriveability of the FA. Also, we show that its kinematic redundancy can be effectively utilized to mitigate low-velocity friction and backlash in geared mechanisms. The implication at the system level of our actuator level analytical and experimental work was studied using a generalized dynamic modeling framework based on kinematic influence coefficients. Based on this dynamic model, three design case studies for a PFVA-driven serial planar 3R manipulator were presented. The major contributions of this research include (i) mathematical models and physical understanding for over six fundamental design and operational parameters of the PFVA, based on which approximately ten design and five operational guidelines were laid out, (ii) analytical and experimental proof-of-concept for the mechanical safety feature of the PFVA and the effective utilization of its kinematic redundancy, (iii) an experimental methodology to characterize the dynamic coupling between the inputs in a differential-summing mechanism, and (iv) a generalized dynamic model formulation for PFVA-driven serial robot manipulators with emphasis on distribution of output loads between the FA and VA input-sets.},\n\tlanguage = {eng},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Rabindran, Dinesh},\n\tmonth = may,\n\tyear = {2009},\n\tnote = {(committee member)},\n\tkeywords = {Dissertation},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Robots are now moving from their conventional confined habitats such as factory floors to human environments where they assist and physically interact with people. The requirement for inherent mechanical safety is overarching in such human-robot interaction systems. We propose a dual actuator called Parallel Force/Velocity Actuator (PFVA) that combines a Force Actuator (FA) (low velocity input) and a Velocity Actuator (VA) (high velocity input) using a differential gear train. In this arrangement mechanical safety can be achieved by limiting the torque on the FA and thus making it a backdriveable input. In addition, the kinematic redundancy in the drive can be used to control output velocity while satisfying secondary operational objectives. Our research focus was on three areas: (i) scalable parametric design of the PFVA, (ii) analytical modeling of the PFVA and experimental testing on a single-joint prototype, and (iii) generalized model formulation for PFVA-driven serial robot manipulators. In our analysis, the ratio of velocity ratios between the FA and the VA, called the relative scale factor, emerged as a purely geometric and dominant design parameter. Based on a dimensionless parametric design of PFVAs using power-flow and load distributions between the inputs, a prototype was designed and built using commercial-off-the-shelf components. Using controlled experiments, two performance-limiting phenomena in our prototype, friction and dynamic coupling between the two inputs, were identified. Two other experiments were conducted to characterize the operational performance of the actuator in velocity-mode and in what we call ‘torque-limited’ mode (i.e. when the FA input can be backdriven). Our theoretical and experimental results showed that the PFVA can be mechanical safe to both slow collisions and impacts due to the backdriveability of the FA. Also, we show that its kinematic redundancy can be effectively utilized to mitigate low-velocity friction and backlash in geared mechanisms. The implication at the system level of our actuator level analytical and experimental work was studied using a generalized dynamic modeling framework based on kinematic influence coefficients. Based on this dynamic model, three design case studies for a PFVA-driven serial planar 3R manipulator were presented. The major contributions of this research include (i) mathematical models and physical understanding for over six fundamental design and operational parameters of the PFVA, based on which approximately ten design and five operational guidelines were laid out, (ii) analytical and experimental proof-of-concept for the mechanical safety feature of the PFVA and the effective utilization of its kinematic redundancy, (iii) an experimental methodology to characterize the dynamic coupling between the inputs in a differential-summing mechanism, and (iv) a generalized dynamic model formulation for PFVA-driven serial robot manipulators with emphasis on distribution of output loads between the FA and VA input-sets.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tisius-pryor-kapoor-tesar-anempiricalapproachtoperformancecriteriaformanipulation-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://asmedigitalcollection.asme.org/mechanismsrobotics/article/1/3/031002/454114/An-Empirical-Approach-to-Performance-Criteria-for\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tisius-pryor-kapoor-tesar-anempiricalapproachtoperformancecriteriaformanipulation-2009', 'https://asmedigitalcollection.asme.org/mechanismsrobotics/article/1/3/031002/454114/An-Empirical-Approach-to-Performance-Criteria-for', event);\">\n    An Empirical Approach to Performance Criteria for Manipulation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mark Tisius;  Mitch Pryor;  Chetan Kapoor;  and  Delbert Tesar.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Mechanisms and Robotics</i>, 1(3): 12. August 2009.\n  <span class=\"note\">Publisher: American Society of Mechanical Engineers Digital Collection</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://asmedigitalcollection.asme.org/mechanismsrobotics/article/1/3/031002/454114/An-Empirical-Approach-to-Performance-Criteria-for\"\n     onclick=\"log_download('tisius-pryor-kapoor-tesar-anempiricalapproachtoperformancecriteriaformanipulation-2009', 'https://asmedigitalcollection.asme.org/mechanismsrobotics/article/1/3/031002/454114/An-Empirical-Approach-to-Performance-Criteria-for', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An Empirical Approach to Performance Criteria for Manipulation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/1.3147194\"\n     onclick=\"log_download('tisius-pryor-kapoor-tesar-anempiricalapproachtoperformancecriteriaformanipulation-2009', 'http://doi.org/10.1115/1.3147194', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tisius-pryor-kapoor-tesar-anempiricalapproachtoperformancecriteriaformanipulation-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tisius-pryor-kapoor-tesar-anempiricalapproachtoperformancecriteriaformanipulation-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{tisius_empirical_2009,\n\ttitle = {An {Empirical} {Approach} to {Performance} {Criteria} for {Manipulation}},\n\tvolume = {1},\n\tissn = {1942-4302},\n\turl = {https://asmedigitalcollection.asme.org/mechanismsrobotics/article/1/3/031002/454114/An-Empirical-Approach-to-Performance-Criteria-for},\n\tdoi = {10.1115/1.3147194},\n\tlanguage = {en},\n\tnumber = {3},\n\turldate = {2020-05-10},\n\tjournal = {Journal of Mechanisms and Robotics},\n\tauthor = {Tisius, Mark and Pryor, Mitch and Kapoor, Chetan and Tesar, Delbert},\n\tmonth = aug,\n\tyear = {2009},\n\tnote = {Publisher: American Society of Mechanical Engineers Digital Collection},\n\tpages = {12},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-landsberger-developmentofaninterdisciplinarygraduateprogramforautomationinnuclearapplications-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://peer.asee.org/5106\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pryor-landsberger-developmentofaninterdisciplinarygraduateprogramforautomationinnuclearapplications-2009', 'https://peer.asee.org/5106', event);\">\n    Development Of An Interdisciplinary Graduate Program For Automation In Nuclear Applications.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitchell Pryor;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  In pages 14.477.1–14.477.9, Austin, TX, June 2009. ASEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://peer.asee.org/5106\"\n     onclick=\"log_download('pryor-landsberger-developmentofaninterdisciplinarygraduateprogramforautomationinnuclearapplications-2009', 'https://peer.asee.org/5106', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Development Of An Interdisciplinary Graduate Program For Automation In Nuclear Applications [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-landsberger-developmentofaninterdisciplinarygraduateprogramforautomationinnuclearapplications-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-landsberger-developmentofaninterdisciplinarygraduateprogramforautomationinnuclearapplications-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pryor_development_2009,\n\taddress = {Austin, TX},\n\ttitle = {Development {Of} {An} {Interdisciplinary} {Graduate} {Program} {For} {Automation} {In} {Nuclear} {Applications}},\n\tcopyright = {All rights reserved},\n\turl = {https://peer.asee.org/5106},\n\turldate = {2017-11-08},\n\tpublisher = {ASEE},\n\tauthor = {Pryor, Mitchell and Landsberger, Sheldon},\n\tmonth = jun,\n\tyear = {2009},\n\tpages = {14.477.1--14.477.9},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-schroeder-landsberger-controlstrategiesformanipulatorsperformingcontacttasksinaconfinedenvironment-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Control strategies for manipulators performing contact tasks in a confined environment.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitch Pryor;  Kyle Schroeder;  and  Sheldon Landsberger.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2009 ANS Winter Meeting</i>, Washington DC, November 2009. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-schroeder-landsberger-controlstrategiesformanipulatorsperformingcontacttasksinaconfinedenvironment-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-schroeder-landsberger-controlstrategiesformanipulatorsperformingcontacttasksinaconfinedenvironment-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pryor_control_2009,\n\taddress = {Washington DC},\n\ttitle = {Control strategies for manipulators performing contact tasks in a confined environment},\n\tbooktitle = {Proceedings of the 2009 {ANS} {Winter} {Meeting}},\n\tpublisher = {ANS},\n\tauthor = {Pryor, Mitch and Schroeder, Kyle and Landsberger, Sheldon},\n\tmonth = nov,\n\tyear = {2009},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tadepalli-pryor-booth-customizedinstructioninawebbasedfirstyearclassmaintainingpresenceandtheimportanceoftransitionusingcontentmanagementtools-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://peer.asee.org/customized-instruction-in-a-web-based-first-year-class-maintaining-presence-and-the-importance-of-transition-using-content-management-tools\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tadepalli-pryor-booth-customizedinstructioninawebbasedfirstyearclassmaintainingpresenceandtheimportanceoftransitionusingcontentmanagementtools-2009', 'https://peer.asee.org/customized-instruction-in-a-web-based-first-year-class-maintaining-presence-and-the-importance-of-transition-using-content-management-tools', event);\">\n    Customized Instruction In A Web Based, First Year Class: Maintaining Presence And The Importance Of Transition Using Content Management Tools.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Srikanth Tadepalli;  Mitchell Pryor;  and  Cameron Booth.\n</span>\n\n  \n\n</span>\n\n  In pages 14.398.1–14.398.15, Austin, TX, June 2009. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://peer.asee.org/customized-instruction-in-a-web-based-first-year-class-maintaining-presence-and-the-importance-of-transition-using-content-management-tools\"\n     onclick=\"log_download('tadepalli-pryor-booth-customizedinstructioninawebbasedfirstyearclassmaintainingpresenceandtheimportanceoftransitionusingcontentmanagementtools-2009', 'https://peer.asee.org/customized-instruction-in-a-web-based-first-year-class-maintaining-presence-and-the-importance-of-transition-using-content-management-tools', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Customized Instruction In A Web Based, First Year Class: Maintaining Presence And The Importance Of Transition Using Content Management Tools [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tadepalli-pryor-booth-customizedinstructioninawebbasedfirstyearclassmaintainingpresenceandtheimportanceoftransitionusingcontentmanagementtools-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>15 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tadepalli-pryor-booth-customizedinstructioninawebbasedfirstyearclassmaintainingpresenceandtheimportanceoftransitionusingcontentmanagementtools-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{tadepalli_customized_2009,\n\taddress = {Austin, TX},\n\ttitle = {Customized {Instruction} {In} {A} {Web} {Based}, {First} {Year} {Class}: {Maintaining} {Presence} {And} {The} {Importance} {Of} {Transition} {Using} {Content} {Management} {Tools}},\n\tshorttitle = {Customized {Instruction} {In} {A} {Web} {Based}, {First} {Year} {Class}},\n\turl = {https://peer.asee.org/customized-instruction-in-a-web-based-first-year-class-maintaining-presence-and-the-importance-of-transition-using-content-management-tools},\n\turldate = {2018-12-29},\n\tauthor = {Tadepalli, Srikanth and Pryor, Mitchell and Booth, Cameron},\n\tmonth = jun,\n\tyear = {2009},\n\tpages = {14.398.1--14.398.15},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"tadepalli-booth-pryor-evaluatingacademicprocrastinationinapersonalizedsystemofinstructionbasedcurriculum-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://peer.asee.org/evaluating-academic-procrastination-in-a-personalized-system-of-instruction-based-curriculum\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'tadepalli-booth-pryor-evaluatingacademicprocrastinationinapersonalizedsystemofinstructionbasedcurriculum-2009', 'https://peer.asee.org/evaluating-academic-procrastination-in-a-personalized-system-of-instruction-based-curriculum', event);\">\n    Evaluating Academic Procrastination In A Personalized System Of Instruction Based Curriculum.