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Approximate Cartesian Control for Robotic Tool Usage with Graceful Degradation Project
nasa-test-0.demo.socrata.com | Last Updated 2015-07-20T05:31:39.000ZMany of NASA's exploration scenarios include important roles for autonomous or partially autonomous robots. It is desirable for them to utilize human tools when possible, rather than needing to build custom tools for each robot. Control of robotic manipulators for tool usage generally requires a very precise Cartesian-space trajectory of the tool tip (e.g., moving a marker along the surface of a whiteboard or rotating a screwdriver about an axis). Well-known techniques exist for manipulator control in Cartesian space, most of which necessitate solving a series of Inverse Kinematics (IK) problems. Closed-form IK solvers work well for 7-degree-of-freedom (DOF) arms with rigid tool attachments, but cannot handle non-rigid tools that slip in the robot's hands. Numerical IK approaches are more generic and can handle non-rigid links to tools, but can be slow to converge. More importantly, if any joints fail or become limited in their range of motion, the robot arm essentially becomes 6-DOF or lower. IK solvers often fail in these lower DOF spaces because the configuration space becomes non-continuous and full of "holes". As a result, a 7-DOF robotic arm in space might be rendered largely useless if a single joint fails or even loses mobility until it can be serviced. TRACLabs proposes to investigate an alternative approach to traditional Cartesian control approaches, which rely on complex IK solvers that go from Cartesian space backwards to joint space. We propose to leverage cheap memory and modern processing speeds to instead perform simple computations that go from joint space forwards to Cartesian space. Such techniques should overcome common changes to a manipulation chain caused by tool slippage or the grasping of a new tool and to overcome uncommon changes to a chain caused by joint failures, reduced joint mobility, changes in joint geometry or range of motion, or added joints.
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ED Total Private Covered Employment
internal.open.piercecountywa.gov | Last Updated 2024-04-17T18:09:50.000ZTotal private-sector employment for jobs covered by Unemployment Insurance as reported by employers through the Quarterly Census of Employment and Wages (QCEW).
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Auditory Presentation of H/OZ Critical Flight Data Project
nasa-test-0.demo.socrata.com | Last Updated 2015-07-20T05:08:03.000ZAutomation of a flight control system to perform functions normally attributed to humans is often not robust and limited to specific operating conditions and types of operation and a small set of fixed behaviors (i.e. modes). eSky has shown that metrics such as the time delay between a required control input from the crew and the actual input is sensitive to crew functional degradation through external distraction. We are currently developing strategies for using such crew state metrics to modulate the level of automation support provided to the flight crew. Dynamic reallocation of function between crew and automation can reduce the cognitive workload on the crew, enhance their ability to supervise the automation and help them intervene in the event of any failure or operation outside the desired operating conditions. eSky is exploring function reallocation in a collaborative flight control system (HFCS) design pioneered at NASA Langley. HFCS combines precise flight control automation with rudimentary intelligence that the flight crew can guide using relatively simple mechanisms. HFCS automation manages short-term control tasks (e.g. path following) while the crew is required to direct every significant trajectory change using flight controls rather than an FMS interface to keep them engaged in conduct of the flight. The automation communicates intentions to the pilot through visual and haptic (tactile) feedback; the crew communicates intentions to the automation through conventional controls. The HFCS user interface is primarily visual and tactile with limited auditory elements, mainly limited to a few alerts and warnings. eSky proposes to establish the auditory channel as a key element in providing flight dynamic information and cueing of required crew in puts in addition to envelope protection warnings. These new interface elements will be integrated into eSky's evolving strategies for functionality reallocation of between automation and crew.
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Election Results, Special Election Runoff, August 11, 2015
data.fultoncountyga.gov | Last Updated 2024-01-23T18:41:10.000ZThis data set consists of all Fulton County Election results from the Special Election Runoff, August 11, 2015 to present. Included with each record is the race, candidate, precinct, number of election day votes, number of absentee by mail votes, number of advance in person votes, number of provisional votes, total number of votes, name of election, and date of election. This data set is updated after each election.
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2010 Salary Data
data.vermont.gov | Last Updated 2024-01-23T18:24:20.000ZState employee salary information for the years 2009 through 2013
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Assessor [Archived 05-11-2022] - Sales
datacatalog.cookcountyil.gov | Last Updated 2022-05-11T15:57:17.000ZReal estate sales data used by the Cook County Assessor to estimate Fair Cash Values for the purpose of property taxation. Deeds that include multiple PIN numbers are excluded from this data. This data is produced by joining sales data from the Illinois Department of Revenue against incomplete sales data from the Cook County Recorder of Deeds, parsing the resulting data to obtain data unique by deed number, and, in some cases, determining arms' length status of sales.
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Los Angeles BusinessSource Centers "Operating Businesses (>5 Employees)" Performance Units for 01/01/17 through 12/31/17
data.lacity.org | Last Updated 2020-11-30T17:02:52.000ZThe Los Angeles BusinessSource Centers provide startup ventures and current small business owners various cost effective tools to make their business a success. Through these tools, small businesses can grow and remain competitive within the City of Los Angeles. The Operating Businesses component, defined as employing 6 or more employees, focuses on providing business assistance and training to emerging companies that will give them the highest opportunities for success. The business services provided to the clients shall include, but not be limited to, customized technical business assistance (industry specific) particular to their business needs in order to stabilize the business, increase revenues and increase operational performance which will lead to the greatest impact on their economic viability and increase profitability.
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Voter Precinct to Jurisdiction Crosswalk
data.wa.gov | Last Updated 2024-04-25T22:49:51.000ZThe PDC uses this data set for its online web applications to assist the public in finding information relative to a particular jurisdiction. It is provided here for the purpose of assisting application developers and may be of limited interest for the general public. This dataset is a subset (copy) of voter registration records provided to the Public Disclosure Commission by the Washington Secretary of State (SOS) under the terms of SOS and applicable law. Use of this data is governed by any restrictions or limitations of the original release by SOS. By accessing this data you are agreeing to use the data in accordance with the RCW 29A.08.720, RCW 29A.08.740 and RCW 42.56.070(9) and any other applicable law. This data set can be used to correlate a precinct to a PDC jurisdiction and office. These data are provided as-is and may contain errors or omissions. Please refer to the SOS for the most recent precinct data.
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Metropolitan King County Council District No. 8
data.kingcounty.gov | Last Updated 2018-12-15T00:44:53.000Z(Initial posting at 8:15 p.m. on Election Day) Election results, November 2011 general election. To see when this was updated, click "About" on the far right of this page. See the schedule for when results are posted, at http://www.kingcounty.gov/elections/elections/201111/resultsschedule.aspx
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Elections: Applications, Line, September 2020 Election
sharefulton.fultoncountyga.gov | Last Updated 2023-01-30T16:56:12.000ZThis dataset contains information on absentee ballot applications for the September 29, 2020 Special Election.