Home Position: Reflecting on Disciplines, Discontinuities and Design Spaces

Urgency of the research. There is a need for service robots for cleaning, cutting the grass, vacuum cleaners, waste collectors etc. Service robots also can help with dangerous application like mine removing or inspection of dangerous places. Target setting. Puck collecting robot is designed for collecting of wood pucks in arena and bringing to home position. Actual scientific researches and issues analysis. Other similar task is collecting of products on production line in factory. Next possible application is collecting of any fruits or vegetable on plantation. Uninvestigated parts of general matters defining. The questions of the design of waste collecting robots are uninvestigated, because the next research will be focused to this. The research objective. Puck collecting competition is based on collecting of pucks of selected colour and bringing to home position of the same colour. Two wheeled concept of the robot with differentially driven wheels has been selected for high manoeuvrability on small place. The statement of basic materials. Locomotion System structure consist of undercarriage with two geared DC motors with rubber wheels with diameter 110 mm controlled via using of locomotion microcontroller. Puck collecting system includes mechanical collector with puck color sensor, home base color sensor, puck sorter and puck handling microcontroller. Conclusions. Key role of the solved robotic project is obtaining of practical experiences from the robot design and building. Robot developing is as perfect example of practical exercises. The robot is also designed as didactic tool for students training. The task of this mobile robot is similar to application in industry.

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Two Neural Circuits to Point Towards Home Position After Passive Body Displacements

Frontiers in Neural Circuits ◽

10.3389/fncir.2019.00070 ◽

2019 ◽

Vol 13 ◽

Author(s):

Jean Blouin ◽

Anahid H. Saradjian ◽

Jean-Philippe Pialasse ◽

Gerome A. Manson ◽

Laurence Mouchnino ◽

...

Keyword(s):

Neural Circuits ◽

Home Position

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Hayabusa2’s Superior Solar Conjunction Phase

Space Science Reviews ◽

10.1007/s11214-020-00731-5 ◽

2020 ◽

Vol 216 (6) ◽

Author(s):

Stefania Soldini ◽

Tomohiro Yamaguchi ◽

Yuichi Tsuda ◽

Saiki Takanao ◽

Satoru Nakazawa

Keyword(s):

Covariance Analysis ◽

Communication Link ◽

Home Position ◽

The Earth ◽

Before And After ◽

Wide Angle Camera ◽

Navigation Planning ◽

The Hill ◽

First Time ◽

Full Body

Abstract Hayabusa2 is the ongoing JAXA’s sample and return mission to the asteroid Ryugu. In late 2018, Ryugu was in superior solar conjunction with the Earth. It is the first time that a spacecraft experiences the blackouts in the communication link with the Earth while hovering around a small celestial body. In this article, the design of the nominal conjunction trajectory flown by the Hayabusa2’s spacecraft is presented. The requirements for the conjunction trajectory were (1) to guarantee a low fuel consumption, (2) to ensure the visibility of the asteroid by the spacecraft’s wide angle camera ($60^{\circ }$ 60 ∘ FoV), and (3) to increase the spacecraft altitude to a safety location ($\sim109~\mbox{km}$ ∼ 109 km ) from the nominal BOX-A operation of 20 km (Home Position - HP). Finally, (4) to return at BOX-A after the conjunction phase. Given the mission constraints, the designed conjunction trajectory appears to have a fish-shape in the Hill coordinates therefore we renamed it as “ayu” (sweetfish in Japanese) trajectory. The optNEAR tool was developed for the guidance ($\Delta V\mbox{s}$ Δ V s planning) and navigation design of the Hayabusa2’s conjunction mission phase. A preliminary sensitivity analysis in the Hill reference frame proved that the ayu trajectory is a good candidate for the conjunction operation of hovering satellite. The solution in the Hill coordinates is refined in the full-body planetary dynamics (optNEAR Tool) before flight. The ayu conjunction trajectory requires (a) two deterministic $\Delta V\mbox{s}$ Δ V s at the Conjunction Orbit Insertion (COI) point and at the Home-position Recovery Maneuver (HRM) point respectively. (b) Two stochastic $\Delta V\mbox{s}$ Δ V s , known as Trajectory Correction Manoeuvres (TCMs), before and after the deep conjunction phase are also required. The constraint linear covariance analysis in the full-body dynamics is here derived and used for the preliminary guidance and navigation planning. The results of the covariance analysis were validated in a nonlinear sense with a Monte Carlo approach which proved the validity of the semi-analytic method for the stochastic $\Delta V\mbox{s}$ Δ V s planning derived in this paper.

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Looking for action

Australian Review of Applied Linguistics ◽

10.1075/aral.33.1.02nev ◽

2010 ◽

Vol 33 (1) ◽

pp. 3.1-3.21

Author(s):

Maurice Nevile

Keyword(s):

Conversation Analysis ◽

Eye Gaze ◽

Gaze Direction ◽

Work Setting ◽

Home Position ◽

Work Activity ◽

Relative Contribution ◽

Video Recordings ◽

Naturally Occurring ◽

Work Tasks

This paper considers the embodied nature of discourse for a professional work setting. It examines language in interaction in the airline cockpit, and specifically how shifts in pilots’ eye gaze direction can indicate the action of talk, that is, what talk is doing and its relative contribution to work-in-progress. Looking towards the other pilot’s face treats talk as occurring outside the predictable and scripted sequential flow of interaction for work. The talk might be casual conversation unrelated to work tasks, or involve negotiation of work arising from locally contingent circumstances. Pilots treat particular sites for looking, cockpit instrument panels and windows, as a home position for gaze for planned and predictable work activity. Looking away from this home position, as either speaker or recipient, treats talk as doing something else. The paper draws on insights and methods of conversation analysis, and uses naturally occurring data, video recordings of pilots at work on actual scheduled passenger flights.

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