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Srikanth Tadepalli;  Cameron Booth;  and  Mitchell Pryor.\n</span>\n\n  \n\n</span>\n\n  In pages 14.589.1–14.589.15, Austin, TX, June 2009. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://peer.asee.org/evaluating-academic-procrastination-in-a-personalized-system-of-instruction-based-curriculum\"\n     onclick=\"log_download('tadepalli-booth-pryor-evaluatingacademicprocrastinationinapersonalizedsystemofinstructionbasedcurriculum-2009', 'https://peer.asee.org/evaluating-academic-procrastination-in-a-personalized-system-of-instruction-based-curriculum', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Evaluating Academic Procrastination In A Personalized System Of Instruction Based Curriculum [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/tadepalli-booth-pryor-evaluatingacademicprocrastinationinapersonalizedsystemofinstructionbasedcurriculum-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('tadepalli-booth-pryor-evaluatingacademicprocrastinationinapersonalizedsystemofinstructionbasedcurriculum-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{tadepalli_evaluating_2009,\n\taddress = {Austin, TX},\n\ttitle = {Evaluating {Academic} {Procrastination} {In} {A} {Personalized} {System} {Of} {Instruction} {Based} {Curriculum}},\n\turl = {https://peer.asee.org/evaluating-academic-procrastination-in-a-personalized-system-of-instruction-based-curriculum},\n\turldate = {2018-12-29},\n\tauthor = {Tadepalli, Srikanth and Booth, Cameron and Pryor, Mitchell},\n\tmonth = jun,\n\tyear = {2009},\n\tpages = {14.589.1--14.589.15},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hulse-kulkarni-oneil-pryor-improvedgraspingstrategiesforflexiblemanufacturingandmobilemanipulation-2009\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Improved Grasping Strategies for Flexible Manufacturing and Mobile Manipulation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Aaron Hulse;  Amit Kulkarni;  Brian O'Neil;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2009 ANS Winter Meeting</i>, Washington DC, November 2009. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hulse-kulkarni-oneil-pryor-improvedgraspingstrategiesforflexiblemanufacturingandmobilemanipulation-2009\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hulse-kulkarni-oneil-pryor-improvedgraspingstrategiesforflexiblemanufacturingandmobilemanipulation-2009')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{hulse_improved_2009,\n\taddress = {Washington DC},\n\ttitle = {Improved {Grasping} {Strategies} for {Flexible} {Manufacturing} and {Mobile} {Manipulation}},\n\tbooktitle = {Proceedings of the 2009 {ANS} {Winter} {Meeting}},\n\tpublisher = {ANS},\n\tauthor = {Hulse, Aaron and Kulkarni, Amit and O&#x27;Neil, Brian and Pryor, Mitch},\n\tmonth = nov,\n\tyear = {2009},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2008\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2008')\"\n      onkeypress=\"toggleGroup('group_2008')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2008</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"kulkarni-kapoor-pryor-kinoshita-atherton-whetten-nielsen-pryor-softwareframeworkformobilemanipulation-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Software Framework for Mobile Manipulation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Amit Kulkarni;  Chetan Kapoor;  Mitch Pryor;  Robert Kinoshita;  John Atherton;  Jon Whetten;  Curtis Nielsen;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ANS 2nd International Joint Topical Meeting on Robotics & Remote Systems</i>, Albuquerque, NM, March 2008. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kulkarni-kapoor-pryor-kinoshita-atherton-whetten-nielsen-pryor-softwareframeworkformobilemanipulation-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kulkarni-kapoor-pryor-kinoshita-atherton-whetten-nielsen-pryor-softwareframeworkformobilemanipulation-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{kulkarni_software_2008,\n\taddress = {Albuquerque, NM},\n\ttitle = {Software {Framework} for {Mobile} {Manipulation}},\n\tabstract = {The paper details the development of a mobile\nmanipulation system using state of the art commercial\nhardware and manipulator control software developed by\nthe Robotics Research Group (RRG) at The University of\nTexas at Austin and mobile platform control software\ndeveloped by Idaho National Laboratory (INL). A\nmanipulator and mobile platform independent mobile\nmanipulation software was developed using INL’s\nRobotic Intelligence Kernel (RIK) for navigation and\nRRG’s Operational Software Components for Advanced Robotics (OSCAR) for manipulation. The specific development included the integration of an OSCAR based Motion Planner (MP) with RIK along with new sensor integration and development of a Human Robot Interface (HRI) that supports arm control. Two different mobile manipulation systems were developed, one at RRG and the other at INL. Experiments were conducted at both sites to show the value of this research effort.},\n\tbooktitle = {Proceedings of the {ANS} 2nd {International} {Joint} {Topical} {Meeting} on {Robotics} \\&amp; {Remote} {Systems}},\n\tpublisher = {ANS},\n\tauthor = {Kulkarni, Amit and Kapoor, Chetan and Pryor, Mitch and Kinoshita, Robert and Atherton, John and Whetten, Jon and Nielsen, Curtis and Pryor, Mitch},\n\tmonth = mar,\n\tyear = {2008},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The paper details the development of a mobile manipulation system using state of the art commercial hardware and manipulator control software developed by the Robotics Research Group (RRG) at The University of Texas at Austin and mobile platform control software developed by Idaho National Laboratory (INL). A manipulator and mobile platform independent mobile manipulation software was developed using INL’s Robotic Intelligence Kernel (RIK) for navigation and RRG’s Operational Software Components for Advanced Robotics (OSCAR) for manipulation. The specific development included the integration of an OSCAR based Motion Planner (MP) with RIK along with new sensor integration and development of a Human Robot Interface (HRI) that supports arm control. Two different mobile manipulation systems were developed, one at RRG and the other at INL. Experiments were conducted at both sites to show the value of this research effort.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"spencer-pryor-kapoor-tesar-collisionavoidancetechniquesforteleoperatedandautonomousmanipulatorsinoverlappingworkspaces-2008\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Collision avoidance techniques for tele-operated and autonomous manipulators in overlapping workspaces.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   A. Spencer;  M. Pryor;  C. Kapoor;  and  D. Tesar.\n</span>\n\n  \n\n</span>\n\n  In <i>2008 IEEE International Conference on Robotics and Automation</i>, pages 2910–2915, May 2008. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ROBOT.2008.4543651\"\n     onclick=\"log_download('spencer-pryor-kapoor-tesar-collisionavoidancetechniquesforteleoperatedandautonomousmanipulatorsinoverlappingworkspaces-2008', 'http://doi.org/10.1109/ROBOT.2008.4543651', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/spencer-pryor-kapoor-tesar-collisionavoidancetechniquesforteleoperatedandautonomousmanipulatorsinoverlappingworkspaces-2008\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('spencer-pryor-kapoor-tesar-collisionavoidancetechniquesforteleoperatedandautonomousmanipulatorsinoverlappingworkspaces-2008')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{spencer_collision_2008,\n\ttitle = {Collision avoidance techniques for tele-operated and autonomous manipulators in overlapping workspaces},\n\tdoi = {10.1109/ROBOT.2008.4543651},\n\tabstract = {This paper describes the integration of several techniques for cooperative control of both tele-operated and autonomous redundant manipulators with overlapping workspaces. Motivating this research is a tele-operated surgical manipulator(s) supported by autonomous robot(s) that insert/remove items from the surgical workspace. The dynamic and unpredictable location of obstacles in a small workspace requires a complete strategy to avoid collisions when completing critical tasks and minimizes the need for user (i.e. the surgeon) intervention to make path planning decisions or resolve impasse situations. Three techniques are integrated into the decision-making for the manipulators: an intelligent and intuitive EEF velocity scaling, coordinated null-space optimization across affected manipulators, and collision detection. Central to all three techniques is an estimated time- to-collision formulation that combines distances between objects with their higher order properties, thus only objects currently moving towards each other are included in the collision avoidance techniques. The use of multiple techniques derived from the terms of a single metric results in a computationally efficient strategy for tele-operated and autonomous manipulators sharing the same workspace.},\n\tbooktitle = {2008 {IEEE} {International} {Conference} on {Robotics} and {Automation}},\n\tauthor = {Spencer, A. and Pryor, M. and Kapoor, C. and Tesar, D.},\n\tmonth = may,\n\tyear = {2008},\n\tkeywords = {Collision avoidance, EEF velocity scaling, Manipulator dynamics, Motion detection, Path planning, Real time systems, Robot kinematics, Robotics and automation, Surgery, Surges, USA Councils, autonomous redundant manipulator, collision avoidance, collision avoidance technique, collision detection, cooperative control, cooperative systems, coordinated null-space optimization, estimated time-to-collision formulation, manipulators, medical robotics, teleoperated surgical manipulator, telerobotics},\n\tpages = {2910--2915},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper describes the integration of several techniques for cooperative control of both tele-operated and autonomous redundant manipulators with overlapping workspaces. Motivating this research is a tele-operated surgical manipulator(s) supported by autonomous robot(s) that insert/remove items from the surgical workspace. The dynamic and unpredictable location of obstacles in a small workspace requires a complete strategy to avoid collisions when completing critical tasks and minimizes the need for user (i.e. the surgeon) intervention to make path planning decisions or resolve impasse situations. Three techniques are integrated into the decision-making for the manipulators: an intelligent and intuitive EEF velocity scaling, coordinated null-space optimization across affected manipulators, and collision detection. Central to all three techniques is an estimated time- to-collision formulation that combines distances between objects with their higher order properties, thus only objects currently moving towards each other are included in the collision avoidance techniques. The use of multiple techniques derived from the terms of a single metric results in a computationally efficient strategy for tele-operated and autonomous manipulators sharing the same workspace.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2007\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2007')\"\n      onkeypress=\"toggleGroup('group_2007')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2007</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"hulse-redundancyresolutionformobilemanipulation-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/46331\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hulse-redundancyresolutionformobilemanipulation-2007', 'https://repositories.lib.utexas.edu/handle/2152/46331', event);\">\n    Redundancy resolution for mobile manipulation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Aaron Michael Hulse.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, December 2007.