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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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PHOENIX MARS ROBOTIC ARM CAMERA 5 XYZ OPS V1.0
data.nasa.gov | Last Updated 2023-01-26T20:09:16.000ZThe Robotic Arm Camera (RAC) experiment on the Mars Phoenix Lander consists of one instrument component plus command electronics. This RAC Imaging Operations RDR data set contains xyz data from the Robotic Arm Camera (RAC).
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Administrative Law Judge Opinions issued by the Office of the Secretary of Transportation
datahub.transportation.gov | Last Updated 2018-12-19T00:13:37.000ZAdministrative Law Judge Opinions from the Office of the Secretary of Transportation may include, but are not limited to, Aviation Safety Civil Penalty Decisions, Hazardous Materials Safety Civil Penalty Decisions, Motor Carrier Safety Civil Penalty Decisions, Airport-Airline Fees/Rates and Charges Decisions, Aviation Economic Violation Enforcement Proceedings, Aviation Economic Orders and Decisions, Airline Prices/Routes/Services Preemption Decisions, Aviation Enforcement Consent Orders, and Aviation Economic Decisions
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Administrative Law Judge Opinions issued by the Office of the Secretary of Transportation -
datahub.transportation.gov | Last Updated 2018-12-19T00:13:35.000ZAdministrative Law Judge Opinions from the Office of the Secretary of Transportation may include, but are not limited to, Aviation Safety Civil Penalty Decisions, Hazardous Materials Safety Civil Penalty Decisions, Motor Carrier Safety Civil Penalty Decisions, Airport-Airline Fees/Rates and Charges Decisions, Aviation Economic Violation Enforcement Proceedings, Aviation Economic Orders and Decisions, Airline Prices/Routes/Services Preemption Decisions, Aviation Enforcement Consent Orders, and Aviation Economic Decisions
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PHOENIX MARS ROBOTIC ARM CAMERA 5 NORMAL OPS V1.0
data.nasa.gov | Last Updated 2023-01-26T20:52:37.000ZThe Robotic Arm Camera (RAC) experiment on the Mars Phoenix Lander consists of one instrument component plus command electronics. This RAC Imaging Operations RDR data set contains normal data from the Robotic Arm Camera (RAC).
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Report Card Enrollment 2016-17 School Year
data.wa.gov | Last Updated 2023-12-22T20:52:25.000ZThis file includes Report Card enrollment data from 2016-17 school year. Data is disaggregated by school, district, and the state level and includes counts of students by the following groups: grade level, gender, race/ethnicity, and student programs and special characteristics. Please review the notes below for more information.
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ICI - Accommodation and Food Services Garbage Composition - Proper Disposal Location
data.calgary.ca | Last Updated 2023-02-01T15:39:37.000ZThis chart shows weight per cent composition grouped by proper disposal location. This dataset is for garbage bin waste from the Industrial, Commercial, and Institutional (ICI) sector. The North American Industry Classification System (NAICS) is used to categorize ICI businesses and organizations into sub-sectors for ease of data collection and reporting. The NAICS sub-sectors included in this study are: Accommodation and Food Services (NAICS code 72), Retail Trade (44-45), Manufacturing (31-33), Health Care and Social Assistance (62), and Public Administration (91). All businesses and organizations included in the study were customers of The City’s Commercial Collections service, except for one privately-serviced customer in the Accommodation and Food Services sub-sector that was added to provide better sector representation. A total of 115 samples are included in the dataset: 30 in Accommodation and Food Services, 35 in Retail Trade, 17 in Manufacturing, 25 in Health Care and Social Assistance, and 8 in Public Administration. The weight per cent for each sub-sector is the pooled average of samples collected in the four seasons of 2019. Waste Composition studies are periodically conducted by Waste and Recycling Services to help assess the performance of diversion and education programs and inform improvements and new program design.
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Workers' compensation indemnity benefits paid by type, part 1
data.oregon.gov | Last Updated 2023-07-28T16:03:25.000ZWorkers’ compensation indemnity benefits are cash benefits paid to injured workers. These benefits include benefits for temporary disability (time loss), permanent partial disability, permanent total disability, and death. Statute sets eligibility criteria and the rates at which insurers pay these benefits. In the case of death from work-related causes, indemnity benefits are paid to survivors. Indemnity benefits also include vocational assistance benefits paid on behalf of severely disabled workers to get them back to work. Indemnity benefits also include settlements between workers and insurers. Claim disposition agreements (CDAs) and disputed claim settlements (DCSs) are the two forms of settlements. The Workers' Benefit Fund ( WBF)provides funds for programs that assist employers and injured workers. Assessment revenues, not insurance premiums, finance these programs. Employers and workers each pay half the assessment. The two major programs are the Retroactive Program and the Re-employment Assistance Program. The Retroactive Program pays cost-of-living increases to workers or their beneficiaries based on changes in average wages. The two major benefits paid are for permanent total disability and death. Since at least 1995, the majority of PTD and death benefits have been paid from this program. The Re-employment Assistance Program provides incentives for injured workers to return to work, through the Employer-at-Injury Program (EAIP) and the Preferred Worker Program (PWP). Benefits common to both are wage subsidies, worksite modifications, and employment purchases. Workers who have not been released to regular work but can return to transitional jobs are eligible for the EAIP. Use of this program allows many claims to remain nondisabling even though the workers have medical restrictions. Workers who have a permanent disability and are unable to return to regular work are eligible for the PWP benefits, which may be initiated by either the worker or the employer. In addition, claim cost reimbursement is paid for preferred workers who suffer new injuries. The data in this table include estimated figures and are subject to revision. All dollars are shown in millions of dollars.
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ED Private Establishments & Wages QCEW
internal.open.piercecountywa.gov | Last Updated 2024-04-17T20:58:45.000ZNumbers of private-sector establishments in Pierce County, by quarter, reporting information about employment and wages on the Quarterly Census of Employment and Wages.