Abstract: The systems and methods described herein are directed towards a solid state pumping system that utilizes an electric field applied across a channel formed within the solid state pump to move electro-rheological (ER) fluid from an inlet fluidly coupled to a first end of the channel to an outlet fluidly coupled to a second end of the channel. The solid state pumping system may include first, second and third plate with the second plate disposed between the first and third plate. The second plate may include a channel having first and second circuits coupled to opposing sides of the channel. In an embodiment, in response to a voltage applied thereto, the first and second circuits can provide an electric field voltage across the channel such that in response to the electric field voltage the ER fluid moves from the first end to the second end of the channel.

Abstract: Unmanned ground vehicle teleoperation is provided. A forward looking scene understanding system is employed. Region of interest based compression is employed. Driving specific scene virtualization is employed. Link quality measurement is employed. A hared control autonomy system is used.

Abstract: The systems and methods described herein are directed towards a solid state pumping system that utilizes an electric field applied across a channel formed within the solid state pump to move electro-rheological (ER) fluid from an inlet fluidly coupled to a first end of the channel to an outlet fluidly coupled to a second end of the channel. The solid state pumping system may include first, second and third plate with the second plate disposed between the first and third plate. The second plate may include a channel having first and second circuits coupled to opposing sides of the channel. In an embodiment, in response to a voltage applied thereto, the first and second circuits can provide an electric field voltage across the channel such that in response to the electric field voltage the ER fluid moves from the first end to the second end of the channel.

Abstract: A continuum style manipulator is actuated by jammable media within an envelope of a module, which is also actuated by a tensile element, such as a cable and spooler motor. Multiple modules may be reversibly added. Two or more tensile elements may also be used. Three or more actuated tensile elements can actuate three DOFs of each module, and the terminal module, as well as the entire manipulator. Jammable media may be granular, actuated by a pressure change. Coarsely ground coffee works well. Rather than a jammable media, tensile elements may alternatively be used with other phase change media, such as magnetorheological and electrorheological media. A high friction angle of the granular media is desirable, and has been achieved with a particle size dispersion including both small and relatively larger particles. Applications include endoscopes, proctoscopes, laparoscopic instruments, manufacturing and medical manipulators.

Abstract: In the method of reducing the likelihood of collisions, the improvement comprising the step of embedding passive radio transponders in a tape, grease, or other materials; applying said passive radio transponders to an object of which collisions must be avoided, and mounting an active interrogating transponder on a moving machinery, which uses the information provided by the radio transponders to semi-autonomously avoid collisions.

Abstract: A continuum style manipulator is actuated by jammable media within an envelope of a module, which is also actuated by a tensile element, such as a cable and spooler motor. Multiple modules may be reversibly added. Two or more tensile elements may also be used. Three or more actuated tensile elements can actuate three DOFs of each module, and the terminal module, as well as the entire manipulator. Jammable media may be granular, actuated by a pressure change. Coarsely ground coffee works well. Rather than a jammable media, tensile elements may alternatively be used with other phase change media, such as magnetorheological and electrorheological media. A high friction angle of the granular media is desirable, and has been achieved with a particle size dispersion including both small and relatively larger particles. Applications include endoscopes, proctoscopes, laparoscopic instruments, manufacturing and medical manipulators.

Abstract: Various types and levels of operator assistance are performed within a unified, configurable framework. A model of the device with a model of the environment and the current state of the device and the environment are used to iteratively generate a sequence of optimal device control inputs that, when applied to a model of the device, generate an optimal device trajectory through a constraint-bounded corridor or region within the state space. This optimal trajectory and the sequence of device control inputs that generates it is used to generate a threat assessment metric. An appropriate type and level of operator assistance is generated based on this threat assessment. Operator assistance modes include warnings, decision support, operator feedback, vehicle stability control, and autonomous or semi-autonomous hazard avoidance. The responses generated by each assistance mode are mutually consistent because they are generated using the same optimal trajectory.

Abstract: In the method of reducing the likelihood of collisions, the improvement comprising the step of embedding passive radio transponders in a tape, grease, or other materials; applying said passive radio transponders to an object of which collisions must be avoided, and mounting an active interrogating transponder on a moving machinery, which uses the information provided by the radio transponders to semi-autonomously avoid collisions.

Abstract: A method predicts and quantifies the threat posed to a human-operated device based on an optimal device trajectory through a constraint-bounded corridor. A model of the device together with a model of anticipated hazards and the current state of both the device and the hazards are used to iteratively generate an optimal device trajectory through a constraint-bounded corridor or region within state space. Device dynamics are forward-simulated over a time horizon. A method generates a threat assessment metric from the resulting sequence of optimal vehicle states. This threat assessment may be used to devise various types and levels of operator assistance. The human operator can control the device within a safe corridor or region. Threat assessment is based on the nearness of successive optimal trajectory predictions to limits of safe device handling rather than on deviation from a predefined path.

Abstract: Various types and levels of operator assistance are performed within a unified, configurable framework. A model of the device with a model of the environment and the current state of the device and the environment are used to iteratively generate a sequence of optimal device control inputs that, when applied to a model of the device, generate an optimal device trajectory through a constraint-bounded corridor or region within the state space. This optimal trajectory and the sequence of device control inputs that generates it is used to generate a threat assessment metric. An appropriate type and level of operator assistance is generated based on this threat assessment. Operator assistance modes include warnings, decision support, operator feedback, vehicle stability control, and autonomous or semi-autonomous hazard avoidance. The responses generated by each assistance mode are mutually consistent because they are generated using the same optimal trajectory.

Abstract: A method predicts and quantifies the threat posed to a human-operated device based on an optimal device trajectory through a constraint-bounded corridor. A model of the device together with a model of anticipated hazards and the current state of both the device and the hazards are used to iteratively generate an optimal device trajectory through a constraint-bounded corridor or region within state space. Device dynamics are forward-simulated over a time horizon. A method generates a threat assessment metric from the resulting sequence of optimal vehicle states. This threat assessment may be used to devise various types and levels of operator assistance. The human operator can control the device within a safe corridor or region. Threat assessment is based on the nearness of successive optimal trajectory predictions to limits of safe device handling rather than on deviation from a predefined path.

Abstract: Various types and levels of operator assistance are performed within a unified, configurable framework. A model of the device with a model of the environment and the current state of the device and the environment are used to iteratively generate a sequence of optimal device control inputs that, when applied to a model of the device, generate an optimal device trajectory through a constraint-bounded corridor or region within the state space. This optimal trajectory and the sequence of device control inputs that generates it is used to generate a threat assessment metric. An appropriate type and level of operator assistance is generated based on this threat assessment. Operator assistance modes include warnings, decision support, operator feedback, vehicle stability control, and autonomous or semi-autonomous hazard avoidance. The responses generated by each assistance mode are mutually consistent because they are generated using the same optimal trajectory.

Abstract: An active safety framework performs trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in a unified, optimal fashion. The vehicle navigation task is formulated as a constrained optimal control problem. A predictive, model-based controller iteratively plans an optimal or best-case vehicle trajectory through the constrained corridor. This best-case scenario is used to establish the minimum threat posed to the vehicle given its current state, current and past driver inputs/performance, and environmental conditions. Based on this threat assessment, the level of controller intervention required to prevent collisions or instability is calculated and driver/controller inputs are scaled accordingly. This approach minimizes controller intervention while ensuring that the vehicle does not depart from a traversable corridor.