\n  <span class=\"note\">(reader)</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/46331\"\n     onclick=\"log_download('hulse-redundancyresolutionformobilemanipulation-2007', 'https://repositories.lib.utexas.edu/handle/2152/46331', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Redundancy resolution for mobile manipulation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hulse-redundancyresolutionformobilemanipulation-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>13 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hulse-redundancyresolutionformobilemanipulation-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{hulse_redundancy_2007,\n\ttype = {Thesis},\n\ttitle = {Redundancy resolution for mobile manipulation},\n\tcopyright = {Copyright © is held by the author. Presentation of this material on the Libraries&#x27; web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/46331},\n\tabstract = {Mobile manipulation provides avenues to deploy dexterous, precise manipulators into environments that are not suited for fixed-base manipulators. To do this, complex decision making and control methods need to be implemented to properly allocate system resources to the task requirements and environmental constraints. This report presents a foundation from which complex decision making and control can be implemented on mobile manipulation systems. Currently, mobile manipulator modeling techniques vary widely and often contain a loss of generality. A readily deployable modeling technique that can incorporate multiple mobile platform and manipulator types is needed. The proposed modeling method combines the rate kinematic formulations of mobile platforms with rate kinematic formulations of manipulators in order to create a single kinematic model for the combined system. This modeling technique allows for preexisting Redundancy Resolution Techniques (RRTs) and performance criteria developed for manipulators to be used on mobile manipulation systems. The combined kinematic model is also useful for new performance criteria generation and inverse kinematics. Existing inverse kinematics techniques such as Resolved Rate can be implemented on the unified kinematic model to find input solutions to a given output. Mobile manipulation systems are redundant with respect to the end effector leading to the need for a decision making structure in order to properly allocate its resources. Currently, outside of UTRRRG mobile manipulation redundancy resolution is limited to incorporating small numbers of performance criteria. Gradient Projection (GP) is typically used to resolve the redundancy of these systems limiting the criteria selection to be smooth and continuous. This research provides a modeling technique and two new mobile manipulation specific RRTs that can be directly implemented with the Direct Search (DS) RRT to better generate appropriate solutions for given requirements. When implemented with DS, Mobile Manipulation Generate Options (MMGO) provides improved solutions for mobile manipulators over the existing Simple perturbation strategy without a computational performance hit. Mobile Manipulation Configuration Control (MMCC) is a method of separately prescribing a mobile platform path from the manipulator end effector path. It is often beneficial to be able to incorporate mobile robot path planners with mobile manipulation systems to avoid constraints while maintaining the task requirements of the end effector. This work also develops three new performance criteria which are specific to mobile manipulation. The proposed performance criteria include Wheel Slip Avoidance (WSA), Tip Over Avoidance (TOA), and Static Stability Availability (SSA). These criteria are checks to ensure a solution generated by a DS technique does not cause the mobile manipulator to slip on the ground or tip over. Combining existing RRTs and performance criteria with these new mobile manipulation specific RRTs and performance criteria provides a strong basis for developing complex Decision Making Strategies for mobile manipulation systems.},\n\tlanguage = {eng},\n\turldate = {2020-05-10},\n\tauthor = {Hulse, Aaron Michael},\n\tmonth = dec,\n\tyear = {2007},\n\tnote = {(reader)},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Mobile manipulation provides avenues to deploy dexterous, precise manipulators into environments that are not suited for fixed-base manipulators. To do this, complex decision making and control methods need to be implemented to properly allocate system resources to the task requirements and environmental constraints. This report presents a foundation from which complex decision making and control can be implemented on mobile manipulation systems. Currently, mobile manipulator modeling techniques vary widely and often contain a loss of generality. A readily deployable modeling technique that can incorporate multiple mobile platform and manipulator types is needed. The proposed modeling method combines the rate kinematic formulations of mobile platforms with rate kinematic formulations of manipulators in order to create a single kinematic model for the combined system. This modeling technique allows for preexisting Redundancy Resolution Techniques (RRTs) and performance criteria developed for manipulators to be used on mobile manipulation systems. The combined kinematic model is also useful for new performance criteria generation and inverse kinematics. Existing inverse kinematics techniques such as Resolved Rate can be implemented on the unified kinematic model to find input solutions to a given output. Mobile manipulation systems are redundant with respect to the end effector leading to the need for a decision making structure in order to properly allocate its resources. Currently, outside of UTRRRG mobile manipulation redundancy resolution is limited to incorporating small numbers of performance criteria. Gradient Projection (GP) is typically used to resolve the redundancy of these systems limiting the criteria selection to be smooth and continuous. This research provides a modeling technique and two new mobile manipulation specific RRTs that can be directly implemented with the Direct Search (DS) RRT to better generate appropriate solutions for given requirements. When implemented with DS, Mobile Manipulation Generate Options (MMGO) provides improved solutions for mobile manipulators over the existing Simple perturbation strategy without a computational performance hit. Mobile Manipulation Configuration Control (MMCC) is a method of separately prescribing a mobile platform path from the manipulator end effector path. It is often beneficial to be able to incorporate mobile robot path planners with mobile manipulation systems to avoid constraints while maintaining the task requirements of the end effector. This work also develops three new performance criteria which are specific to mobile manipulation. The proposed performance criteria include Wheel Slip Avoidance (WSA), Tip Over Avoidance (TOA), and Static Stability Availability (SSA). These criteria are checks to ensure a solution generated by a DS technique does not cause the mobile manipulator to slip on the ground or tip over. Combining existing RRTs and performance criteria with these new mobile manipulation specific RRTs and performance criteria provides a strong basis for developing complex Decision Making Strategies for mobile manipulation systems.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"krishnamoorthy-tesar-pryor-amultisensorarchitectureforconditionbasedmaintenanceinintelligentactuators-2007\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Multi-sensor Architecture for Condition-Based Maintenance in Intelligent Actuators.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Ganesh Krishnamoorthy;  Delbert Tesar;  and  Mitch Pryor.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ANS Annual Winter Meeting</i>, Washington DC, November 2007. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/krishnamoorthy-tesar-pryor-amultisensorarchitectureforconditionbasedmaintenanceinintelligentactuators-2007\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('krishnamoorthy-tesar-pryor-amultisensorarchitectureforconditionbasedmaintenanceinintelligentactuators-2007')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{krishnamoorthy_multi-sensor_2007,\n\taddress = {Washington DC},\n\ttitle = {A {Multi}-sensor {Architecture} for {Condition}-{Based} {Maintenance} in {Intelligent} {Actuators}},\n\tbooktitle = {Proceedings of the {ANS} {Annual} {Winter} {Meeting}},\n\tpublisher = {ANS},\n\tauthor = {Krishnamoorthy, Ganesh and Tesar, Delbert and Pryor, Mitch},\n\tmonth = nov,\n\tyear = {2007},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2006\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2006')\"\n      onkeypress=\"toggleGroup('group_2006')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2006</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"kendrick-thedesignofahingelineelectromechanicalactuator-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/30375\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kendrick-thedesignofahingelineelectromechanicalactuator-2006', 'https://repositories.lib.utexas.edu/handle/2152/30375', event);\">\n    The design of a hingeline electro-mechanical actuator.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Kevin Stuart Kendrick.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, May 2006.\n  <span class=\"note\">(reader)</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/30375\"\n     onclick=\"log_download('kendrick-thedesignofahingelineelectromechanicalactuator-2006', 'https://repositories.lib.utexas.edu/handle/2152/30375', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The design of a hingeline electro-mechanical actuator [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kendrick-thedesignofahingelineelectromechanicalactuator-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>13 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kendrick-thedesignofahingelineelectromechanicalactuator-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{kendrick_design_2006,\n\ttype = {Thesis},\n\ttitle = {The design of a hingeline electro-mechanical actuator},\n\tcopyright = {Copyright © is held by the author. Presentation of this material on the Libraries&#x27; web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/30375},\n\tabstract = {Aircraft control mechanisms, such as those that operate the flaps, ailerons, rudders, etc., are almost exclusively driven by hydraulic-based systems. Their popularity in flight control systems is not unfounded; hydraulic actuators are quite torque-dense and benefit from decades of development bringing operating performance to a high level. On the other hand the infrastructure to support this system increases weight, adds system development complexity, and reduces aircraft maintainability [Jensen et al, 2000]. Based on recent Electro-Mechanical Actuator (EMA) development and design efforts at the Robotics Research Group (RRG), a new opportunity exists to replace current hydraulic flight control systems with those powered by electricity through a national program [Tesar, 2005]. A literature review of the topic found a 30 year old effort by AiResearch to develop a similarly powered hingeline actuator with given traditional performance goals (torque capacity, redundancy, output speed, reliability). In this report,a thorough analysis is performed on each major component group to quantitatively evaluate this baseline device. Using component technologies developed at RRG, this report proposes a dual torque-summing electromechanical actuator, each with a star compound / hypocyclic combined gear train, designed to exceed the performance of the original (1976) AiResearch project. This preliminary design exercise includes a layout of the entire actuator along with an appropriate analysis of major components including bearings, gear train, motor, housing, and release mechanism. The performance of this gear train is critical to overall actuator success and fundamental analytics have already been developed in this area [Park and Tesar, 2005]. Finite Element Analysis on the gear train and housing provide early design feedback and verification of actuator performance characteristics. In particular, simulation results show the gear stiffness, load sharing, and torque capacities exceed analytical estimates. Finally, four different comparisons are presented that evaluate configuration variations of the two designs based on applicable performance criteria. Results show the RRG fault-tolerant actuator has a marked improvement over the baseline in average stiffness (14.2x), reflected inertia (3.2x) and nominal torque density (3.4x). The chapter next lists actuator test methods and aircraft qualification standards. Finally, a summary of future work is detailed in a ten step outline to bring this EMA technology to a level of early deployment in a large range of aircraft systems.