Enhanced Teleoperation for D&D

Semi-automatic Teleoperation for D&D

For deactivation and decommissioning (D&D) of contaminated structures in the weapons complex, remotely operated robotic systems are expected to replace human workers from hazardous radiation and difficult work environments, while improving productivity and reducing costs. Nevertheless, the major drawback of currently available remote operation technology is that teleoperation is a slow and impr...

Enhanced Teleoperation Exhibiting Tele-autonomy and Tele-collaboration

This paper presents enhanced remote manipulation of tools for D&D tasks by extending teleoperation with teleautonomy and tele-collaboration. This work builds on a reactive, agent-based control architecture, which is well suited to unstructured and unpredictable environments, and cobot control technology, which implements a virtual fixture that can be used to guide the application of tools with ...

Internet enhanced teleoperation: Toward a remote supervised delay regulator

Visually and Haptically Augmented Teleoperation in D&D Tasks Using Virtual Fixt

This paper describes the enhanced teleoperation in order to improve productivity while reducing risk to human workers from hazardous environment in Decontamination and Decommissioning (D&D) tasks. Due to the difficulty of perceiving the three-dimensional environment with two-dimensional video display, one of the most difficult tasks is to place the tool on the target objects while maintaining p...

Effects of D-Doping on Characteristics of AlAs/GaAs Barriers Grown by Mba at 400 ??C

Effects of d-doping on barriers effective heights and series resistance of highly doped n-type GaAs/AIAs/GaAs/AlAs/GaAs heterostructures, grown by molecular beam epitaxy (MBE) at 400?°C, have been studied. As it was expected, inclusion of an n+ d-doped layer at each hetero-interface has reduced the barriers heights and series resistance of the structure significantly, while p+ d-doped layers ha...

A General Framework for 1-D Histogram-baesd Image Contrast Enhancement

In this paper, a general framework for image contrast enhancement algorithm based on an optimization problem is presented. Through this optimization, the intensities can be better distributed. The algorithm is based on the facts that the histogram of the enhanced image is close to the input image histogram and uniform distribution, simultaneously. Based on this fact, we obtain a closed form opt...