8 Nov 2023

Leveraging MOVEit for Object Inspection in Simulation

Abstract: Herein we evaluate using a robotic arm with an attached camera to investigate objects of interest in simulation. Specifically, a Husky unmanned ground vehicle with a Panda Powertool was used in the simulation. The code enabled an operator to initiate a preconfigured set of motions when an object of interest was identified. The scan was stored in a database file that was used to generate a 3D mesh of the scanned object. The report describes both setting up the simulation and the code used to scan objects of interest.

8 Nov 2023

Increasing the Degrees of Freedom on a Robot Arm

Abstract: This report provides an implementation of the moveit-commander Python module to generate trajectories for custom six– and seven–degrees of freedom (DoF) arms. The moveit_setup_assistant package was used to modify an existing five-DoF OpenManipulator-X model to increase its range of motion. Specifically, additional joints were fabricated and mounted to the physical arm. Also, the Unified Robot Description Format files were modified to account for the additional joints. In order to optimize the solvers, many changes to the MOVEit configuration files were made. The changes documented in this report lay the groundwork for leveraging MOVEit to expand the capabilities of low-DoF arms.

7 Nov 2023

Integrating MOVEit Motion Constraints on a Novel Robotic Manipulator

Abstract: MOVEit, a widely used Robot Operating System framework, plans composite tasks, where the high-level sequence of actions is fixed and known in advance. However, these tasks need to be tailored and adapted to the environmental context. This framework uses custom trajectory planners, known as controllers, to solve goals that are fully defined within the configuration space. Libraries, such as the Open Motion Planning Library, provide a collection of motion planners that can solve task-space goals. An exact spatial and joint replication of the robotic manipulator’s mechanics, typically Universal Robot Description Format and Semantic Robot Description Format files, is required. Common arms such as the Panda-Manipulator and OpenMANIPULATOR-X provide these files in their respective public repositories, but custom arms require significant modification or even a complete rewrite of these files.

10 Jan 2023

Strength and Toughness Inputs to Fitness for Service Analysis of Existing Hydraulic Steel Structures

Abstract: The purpose of this effort is to describe a database containing information about the strength and toughness of steel used in existing hydraulic steel structures (HSS). The lack of information about these properties often presents a barrier to conducting fitness for service (FFS) analysis. The statistical dependence between strength and toughness variables and other database fields is evaluated to assess their potential as predictive variables.

30 Apr 2021

Sustainment Management System, Water Control Structures: Inventory and Inspection Template

Abstract: Department of Defense (DoD) military services own and maintain a portfolio of dams, dikes, and levees including over 800 assets with a total replacement value of over $2 Billion. The Inspector General has previously found that the DoD requires an inspection policy for dams, to prevent failures. The Office of the Secretary of Defense (OSD) directed the U.S. Army Engineer Research and Development Center, Construction Engineering Laboratory (ERDC-CERL), to create an inspection method and integrate that method with the Enterprise Sustainment Management System, with aims to provide OSD a consistent description of all DoD real property and facilitate calculation of the Facility Condition Index (FCI) for each asset. This report builds upon ERDC-CERL TR-18-9 to propose a method for both inventory and inspection rating for DoD dams, levees, and dikes. A new real property classification system for DoD water control structures is proposed. To better fulfil the OSD requirement for consistent condition and FCI reporting, it is proposed that DoD reevaluate the replacement values and sustainment cost factors for its water retaining structures. A draft guide for linear segmentation for levees is proposed. Future work will allow CERL to develop an Initial Operating Capability for a module within the Enterprise Sustainment Management System to support the OSD requirement.