},\n\tlanguage = {eng},\n\turldate = {2020-05-10},\n\tauthor = {Kendrick, Kevin Stuart},\n\tmonth = may,\n\tyear = {2006},\n\tnote = {(reader)},\n}\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Aircraft control mechanisms, such as those that operate the flaps, ailerons, rudders, etc., are almost exclusively driven by hydraulic-based systems. Their popularity in flight control systems is not unfounded; hydraulic actuators are quite torque-dense and benefit from decades of development bringing operating performance to a high level. On the other hand the infrastructure to support this system increases weight, adds system development complexity, and reduces aircraft maintainability [Jensen et al, 2000]. Based on recent Electro-Mechanical Actuator (EMA) development and design efforts at the Robotics Research Group (RRG), a new opportunity exists to replace current hydraulic flight control systems with those powered by electricity through a national program [Tesar, 2005]. A literature review of the topic found a 30 year old effort by AiResearch to develop a similarly powered hingeline actuator with given traditional performance goals (torque capacity, redundancy, output speed, reliability). In this report,a thorough analysis is performed on each major component group to quantitatively evaluate this baseline device. Using component technologies developed at RRG, this report proposes a dual torque-summing electromechanical actuator, each with a star compound / hypocyclic combined gear train, designed to exceed the performance of the original (1976) AiResearch project. This preliminary design exercise includes a layout of the entire actuator along with an appropriate analysis of major components including bearings, gear train, motor, housing, and release mechanism. The performance of this gear train is critical to overall actuator success and fundamental analytics have already been developed in this area [Park and Tesar, 2005]. Finite Element Analysis on the gear train and housing provide early design feedback and verification of actuator performance characteristics. In particular, simulation results show the gear stiffness, load sharing, and torque capacities exceed analytical estimates. Finally, four different comparisons are presented that evaluate configuration variations of the two designs based on applicable performance criteria. Results show the RRG fault-tolerant actuator has a marked improvement over the baseline in average stiffness (14.2x), reflected inertia (3.2x) and nominal torque density (3.4x). The chapter next lists actuator test methods and aircraft qualification standards. Finally, a summary of future work is detailed in a ten step outline to bring this EMA technology to a level of early deployment in a large range of aircraft systems.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chang-physicalmodelingoftoolsnecessaryforrobotmanipulation-2006\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/2473\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chang-physicalmodelingoftoolsnecessaryforrobotmanipulation-2006', 'https://repositories.lib.utexas.edu/handle/2152/2473', event);\">\n    Physical modeling of tools necessary for robot manipulation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Kyogun Chang.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, May 2006.\n  <span class=\"note\">(committee member)</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/2473\"\n     onclick=\"log_download('chang-physicalmodelingoftoolsnecessaryforrobotmanipulation-2006', 'https://repositories.lib.utexas.edu/handle/2152/2473', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Physical modeling of tools necessary for robot manipulation [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chang-physicalmodelingoftoolsnecessaryforrobotmanipulation-2006\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chang-physicalmodelingoftoolsnecessaryforrobotmanipulation-2006')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{chang_physical_2006,\n\ttype = {Dissertation},\n\ttitle = {Physical modeling of tools necessary for robot manipulation},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/2473},\n\tabstract = {Previous research on modeling general processes has focused on physical and \nempirical modeling of dedicated process machines which have sufficient stiffness and \naccuracy. For example, machining centers have relatively high stiffness and exhibit \nnegligible deflections. Robot manipulators have low stiffness which easily allows \nundesirable deflections under large reaction forces. Also, models for intuitive decision \nsurfaces for users, decision making systems, or system controllers have not been \nembedded or otherwise deployed effectively. \nThe objective of this research is to suggest graphical and parametric models of \nrobotic processes suited for intuitive user friendly graphs and modeling nonlinear systems \nand to initiate a program which proves usefulness of performance maps. Performance \nmaps are primitive surface representations which can be used to create decision surfaces. \nGeneral robotic processes considered are robotic drilling, grinding, deburring, chiseling, \nsawing, peg insertion, force-fit insertion, forming for assembly, screw fastening, and \nriveting. \nTo achieve the objective, a framework for in-depth parametric and analytic \nmodeling of robotic processes is presented. First, relevant process parameters such as \nprocess operating variables, system condition parameters, and process performance  \ncriteria are defined. Process operating variables are the robot controller inputs. System \ncondition parameters are process parameters which define system constraints and \ncharacteristics. Process performance criteria are critical parameters to define, anticipate, \nand evaluate product quality, system stability, economic performance, and system \nperformance. \nSecond, performance maps which describe the graphical relationship of the \nrelevant process parameters are developed. A performance map is the surface \nrepresentation of a process performance criterion as a function of process operating \nvariable(s), system condition parameter(s), or other process performance criteria. Third, \nthe application of performance maps of robotic drilling is simulated, to illustrate their \nadvantages. Whether robot deflections generated during the process satisfy tolerance \nrequirements or not is evaluated and suitable robot postures are recommended. \nPertinent literature is extensively reviewed to recognize current research trends in \nmodeling and parameterizing relevant process parameters. Approximately, 100 \nperformance maps were created as graphical and parametric models based on process \nperformance. Two performance envelopes were developed. Proper robot postures were \nsuggested to drill a hole with constant feed-rate or bounded ranges of that feed-rate.},\n\tlanguage = {eng},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Chang, Kyogun},\n\tmonth = may,\n\tyear = {2006},\n\tnote = {(committee member)},\n\tkeywords = {Dissertation},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Previous research on modeling general processes has focused on physical and empirical modeling of dedicated process machines which have sufficient stiffness and accuracy. For example, machining centers have relatively high stiffness and exhibit negligible deflections. Robot manipulators have low stiffness which easily allows undesirable deflections under large reaction forces. Also, models for intuitive decision surfaces for users, decision making systems, or system controllers have not been embedded or otherwise deployed effectively. The objective of this research is to suggest graphical and parametric models of robotic processes suited for intuitive user friendly graphs and modeling nonlinear systems and to initiate a program which proves usefulness of performance maps. Performance maps are primitive surface representations which can be used to create decision surfaces. General robotic processes considered are robotic drilling, grinding, deburring, chiseling, sawing, peg insertion, force-fit insertion, forming for assembly, screw fastening, and riveting. To achieve the objective, a framework for in-depth parametric and analytic modeling of robotic processes is presented. First, relevant process parameters such as process operating variables, system condition parameters, and process performance criteria are defined. Process operating variables are the robot controller inputs. System condition parameters are process parameters which define system constraints and characteristics. Process performance criteria are critical parameters to define, anticipate, and evaluate product quality, system stability, economic performance, and system performance. Second, performance maps which describe the graphical relationship of the relevant process parameters are developed. A performance map is the surface representation of a process performance criterion as a function of process operating variable(s), system condition parameter(s), or other process performance criteria. Third, the application of performance maps of robotic drilling is simulated, to illustrate their advantages. Whether robot deflections generated during the process satisfy tolerance requirements or not is evaluated and suitable robot postures are recommended. Pertinent literature is extensively reviewed to recognize current research trends in modeling and parameterizing relevant process parameters. Approximately, 100 performance maps were created as graphical and parametric models based on process performance. Two performance envelopes were developed. Proper robot postures were suggested to drill a hole with constant feed-rate or bounded ranges of that feed-rate.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2005\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2005')\"\n      onkeypress=\"toggleGroup('group_2005')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2005</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"park-fundamentaldevelopmentofhypocycloidalgeartransmissions-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/2334\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'park-fundamentaldevelopmentofhypocycloidalgeartransmissions-2005', 'https://repositories.lib.utexas.edu/handle/2152/2334', event);\">\n    Fundamental development of hypocycloidal gear transmissions.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Sang-Hyun Park.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, December 2005.\n  <span class=\"note\">(committee member)</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/2334\"\n     onclick=\"log_download('park-fundamentaldevelopmentofhypocycloidalgeartransmissions-2005', 'https://repositories.lib.utexas.edu/handle/2152/2334', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Fundamental development of hypocycloidal gear transmissions [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/park-fundamentaldevelopmentofhypocycloidalgeartransmissions-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>13 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('park-fundamentaldevelopmentofhypocycloidalgeartransmissions-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{park_fundamental_2005,\n\ttype = {Dissertation},\n\ttitle = {Fundamental development of hypocycloidal gear transmissions},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/2334},\n\tabstract = {text},\n\tlanguage = {eng},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Park, Sang-Hyun},\n\tmonth = dec,\n\tyear = {2005},\n\tnote = {(committee member)},\n\tkeywords = {Dissertation},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  text\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-kang-tesar-metrologymethodologiesfromhighprecisionapplications-2005\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Metrology Methodologies from High Precision Applications.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitch Pryor;  Seong-Ho Kang;  and  Delbert Tesar.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2005 ANS Annual Meeting</i>, San Diego, CA, June 2005. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-kang-tesar-metrologymethodologiesfromhighprecisionapplications-2005\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-kang-tesar-metrologymethodologiesfromhighprecisionapplications-2005')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pryor_metrology_2005,\n\taddress = {San Diego, CA},\n\ttitle = {Metrology {Methodologies} from {High} {Precision} {Applications}},\n\tbooktitle = {Proceedings of the 2005 {ANS} {Annual} {Meeting}},\n\tpublisher = {ANS},\n\tauthor = {Pryor, Mitch and Kang, Seong-Ho and Tesar, Delbert},\n\tmonth = jun,\n\tyear = {2005},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2004\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2004')\"\n      onkeypress=\"toggleGroup('group_2004')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2004</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"swint-kapoor-taylor-chang-pholsiri-rabindran-pryor-tesar-integratedteleoperationandautomationforremoteoperations-2004\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Integrated Teleoperation and Automation for Remote Operations.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Ethan Swint;  Chetan Kapoor;  Ross Taylor;  Kyogun Chang;  Josh Pholsiri;  Dinesh Rabindran;  Mitch Pryor;  and  Delbert Tesar.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 2004 ANS Annual Meeting</i>, pages 1–7, Pittsburgh, PA, June 2004. