Computer Considerations for Advanced Robotics

Author(s):  
Chetan Kapoor ◽  
Nathan Pettus ◽  
Rich Hooper ◽  
Delbert Tesar

Abstract Mechanical systems for manufacturing in the past have represented monolithic, dedicated machines which remain expensive and inflexible relative to product changes due to market demands. It is the goal of the Robotics Research Group at the University of Texas at Austin (UTRRG) to develop a complete generalized modular architecture for intelligent machines (robots). This paper discusses the various issues involved in the design and selection of system controller hardware, servo controller hardware, real-time software, operating systems, and the software design methodologies. These constructs are required for the realization of a revolutionary, advanced intelligent flexible manufacturing system which offers the same success potential as that of a personal computer.

2021 ◽  
Vol 134 (7) ◽  

ABSTRACT First Person is a series of interviews with the first authors of a selection of papers published in Journal of Cell Science, helping early-career researchers promote themselves alongside their papers. Victor Palacios is first author on ‘Importin-9 regulates chromosome segregation and packaging in Drosophila germ cells’, published in JCS. Victor conducted his PhD research in the lab of Michael Buszczak at the University of Texas Southwestern Medical Center, Dallas, TX, where he investigated the essential role of Importin-9 in Drosophila fertility.


Author(s):  
Chetan Kapoor ◽  
Delbert Tesar

Abstract Robot kinematics generally includes forward and inverse kinematics at the position, velocity, and acceleration level. These constructs are essential for the cartesian control of serial manipulators. This paper presents the development of a C++ class library that supports the forward and inverse kinematics of all possible geometries of serial manipulators. Object-oriented analysis and design is the primary software development methodology used. Application of this methodology led to the sub-division of the kinematics domain into forward, and inverse kinematics. Analysis of these sub-domains resulted in their further sub-division, identification of abstract components, development of classes, interface specifications, and finally implementation and testing. Examples demonstrating programming and extensibility of the components in the kinematics domain are given. This work was part of the development of the Operational Software Components for Advanced Robotics (OSCAR) at the Robotics Research Group of The University of Texas at Austin. OSCAR supports reusable software components for the control of advanced robotic manipulators. This includes mathematical constructs, kinematics, dynamics, fault-tolerance, performance criteria, manual controllers, and a variety of physical manipulators and simulations.


1999 ◽  
Vol 40 (1) ◽  
pp. 143-143

In his review of Meyerhold at Work, edited by Paul Schmidt (Applause, 1996), in the November 1998 issue, Dave Williams commented that Meyerhold “wrote little.” Laurence Senelick has responded, pointing out that Meyerhold's writings are, in fact, voluminous. Senelick writes: “When his memory was rehabilitated in the Soviet Union after the death of Stalin, a selection of his writings was finally issued in 1968 as Stat'i, pis'ma, rechi, besedy (Articles, letters, speeches, discourses,) in two fat volumes edited by A. V. Fevralskij and B. I. Rostotskij. The two tomes together came to over 1000 tightly printed pages. To serve the continuing interest in Meyerhold, a far from complete collection of his letters appeared in 1976 (463 pp.), followed two years later by a nearly 500-page compendium of fresh matter, Tvorcheskoe nasledie Mejerkhol'da (Meyerhold's Creative Legacy). Thereafter, fugitive pieces came out on a regular basis in Russian periodicals and anthologies, and in 1993 another two-volume collection, this time of the stenographic records of his rehearsals, was pubhshed. The fullest collection of Meyerhold's writing outside of Russia is the French translation published in Lausanne, and it is in four volumes… When Paul Schmidt put together Meyerhold at Work, which was first published by the University of Texas Press in 1980, he was deliberately seeking to include material which had not appeared in Edward Braun's 1969 collection Meyerhold on Theatre. Hence his emphasis on the testimony of collaborators and contemporaries, rather than the master's words themselves… If there is a lesson in this, it is that English-speakers have been poorly served by publishers if the paucity of Meyerhold's utterances in translation can lead to the fallacy that he rarely set pen to paper.”


Author(s):  
Julia Gonschorek ◽  
Anja Langer ◽  
Benjamin Bernhardt ◽  
Caroline Räbiger

This article gives insight in a running dissertation at the University in Potsdam. Point of discussion is the spatial and temporal distribution of emergencies of German fire brigades that have not sufficiently been scientifically examined. The challenge is seen in Big Data: enormous amounts of data that exist now (or can be collected in the future) and whose variables are linked to one another. These analyses and visualizations can form a basis for strategic, operational and tactical planning, as well as prevention measures. The user-centered (geo-) visualization of fire brigade data accessible to the general public is a scientific contribution to the research topic 'geovisual analytics and geographical profiling'. It may supplement antiquated methods such as the so-called pinmaps as well as the areas of engagement that are freehand constructions in GIS. Considering police work, there are already numerous scientific projects, publications, and software solutions designed to meet the specific requirements of Crime Analysis and Crime Mapping. By adapting and extending these methods and techniques, civil security research can be tailored to the needs of fire departments. In this paper, a selection of appropriate visualization methods will be presented and discussed.


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