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/swint-kapoor-taylor-chang-pholsiri-rabindran-pryor-tesar-integratedteleoperationandautomationforremoteoperations-2004\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('swint-kapoor-taylor-chang-pholsiri-rabindran-pryor-tesar-integratedteleoperationandautomationforremoteoperations-2004')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{swint_integrated_2004,\n\taddress = {Pittsburgh, PA},\n\ttitle = {Integrated {Teleoperation} and {Automation} for {Remote} {Operations}},\n\tabstract = {This paper presents a demonstration of a novel approach to human-machine interface that seamlessly combines user-controlled teleoperation and software automation in varying degrees. This combination allows increased productivity in complex and uncertain environments. Additionally, a new software architecture was implemented to free the development of the human-machine interface components from that of the hardware control components},\n\tbooktitle = {Proceedings of the 2004 {ANS} {Annual} {Meeting}},\n\tpublisher = {ANS},\n\tauthor = {Swint, Ethan and Kapoor, Chetan and Taylor, Ross and Chang, Kyogun and Pholsiri, Josh and Rabindran, Dinesh and Pryor, Mitch and Tesar, Delbert},\n\tmonth = jun,\n\tyear = {2004},\n\tkeywords = {Teleoperation},\n\tpages = {1--7},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper presents a demonstration of a novel approach to human-machine interface that seamlessly combines user-controlled teleoperation and software automation in varying degrees. This combination allows increased productivity in complex and uncertain environments. Additionally, a new software architecture was implemented to free the development of the human-machine interface components from that of the hardware control components\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kang-robustmetrologyproceduresformodularroboticsystemsusingindoorgpscoordinatemeasuringsystem-2004\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/1341\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kang-robustmetrologyproceduresformodularroboticsystemsusingindoorgpscoordinatemeasuringsystem-2004', 'https://repositories.lib.utexas.edu/handle/2152/1341', event);\">\n    Robust metrology procedures for modular robotic systems using indoor GPS coordinate measuring system.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Seong Ho Kang.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, The University of Texas at Austin, December 2004.\n  <span class=\"note\">(committee member)</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/1341\"\n     onclick=\"log_download('kang-robustmetrologyproceduresformodularroboticsystemsusingindoorgpscoordinatemeasuringsystem-2004', 'https://repositories.lib.utexas.edu/handle/2152/1341', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robust metrology procedures for modular robotic systems using indoor GPS coordinate measuring system [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kang-robustmetrologyproceduresformodularroboticsystemsusingindoorgpscoordinatemeasuringsystem-2004\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>13 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kang-robustmetrologyproceduresformodularroboticsystemsusingindoorgpscoordinatemeasuringsystem-2004')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{kang_robust_2004,\n\ttype = {Dissertation},\n\ttitle = {Robust metrology procedures for modular robotic systems using indoor {GPS} coordinate measuring system},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/1341},\n\tabstract = {An OAS or a modular reconfigurable system is a collection of individual link and \njoint modules with standardized interfaces that can be reconfigured on demand into \ndifferent geometries ranging from mobile platforms and 6 degrees of freedom (DOF) \nmanipulator arms to 40 DOF manufacturing robotic cells. Such systems will allow \nflexible manufacturing, rapid repair, and upgrade, but these benefits have yet to be \nrealized. A significant barrier is the presence of error between the ideal frame and the \nactual frame. While the repeatability of a typical robot can be 0.005&quot;, its accuracy may \nnot be better than 0.1&quot; due to configuration, load, model error, etc. Teaching or \ncalibrating a robotic device is, therefore, required in industries to improve its accuracy for \nhigh-value added precision operations. The associated costs are extremely high. This fact \ntrumps other modular technology benefits. \nRobot metrology is a solution to overcome these problems by increasing the \nabsolute pose accuracy in the same order of magnitude as its repeatability. Despite the \nadvancement of traditional metrology techniques, System Metrology for Monolithic  \nSystems (SMMS) has proven to be too cumbersome, costly, and time-consuming for \npractical usage on modular systems. These obstacles suggest a strong need for a new look \nat robot metrology. Robust Metrology for Modular Systems (RMMS) (the metrology of \nrobots that are composed of modules) is much more tractable, as a consequence of the \nreduced number of parameters in each module addressed by this metrology approach. \nIn this dissertation, a highly advanced interface called ‘RRG Interface’ has been \nintroduced. An advanced metrology system has been developed including a coordinate \nmeasuring system based on a state-of-the-art technology called “indoor GPS (Global \nPositioning System)” and a fully automatic loading mechanism with pure force \ngenerating capability. A hand-held probe called the ‘3D Probe’ has been developed. The \nimpact of nonlinear compliance is examined. Based on the developed optimal measuring \nstrategies, the metrology system has been applied to OAS metrologies and experimental \nresults are presented. Kinematic modeling formulations are presented including \ngeometric and compliance parameters. The performance of a 6 DOF modular system is \npredicted and a 22 time improvement over the best industrial practice has been made.},\n\tlanguage = {eng},\n\turldate = {2017-11-12},\n\tschool = {The University of Texas at Austin},\n\tauthor = {Kang, Seong Ho},\n\tmonth = dec,\n\tyear = {2004},\n\tnote = {(committee member)},\n\tkeywords = {Dissertation},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  An OAS or a modular reconfigurable system is a collection of individual link and joint modules with standardized interfaces that can be reconfigured on demand into different geometries ranging from mobile platforms and 6 degrees of freedom (DOF) manipulator arms to 40 DOF manufacturing robotic cells. Such systems will allow flexible manufacturing, rapid repair, and upgrade, but these benefits have yet to be realized. A significant barrier is the presence of error between the ideal frame and the actual frame. While the repeatability of a typical robot can be 0.005\", its accuracy may not be better than 0.1\" due to configuration, load, model error, etc. Teaching or calibrating a robotic device is, therefore, required in industries to improve its accuracy for high-value added precision operations. The associated costs are extremely high. This fact trumps other modular technology benefits. Robot metrology is a solution to overcome these problems by increasing the absolute pose accuracy in the same order of magnitude as its repeatability. Despite the advancement of traditional metrology techniques, System Metrology for Monolithic Systems (SMMS) has proven to be too cumbersome, costly, and time-consuming for practical usage on modular systems. These obstacles suggest a strong need for a new look at robot metrology. Robust Metrology for Modular Systems (RMMS) (the metrology of robots that are composed of modules) is much more tractable, as a consequence of the reduced number of parameters in each module addressed by this metrology approach. In this dissertation, a highly advanced interface called ‘RRG Interface’ has been introduced. An advanced metrology system has been developed including a coordinate measuring system based on a state-of-the-art technology called “indoor GPS (Global Positioning System)” and a fully automatic loading mechanism with pure force generating capability. A hand-held probe called the ‘3D Probe’ has been developed. The impact of nonlinear compliance is examined. Based on the developed optimal measuring strategies, the metrology system has been applied to OAS metrologies and experimental results are presented. Kinematic modeling formulations are presented including geometric and compliance parameters. The performance of a 6 DOF modular system is predicted and a 22 time improvement over the best industrial practice has been made.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kang-pryor-tesar-kinematicmodelandmetrologysystemformodularrobotcalibration-2004\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Kinematic Model and Metrology System for Modular Robot Calibration.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Seong-Ho Kang;  M. W. Pryor;  and  D. Tesar.\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004</i>, volume 3, pages 2894–2899 Vol.3, New Orleans, LA, April 2004. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ROBOT.2004.1307500\"\n     onclick=\"log_download('kang-pryor-tesar-kinematicmodelandmetrologysystemformodularrobotcalibration-2004', 'http://doi.org/10.1109/ROBOT.2004.1307500', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kang-pryor-tesar-kinematicmodelandmetrologysystemformodularrobotcalibration-2004\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kang-pryor-tesar-kinematicmodelandmetrologysystemformodularrobotcalibration-2004')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{kang_kinematic_2004,\n\taddress = {New Orleans, LA},\n\ttitle = {Kinematic {Model} and {Metrology} {System} for {Modular} {Robot} {Calibration}},\n\tvolume = {3},\n\tdoi = {10.1109/ROBOT.2004.1307500},\n\tabstract = {In this paper, a metrology method is presented to calibrate modular robots. It is to perform metrology at the modular level and measure the kinematic parameters of each module so that the acquired information may be used for obtaining an &quot;as built&quot; model every time either a modular robot is reconfigured or maintenance has been made. Based on the product-of-exponentials formula and the modified dyad kinematics, two calibration models with or without the interface error compensation are proposed. The success of this method is based on two key technologies; the first key is an accurate and interchangeable standardized interface and the second key is to develop a state-of-the-art 3-D metrology system which is accurate, flexible, and easy to use. This paper presents these topics with kinematic models for modular robot calibration.},\n\tbooktitle = {{IEEE} {International} {Conference} on {Robotics} and {Automation}, 2004. {Proceedings}. {ICRA} &#x27;04. 2004},\n\tpublisher = {IEEE},\n\tauthor = {Kang, Seong-Ho and Pryor, M. W. and Tesar, D.},\n\tmonth = apr,\n\tyear = {2004},\n\tkeywords = {Calibration, Computational geometry, Global Positioning System, Intelligent actuators, Intelligent robots, Kinematics, Metrology, Performance evaluation, Robotic assembly, Time measurement, calibration, interchangeable standardized interface, interface error compensation, kinematic model, measurement, metrology system, modified dyad kinematics, modular robot calibration, product-of-exponentials formula, robot kinematics, state-of-the-art 3D metrology system},\n\tpages = {2894--2899 Vol.3},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  In this paper, a metrology method is presented to calibrate modular robots. It is to perform metrology at the modular level and measure the kinematic parameters of each module so that the acquired information may be used for obtaining an \"as built\" model every time either a modular robot is reconfigured or maintenance has been made. Based on the product-of-exponentials formula and the modified dyad kinematics, two calibration models with or without the interface error compensation are proposed. The success of this method is based on two key technologies; the first key is an accurate and interchangeable standardized interface and the second key is to develop a state-of-the-art 3-D metrology system which is accurate, flexible, and easy to use. This paper presents these topics with kinematic models for modular robot calibration.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2003\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2003')\"\n      onkeypress=\"toggleGroup('group_2003')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2003</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"pholsiri-rabindran-pryor-kapoor-extendedgeneralizedimpedancecontrolforredundantmanipulators-2003\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Extended Generalized Impedance Control for Redundant Manipulators.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   C. Pholsiri;  D. Rabindran;  M. Pryor;  and  C. Kapoor.\n</span>\n\n  \n\n</span>\n\n  In <i>42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)</i>, volume 4, pages 3331–3336 vol.4, December 2003. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/CDC.2003.1271658\"\n     onclick=\"log_download('pholsiri-rabindran-pryor-kapoor-extendedgeneralizedimpedancecontrolforredundantmanipulators-2003', 'http://doi.org/10.1109/CDC.2003.1271658', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pholsiri-rabindran-pryor-kapoor-extendedgeneralizedimpedancecontrolforredundantmanipulators-2003\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pholsiri-rabindran-pryor-kapoor-extendedgeneralizedimpedancecontrolforredundantmanipulators-2003')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pholsiri_extended_2003,\n\ttitle = {Extended {Generalized} {Impedance} {Control} for {Redundant} {Manipulators}},\n\tvolume = {4},\n\tdoi = {10.1109/CDC.2003.1271658},\n\tabstract = {An impedance control method for redundant manipulators called an extended generalized impedance control is developed. It is based on an extended task space formulation and generalized impedance control. With generalized impedance control, the manipulator&#x27;s end-effector position and force tracking abilities can be balanced by properly adjusting impedance parameters. Null space motion is controlled by tracking a minimal parameterization of null space velocity. Redundancy is then exploited by specifying a desired null space velocity trajectory that optimizes a performance index. The control algorithm is implemented as part of OSCAR (Operational Software Components for Advanced Robotics), keeping with the generality concept. Therefore, it can be easily deployed with any serial manipulator. The effectiveness of the proposed controller is illustrated by computer simulations of a complex 10-DOF spatial manipulator performing a cutting task.},\n\tbooktitle = {42nd {IEEE} {International} {Conference} on {Decision} and {Control} ({IEEE} {Cat}. {No}.{03CH37475})},\n\tauthor = {Pholsiri, C. and Rabindran, D. and Pryor, M. and Kapoor, C.},\n\tmonth = dec,\n\tyear = {2003},\n\tkeywords = {10 DOF spatial manipulator, 10 degrees of freedom spatial manipulator, Force control, Impedance, Manipulators, Motion control, Null space, OSCAR, Orbital robotics, Performance analysis, Software algorithms, Tracking, Velocity control, computer simulations, digital simulation, end effectors, extended generalized impedance control, extended task space formulation, force tracking ability, impedance parameters, manipulators end effector position, motion control, null space motion, null space velocity, operational software components for advanced robotics, performance index, position control, redundant manipulators, serial manipulator, software tools, velocity control},\n\tpages = {3331--3336 vol.4},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  An impedance control method for redundant manipulators called an extended generalized impedance control is developed. It is based on an extended task space formulation and generalized impedance control. With generalized impedance control, the manipulator's end-effector position and force tracking abilities can be balanced by properly adjusting impedance parameters. Null space motion is controlled by tracking a minimal parameterization of null space velocity. Redundancy is then exploited by specifying a desired null space velocity trajectory that optimizes a performance index. The control algorithm is implemented as part of OSCAR (Operational Software Components for Advanced Robotics), keeping with the generality concept. Therefore, it can be easily deployed with any serial manipulator. The effectiveness of the proposed controller is illustrated by computer simulations of a complex 10-DOF spatial manipulator performing a cutting task.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2002\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2002')\"\n      onkeypress=\"toggleGroup('group_2002')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2002</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"pryor-taskbasedresourceallocationforimprovingthereusabilityofredundantmanipulators-2002\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/11118\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pryor-taskbasedresourceallocationforimprovingthereusabilityofredundantmanipulators-2002', 'https://repositories.lib.utexas.edu/handle/2152/11118', event);\">\n    Task-based resource allocation for improving the reusability of redundant manipulators.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitchell Wayne Pryor.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, May 2002.\n  <span class=\"note\">Accepted: 2011-05-05T19:36:07Z Artwork Medium: electronic Interview Medium: electronic</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://repositories.lib.utexas.edu/handle/2152/11118\"\n     onclick=\"log_download('pryor-taskbasedresourceallocationforimprovingthereusabilityofredundantmanipulators-2002', 'https://repositories.lib.utexas.edu/handle/2152/11118', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Task-based resource allocation for improving the reusability of redundant manipulators [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-taskbasedresourceallocationforimprovingthereusabilityofredundantmanipulators-2002\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>14 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-taskbasedresourceallocationforimprovingthereusabilityofredundantmanipulators-2002')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{pryor_task-based_2002,\n\ttype = {Dissertation},\n\ttitle = {Task-based resource allocation for improving the reusability of redundant manipulators},\n\tcopyright = {Copyright is held by the author. Presentation of this material on the Libraries&#x27; web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.},\n\turl = {https://repositories.lib.utexas.edu/handle/2152/11118},\n\tabstract = {Because of its increased range of resources, a redundant/reconfigurable \nrobot has the potential to be deployed for a variety of applications saving time and \nmoney. This work provides decision tools which increase the utility of deployed \nmanipulators by operating them intuitively and economically in terms of a \nbroader set of tasks while maximizing performance. System utility is expanded \nby developing a general decision making strategy that decreases the burden on \noperators who have little or no robotics expertise yet must operate the system. \nThis utility function is a Redundancy Resolution Strategy. (RRS) \nThe RRS uses a generalized, parametric system manipulator model and a \nlarge set of criteria to compare the capabilities of the infinite number of joint \nconfigurations available. The RRS then selects and prioritizes a subset of criteria \nthat are appropriate in a given situation by evaluating critical boundaries \nassociated with manipulator constraints and/or task description. The RRS is \npaired with a Redundancy Resolution Technique (RRT) which determines, in real- \n vii \ntime, the best configuration in terms of the selected criteria. Together, the criteria \nand these components are the Decision Making System (DMS). \nMost DMS components have received attention at the University of Texas \nand elsewhere, but the RRS and component integration has been largely dismissed \nas implementation detail. This ‘detail’ is largely responsible for the lack of \nsuccess in deploying redundant/reconfigurable systems. If the advantages of \nthese systems are to be realized, we must apply physically meaningful criteria to \ndetermine the best allocation of redundant resources by creating a procedure to \nselect a subset of appropriate criteria. The selected criteria must improve \nperformance so that a larger number of tasks are possible. The burden on the \noperator, task completion time, and time required to prepare for a new task all \nmust be reduced. The life of the manipulator is also increased by using resources \nefficiently. By managing resource allocation correctly, the RRS can also remove \nthe need for intervention by an expensive ‘robotics expert.’ The selected RRT, \nreviewed performance criteria, and proposed RRS are implemented using existing \noperational software and used to complete several complex simulated tasks.},\n\tlanguage = {eng},\n\turldate = {2020-05-10},\n\tauthor = {Pryor, Mitchell Wayne},\n\tmonth = may,\n\tyear = {2002},\n\tnote = {Accepted: 2011-05-05T19:36:07Z\nArtwork Medium: electronic\nInterview Medium: electronic},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Because of its increased range of resources, a redundant/reconfigurable robot has the potential to be deployed for a variety of applications saving time and money. This work provides decision tools which increase the utility of deployed manipulators by operating them intuitively and economically in terms of a broader set of tasks while maximizing performance. System utility is expanded by developing a general decision making strategy that decreases the burden on operators who have little or no robotics expertise yet must operate the system. This utility function is a Redundancy Resolution Strategy. (RRS) The RRS uses a generalized, parametric system manipulator model and a large set of criteria to compare the capabilities of the infinite number of joint configurations available. The RRS then selects and prioritizes a subset of criteria that are appropriate in a given situation by evaluating critical boundaries associated with manipulator constraints and/or task description. The RRS is paired with a Redundancy Resolution Technique (RRT) which determines, in real- vii time, the best configuration in terms of the selected criteria. Together, the criteria and these components are the Decision Making System (DMS). Most DMS components have received attention at the University of Texas and elsewhere, but the RRS and component integration has been largely dismissed as implementation detail. This ‘detail’ is largely responsible for the lack of success in deploying redundant/reconfigurable systems. If the advantages of these systems are to be realized, we must apply physically meaningful criteria to determine the best allocation of redundant resources by creating a procedure to select a subset of appropriate criteria. The selected criteria must improve performance so that a larger number of tasks are possible. The burden on the operator, task completion time, and time required to prepare for a new task all must be reduced. The life of the manipulator is also increased by using resources efficiently. By managing resource allocation correctly, the RRS can also remove the need for intervention by an expensive ‘robotics expert.’ The selected RRT, reviewed performance criteria, and proposed RRS are implemented using existing operational software and used to complete several complex simulated tasks.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-taylor-kapoor-tesar-generalizedsoftwarecomponentsforreconfiguringhyperredundantmanipulators-2002\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Generalized software components for reconfiguring hyper-redundant manipulators.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitch Pryor;  Ross Taylor;  Chetan Kapoor;  and  Delbert Tesar.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE/ASME Transactions on Mechatronics</i>, 7(4): 475–478. December 2002.\n  <span class=\"note\">Conference Name: IEEE/ASME Transactions on Mechatronics</span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TMECH.2002.806229\"\n     onclick=\"log_download('pryor-taylor-kapoor-tesar-generalizedsoftwarecomponentsforreconfiguringhyperredundantmanipulators-2002', 'http://doi.org/10.1109/TMECH.2002.806229', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-taylor-kapoor-tesar-generalizedsoftwarecomponentsforreconfiguringhyperredundantmanipulators-2002\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>7 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-taylor-kapoor-tesar-generalizedsoftwarecomponentsforreconfiguringhyperredundantmanipulators-2002')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{pryor_generalized_2002,\n\ttitle = {Generalized software components for reconfiguring hyper-redundant manipulators},\n\tvolume = {7},\n\tissn = {1941-014X},\n\tdoi = {10.1109/TMECH.2002.806229},\n\tabstract = {An application of Operational Software Components for Advanced Robotics (OSCAR) - a generalized robotic software framework - for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing, and criteria-based decision making. The developed application allows an operator to interactively reconfigure modular chains into parallel mechanisms, gait structures, and multiarm systems while maintaining full kinematic control of each chain. Examples using spatial systems with various geometries are presented with application pseudocode to illustrate high-level program development using OSCAR.},\n\tnumber = {4},\n\tjournal = {IEEE/ASME Transactions on Mechatronics},\n\tauthor = {Pryor, Mitch and Taylor, Ross and Kapoor, Chetan and Tesar, Delbert},\n\tmonth = dec,\n\tyear = {2002},\n\tnote = {Conference Name: IEEE/ASME Transactions on Mechatronics},\n\tkeywords = {Kinematics, Manipulators, OSCAR, Reduncancy, modular chains, self-reconfigurable robots},\n\tpages = {475--478},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  An application of Operational Software Components for Advanced Robotics (OSCAR) - a generalized robotic software framework - for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing, and criteria-based decision making. The developed application allows an operator to interactively reconfigure modular chains into parallel mechanisms, gait structures, and multiarm systems while maintaining full kinematic control of each chain. Examples using spatial systems with various geometries are presented with application pseudocode to illustrate high-level program development using OSCAR.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2001\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2001')\"\n      onkeypress=\"toggleGroup('group_2001')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2001</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"harden-pryor-rajan-yoo-kapoor-tesar-prototypingddtasksusingadualarmroboticsystem-2001\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Prototyping D&D Tasks Using a Dual-arm Robotic System.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Troy Harden;  Mitchell Pryor;  Ratheesh Rajan;  Jae Yoo;  Chetan Kapoor;  and  Delbert Tesar.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceeding of the ANS Topical Meeting on Robotics and Automation</i>, pages 1–11, Seattle, WA, March 2001. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/harden-pryor-rajan-yoo-kapoor-tesar-prototypingddtasksusingadualarmroboticsystem-2001\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('harden-pryor-rajan-yoo-kapoor-tesar-prototypingddtasksusingadualarmroboticsystem-2001')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{harden_prototyping_2001,\n\taddress = {Seattle, WA},\n\ttitle = {Prototyping {D}\\&amp;{D} {Tasks} {Using} a {Dual}-arm {Robotic} {System}},\n\tabstract = {The University of Texas at Austin is conducting research in the development and application of robotic systems for various Deactivation and Decommissioning (D\\&amp;D) tasks. This research includes the development of modular robotic hardware that scales from simple 1-2 Degree Of Freedom (DOF) systems to complex dual-arm systems. Research is also being pursued in the development of the required control software for such systems with an  emphasis on generality, the man-machine interface, obstacle avoidance, and decision-making for enhanced performance. This paper describes prototyping a D\\&amp;D type task with operational software (called OSCAR), a dual-arm robotic system (a 17 DOF system from Robotics Research Corp.), and tooling based on D\\&amp;D application requirements.\nA material size reduction task is chosen for this prototype application. This task involves the use of one arm of the dual-arm robot to hold and position the work piece while the other arm uses off-the-shelf tooling (a cutting saw appropriately modified for computer control and commercially available tool changers) to cut the work piece. Necessary hardware developments for the demonstration included the integration of tool changers, crash protection devices, force/torque sensors, and the associated electronic instrumentation and wiring. OSCAR software modules were used to build the low-level control software that included redundant kinematics, robot servo-control interfacing, and the man-machine interface. Additional software was developed for path planning and application programming. A 3D-graphical model was developed\nfor system design and off-line programming and verification. The system is implemented using off-the-shelf components including PC hardware, the Windows NT operating system, and commercial data acquisition hardware, tool changers, and crash protection devices. The demonstration discussed in this paper accomplishes the goal of performing a relatively complex and useful dual-arm task while reducing development time and hardware costs. Aspects of integrating off-the-shelf components and modular software are presented. Future work and enhancements are also discussed including improved task planning, programming features, force control, motion planning, tool  integration, an improved man-machine interface, and the seamless integration of obstacle avoidance.},\n\tbooktitle = {Proceeding of the {ANS} {Topical} {Meeting} on {Robotics} and {Automation}},\n\tpublisher = {ANS},\n\tauthor = {Harden, Troy and Pryor, Mitchell and Rajan, Ratheesh and Yoo, Jae and Kapoor, Chetan and Tesar, Delbert},\n\tmonth = mar,\n\tyear = {2001},\n\tpages = {1--11},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The University of Texas at Austin is conducting research in the development and application of robotic systems for various Deactivation and Decommissioning (D&D) tasks. This research includes the development of modular robotic hardware that scales from simple 1-2 Degree Of Freedom (DOF) systems to complex dual-arm systems. Research is also being pursued in the development of the required control software for such systems with an emphasis on generality, the man-machine interface, obstacle avoidance, and decision-making for enhanced performance. This paper describes prototyping a D&D type task with operational software (called OSCAR), a dual-arm robotic system (a 17 DOF system from Robotics Research Corp.), and tooling based on D&D application requirements. A material size reduction task is chosen for this prototype application. This task involves the use of one arm of the dual-arm robot to hold and position the work piece while the other arm uses off-the-shelf tooling (a cutting saw appropriately modified for computer control and commercially available tool changers) to cut the work piece. Necessary hardware developments for the demonstration included the integration of tool changers, crash protection devices, force/torque sensors, and the associated electronic instrumentation and wiring. OSCAR software modules were used to build the low-level control software that included redundant kinematics, robot servo-control interfacing, and the man-machine interface. Additional software was developed for path planning and application programming. A 3D-graphical model was developed for system design and off-line programming and verification. The system is implemented using off-the-shelf components including PC hardware, the Windows NT operating system, and commercial data acquisition hardware, tool changers, and crash protection devices. The demonstration discussed in this paper accomplishes the goal of performing a relatively complex and useful dual-arm task while reducing development time and hardware costs. Aspects of integrating off-the-shelf components and modular software are presented. Future work and enhancements are also discussed including improved task planning, programming features, force control, motion planning, tool integration, an improved man-machine interface, and the seamless integration of obstacle avoidance.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_1999\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_1999')\"\n      onkeypress=\"toggleGroup('group_1999')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>1999</span>\n      <span class=\"bibbase_group_count\">\n        \n        (4)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"pryor-complextaskcompletionwithredundantserialmanipulators-1999\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Complex task completion with redundant serial manipulators.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitchell Wayne Pryor.\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, December 1999.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-complextaskcompletionwithredundantserialmanipulators-1999\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-complextaskcompletionwithredundantserialmanipulators-1999')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@phdthesis{pryor_complex_1999,\n\ttype = {Thesis},\n\ttitle = {Complex task completion with redundant serial manipulators},\n\tcopyright = {Copyright is held by the author. Presentation of this material on the Libraries&#x27; web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.},\n\tlanguage = {eng},\n\turldate = {2020-05-10},\n\tauthor = {Pryor, Mitchell Wayne},\n\tmonth = dec,\n\tyear = {1999},\n}\n\n\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"cox-cetin-pryor-tesar-requirementsformodulardualarmrobotarchitectureforuseindeactivationanddecommissioningtasks-1999\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Requirements for Modular Dual-Arm Robot Architecture for use in Deactivation and Decommissioning Tasks.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Daniel Cox;  Murat Cetin;  Mitch Pryor;  and  Delbert Tesar.\n</span>\n\n  \n\n</span>\n\n  In <i>ANS Annual Meeting</i>, Boston, MA, June 1999. ANS\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/cox-cetin-pryor-tesar-requirementsformodulardualarmrobotarchitectureforuseindeactivationanddecommissioningtasks-1999\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('cox-cetin-pryor-tesar-requirementsformodulardualarmrobotarchitectureforuseindeactivationanddecommissioningtasks-1999')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{cox_requirements_1999,\n\taddress = {Boston, MA},\n\ttitle = {Requirements for {Modular} {Dual}-{Arm} {Robot} {Architecture} for use in {Deactivation} and {Decommissioning} {Tasks}},\n\tabstract = {Numerous nuclear facilities must be dismantled at DOE nuclear material processing sites. Tasks associated with Deactivation and Decommissioning (D\\&amp;D) require long duration activity with a wide range of tools (for example drills, chisels, saws, etc.) requiring tool change outs in complete operational scenarios. For example, a large part of the dismantlement scenario involves the transport, sorting, and packaging of heavy metal (lead, steel) and carbon radiation shielding pieces cut by the remote robotics technology. This paper addresses the requirements of a wide range of Deactivation and Decommissioning (D\\&amp;D) tasks to be performed using remote robotics technology.},\n\tbooktitle = {{ANS} {Annual} {Meeting}},\n\tpublisher = {ANS},\n\tauthor = {Cox, Daniel and Cetin, Murat and Pryor, Mitch and Tesar, Delbert},\n\tmonth = jun,\n\tyear = {1999},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Numerous nuclear facilities must be dismantled at DOE nuclear material processing sites. Tasks associated with Deactivation and Decommissioning (D&D) require long duration activity with a wide range of tools (for example drills, chisels, saws, etc.) requiring tool change outs in complete operational scenarios. For example, a large part of the dismantlement scenario involves the transport, sorting, and packaging of heavy metal (lead, steel) and carbon radiation shielding pieces cut by the remote robotics technology. This paper addresses the requirements of a wide range of Deactivation and Decommissioning (D&D) tasks to be performed using remote robotics technology.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"pryor-vandoren-tesar-manipulatorperformancecriteriabasedonkinematicdynamicandcompliancemodels-1999\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Manipulator Performance Criteria Based on Kinematic, Dynamic, and Compliance Models.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Mitch Pryor;  Matthew Doren;  and  Delbert Tesar.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ASME Design Engineering Technical Conferences</i>, pages 1–9, Las Vegas, NV, September 1999. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-vandoren-tesar-manipulatorperformancecriteriabasedonkinematicdynamicandcompliancemodels-1999\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-vandoren-tesar-manipulatorperformancecriteriabasedonkinematicdynamicandcompliancemodels-1999')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pryor_manipulator_1999,\n\taddress = {Las Vegas, NV},\n\ttitle = {Manipulator {Performance} {Criteria} {Based} on {Kinematic}, {Dynamic}, and {Compliance} {Models}},\n\tabstract = {Currently, few criteria are available that identify a redundant robot’s ‘optimal’ configuration. Criteria developers have been compelled to design computationally efficient metrics in order to maintain necessary control cycle rates. This requirement is diminishing in importance with increasing computer\nperformance, allowing designers to implement more complex and effective criteria into the manipulator’s control algorithms. This paper presents a wide variety of criteria that will aid in pinpointing optimal configurations in redundant manipulators. In developing these criteria, the counterproductive (but often necessary) requirement of minimizing the computation rate per criterion is largely ignored.\nThese new criteria are intended for two purposes: (1) the trajectory optimization of redundant manipulators and (2) design optimization for configuring link and joint modules in any manipulator. The criteria presented are derived from the geometric (both 1st and 2nd order), dynamic, and compliance models of a manipulator. All criteria are simulated on a 7DOF serial manipulator, and several results are presented here.},\n\tbooktitle = {Proceedings of the {ASME} {Design} {Engineering} {Technical} {Conferences}},\n\tpublisher = {ASME},\n\tauthor = {Pryor, Mitch and van Doren, Matthew and Tesar, Delbert},\n\tmonth = sep,\n\tyear = {1999},\n\tpages = {1--9},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Currently, few criteria are available that identify a redundant robot’s ‘optimal’ configuration. Criteria developers have been compelled to design computationally efficient metrics in order to maintain necessary control cycle rates. This requirement is diminishing in importance with increasing computer performance, allowing designers to implement more complex and effective criteria into the manipulator’s control algorithms. This paper presents a wide variety of criteria that will aid in pinpointing optimal configurations in redundant manipulators. In developing these criteria, the counterproductive (but often necessary) requirement of minimizing the computation rate per criterion is largely ignored. These new criteria are intended for two purposes: (1) the trajectory optimization of redundant manipulators and (2) design optimization for configuring link and joint modules in any manipulator. The criteria presented are derived from the geometric (both 1st and 2nd order), dynamic, and compliance models of a manipulator. All criteria are simulated on a 7DOF serial manipulator, and several results are presented here.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"cox-cetin-pryor-tesar-experimentsofcooperativemanipulationfordualarmroboticoperations-1999\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Experiments of Cooperative Manipulation for Dual-arm Robotic Operations.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   Daniel Cox;  Murat Cetin;  Mitch Pryor;  and  Delbert Tesar.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 10th World Congress on the Theory of Machines and Mechanisms</i>, Oulu, Finland, June 1999. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/cox-cetin-pryor-tesar-experimentsofcooperativemanipulationfordualarmroboticoperations-1999\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('cox-cetin-pryor-tesar-experimentsofcooperativemanipulationfordualarmroboticoperations-1999')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{cox_experiments_1999,\n\taddress = {Oulu, Finland},\n\ttitle = {Experiments of {Cooperative} {Manipulation} for {Dual}-arm {Robotic} {Operations}},\n\tabstract = {Initial experiments in cooperative manipulation are performed with a test-bed comprised of a\nfully anthropomorphic, seventeen degree-of-freedom, dual-arm robotic system. The system is\nequipped with an updated computer hardware and software platform. A reusable and general\narchitecture of the operational software layer for the test-bed has been implemented and used\nfor the experiments. A series of experiments in which different control strategies are used as\nextensions to the operational software layer is described. Results of initial experiments are\nprovided.},\n\tbooktitle = {Proceedings of the 10th {World} {Congress} on the {Theory} of {Machines} and {Mechanisms}},\n\tauthor = {Cox, Daniel and Cetin, Murat and Pryor, Mitch and Tesar, Delbert},\n\tmonth = jun,\n\tyear = {1999},\n}\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Initial experiments in cooperative manipulation are performed with a test-bed comprised of a fully anthropomorphic, seventeen degree-of-freedom, dual-arm robotic system. The system is equipped with an updated computer hardware and software platform. A reusable and general architecture of the operational software layer for the test-bed has been implemented and used for the experiments. A series of experiments in which different control strategies are used as extensions to the operational software layer is described. Results of initial experiments are provided.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_1998\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_1998')\"\n      onkeypress=\"toggleGroup('group_1998')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>1998</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"kapoor-cetin-pryor-cocca-harden-tesar-asoftwarearchitectureformulticriteriadecisionmakingforsdvancedrobotics-1998\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  A Software Architecture for Multi-criteria Decision Making for Sdvanced Robotics.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   C. Kapoor;  M. Cetin;  M. Pryor;  C. Cocca;  T. Harden;  and  D. Tesar.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the 1998 IEEE International Symposium on Intelligent Control (ISIC) held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) Intell</i>, pages 525–530, Gaithersburg, MD, September 1998. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ISIC.1998.713718\"\n     onclick=\"log_download('kapoor-cetin-pryor-cocca-harden-tesar-asoftwarearchitectureformulticriteriadecisionmakingforsdvancedrobotics-1998', 'http://doi.org/10.1109/ISIC.1998.713718', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kapoor-cetin-pryor-cocca-harden-tesar-asoftwarearchitectureformulticriteriadecisionmakingforsdvancedrobotics-1998\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kapoor-cetin-pryor-cocca-harden-tesar-asoftwarearchitectureformulticriteriadecisionmakingforsdvancedrobotics-1998')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{kapoor_software_1998,\n\taddress = {Gaithersburg, MD},\n\ttitle = {A {Software} {Architecture} for {Multi}-criteria {Decision} {Making} for {Sdvanced} {Robotics}},\n\tdoi = {10.1109/ISIC.1998.713718},\n\tabstract = {Presents a framework that facilitates the development of multi-criteria decision-making software for redundant manipulator control. This software architecture is based on object-oriented design and it meets the requirements of generality, extensibility, computational efficiency, and reduction in program development time. Analysis, design, and implementation were the three steps in the development of this architecture. Analysis involved the study of the multi-criteria decision-making domain. This included the information flow between different criteria and also their fusion. The design phase involved extracting the commonalties of various criteria and the specification of abstractions that could best model these criteria. The application of this philosophy led to the development of an architecture that is robot independent, scaleable, supports standardized interfaces, and is applicable to real-time control and simulation. This architecture is demonstrated using a sample application for controlling a 10 DOF manipulator.},\n\tbooktitle = {Proceedings of the 1998 {IEEE} {International} {Symposium} on {Intelligent} {Control} ({ISIC}) held jointly with {IEEE} {International} {Symposium} on {Computational} {Intelligence} in {Robotics} and {Automation} ({CIRA}) {Intell}},\n\tpublisher = {IEEE},\n\tauthor = {Kapoor, C. and Cetin, M. and Pryor, M. and Cocca, C. and Harden, T. and Tesar, D.},\n\tmonth = sep,\n\tyear = {1998},\n\tkeywords = {Kinematics, Manipulators, OSCAR, Redundancy, Software architecture},\n\tpages = {525--530},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Presents a framework that facilitates the development of multi-criteria decision-making software for redundant manipulator control. This software architecture is based on object-oriented design and it meets the requirements of generality, extensibility, computational efficiency, and reduction in program development time. Analysis, design, and implementation were the three steps in the development of this architecture. Analysis involved the study of the multi-criteria decision-making domain. This included the information flow between different criteria and also their fusion. The design phase involved extracting the commonalties of various criteria and the specification of abstractions that could best model these criteria. The application of this philosophy led to the development of an architecture that is robot independent, scaleable, supports standardized interfaces, and is applicable to real-time control and simulation. This architecture is demonstrated using a sample application for controlling a 10 DOF manipulator.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_1997\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_1997')\"\n      onkeypress=\"toggleGroup('group_1997')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>1997</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"pryor-kapoor-hooper-tesar-areusablesoftwarearchitectureformanualcontrollerintegration-1997\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://ieeexplore.ieee.org/document/606890\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'pryor-kapoor-hooper-tesar-areusablesoftwarearchitectureformanualcontrollerintegration-1997', 'https://ieeexplore.ieee.org/document/606890', event);\">\n    A Reusable Software Architecture for Manual Controller Integration.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n   M. Pryor;  C. Kapoor;  R. Hooper;  and  D. Tesar.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of International Conference on Robotics and Automation</i>, volume 4, pages 3583–3588 vol.4, Albuquerqie, NM, April 1997. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://ieeexplore.ieee.org/document/606890\"\n     onclick=\"log_download('pryor-kapoor-hooper-tesar-areusablesoftwarearchitectureformanualcontrollerintegration-1997', 'https://ieeexplore.ieee.org/document/606890', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"A Reusable Software Architecture for Manual Controller Integration [link]\"\n       title=\"Paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\">Paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ROBOT.1997.606890\"\n     onclick=\"log_download('pryor-kapoor-hooper-tesar-areusablesoftwarearchitectureformanualcontrollerintegration-1997', 'http://doi.org/10.1109/ROBOT.1997.606890', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/pryor-kapoor-hooper-tesar-areusablesoftwarearchitectureformanualcontrollerintegration-1997\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>22 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('pryor-kapoor-hooper-tesar-areusablesoftwarearchitectureformanualcontrollerintegration-1997')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{pryor_reusable_1997,\n\taddress = {Albuquerqie, NM},\n\ttitle = {A {Reusable} {Software} {Architecture} for {Manual} {Controller} {Integration}},\n\tvolume = {4},\n\turl = {https://ieeexplore.ieee.org/document/606890},\n\tdoi = {10.1109/ROBOT.1997.606890},\n\tabstract = {This paper examines the commonalities of manual controllers used in robotics for teleoperation. These include devices ranging from simple joysticks to force-reflecting controllers. The similarities in functionality and behaviour of these controllers is further exploited to develop a reusable software architecture for manual controller interfacing. The development of this architecture is based on object-oriented design. The application of this design philosophy led to the development of a hierarchy of software components that are manual controller independent and also have a standardized interface. Reusability of these components is supported through generality and extensibility. The key design requirements for this architecture were: open-system, reusable, application independent, extensive error-handling and safety checking, applicability to real-time control and simulation, and reduction in program development time. This paper discusses the software analysis and design issues that were faced to meet the architecture requirements. Further, this architecture is demonstrated using four different manual controllers and a teleoperated dual-arm robotic manipulator.},\n\tbooktitle = {Proceedings of {International} {Conference} on {Robotics} and {Automation}},\n\tpublisher = {IEEE},\n\tauthor = {Pryor, M. and Kapoor, C. and Hooper, R. and Tesar, D.},\n\tmonth = apr,\n\tyear = {1997},\n\tkeywords = {Manual Controllers, OSCAR, Software Architecture, Telerobotics},\n\tpages = {3583--3588 vol.4},\n}\n\n\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper examines the commonalities of manual controllers used in robotics for teleoperation. These include devices ranging from simple joysticks to force-reflecting controllers. The similarities in functionality and behaviour of these controllers is further exploited to develop a reusable software architecture for manual controller interfacing. The development of this architecture is based on object-oriented design. The application of this design philosophy led to the development of a hierarchy of software components that are manual controller independent and also have a standardized interface. Reusability of these components is supported through generality and extensibility. The key design requirements for this architecture were: open-system, reusable, application independent, extensive error-handling and safety checking, applicability to real-time control and simulation, and reduction in program development time. This paper discusses the software analysis and design issues that were faced to meet the architecture requirements. Further, this architecture is demonstrated using four different manual controllers and a teleoperated dual-arm robotic manipulator.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);