Robert P. Wichowski

Bio: Robert P. Wichowski is an academic researcher from Goodrich Corporation. The author has contributed to research in topics: Motor controller & Control theory. The author has an hindex of 6, co-authored 16 publications receiving 104 citations.

Projectile resistant armor

Abstract: A body armor assembly includes a plurality of rigid tiles that are supported in a manner to provide movement and flexibility while still providing the protection of rigid armor. In a disclosed example, a tile holder maintains a plurality of tiles in a selected alignment. The tile holder maintains a minimum overlap dimension between adjacent tiles. Some of the tiles are maintained by the tile holder in a manner that allows for the overlap dimension to increase beyond the minimum overlap dimension. In a disclosed example, at least two rigid layers have at least one ballistic material layer between them to provide a rigid armor material composition.

Compact FPGA-based digital motor controller

Abstract: A compact field programmable gate array (FPGA)-based digital motor controller ( 102 ), a method, and a design structure are provided. The compact FPGA-based digital motor controller ( 102 ) includes a sensor interface ( 206 ) configured to receive sensor data from one or more sensors ( 104 ) and generate conditioned sensor data. The one or more sensors ( 104 ) provide position information for a DC brushless motor ( 108 ). The compact FPGA-based digital motor controller ( 102 ) also includes a commutation control ( 210 ) configured to create switching commands to control commutation for the DC brushless motor ( 108 ). The commutation control ( 210 ) generates commutation pulses from the conditioned sensor data of the sensor interface ( 206 ). The compact FPGA-based digital motor controller ( 102 ) also includes a time inverter ( 208 ) configured to receive the commutation pulses. The time inverter ( 208 ) converts the commutation pulses into a rotational speed of the DC brushless motor ( 108 ) to provide a linear feedback control parameter.

Rapid Cycle Amine (RCA 2.0) System Development

Abstract: The Rapid Cycle Amine (RCA) system is a low-power assembly capable of simultaneously removing carbon dioxide (CO2) and humidity from an influent air steam and subsequent regeneration when exposed to a vacuum source. Two solid amine sorbent beds are alternated between an uptake mode and a regeneration mode. During the uptake mode, the sorbent is exposed to an air steam (ventilation loop) to adsorb CO2 and water (H2O) vapor, whereas during the regeneration mode, the sorbent rejects the adsorbed CO2 and H2O vapor to a vacuum source. The two beds operate such that while one bed is in the uptake mode, the other is in the regeneration mode, thus continuously providing an on-service sorbent bed by which CO2 and humidity may be removed. A novel valve assembly provides a simple means of diverting the process air flow through the uptake bed while simultaneously directing the vacuum source to the regeneration bed. Additionally, the valve assembly is designed to allow for switching between uptake and regeneration modes with only one moving part while minimizing gas volume losses to the vacuum source by means of an internal pressure equalization step during actuation. The process can be controlled by a compact, low-power controller design with several modes of operation available to the user. Together with NASA Johnson Space Center, Hamilton Sundstrand Space Systems International, Inc. has been developing RCA 2.0 based on performance and design feedback on several sorbent bed test articles and valve design concepts. A final design of RCA 2.0 was selected in November 2011 and fabricated and assembled between March and August 2012, with delivery to NASA Johnson Space Center in September 2012. This paper provides an overview of the RCA system design and results of pre-delivery testing.

Human-Robot Interaction: A Survey

Abstract: Human-Robot Interaction (HRI) has recently received considerable attention in the academic community, in labs, in technology companies, and through the media. Because of this attention, it is desirable to present a survey of HRI to serve as a tutorial to people outside the field and to promote discussion of a unified vision of HRI within the field. The goal of this review is to present a unified treatment of HRI-related problems, to identify key themes, and discuss challenge problems that are likely to shape the field in the near future. Although the review follows a survey structure, the goal of presenting a coherent "story" of HRI means that there are necessarily some well-written, intriguing, and influential papers that are not referenced. Instead of trying to survey every paper, we describe the HRI story from multiple perspectives with an eye toward identifying themes that cross applications. The survey attempts to include papers that represent a fair cross section of the universities, government efforts, industry labs, and countries that contribute to HRI, and a cross section of the disciplines that contribute to the field, such as human, factors, robotics, cognitive psychology, and design.

Space Telerobotics: Unique Challenges to Human–Robot Collaboration in Space

Abstract: In this chapter, we survey the current state of the art in space telerobots. We begin by defining relevant terms and describing applications. We then examine the design issues for space telerobotics, including common requirements, operational constraints, and design elements. A discussion follows of the reasons space telerobotics presents unique challenges beyond terrestrial systems. We then present case studies of several different space telerobots, examining key aspects of design and human–robot interaction. Next, we describe telerobots and concepts of operations for future space exploration missions. Finally, we discuss the various ways in which space telerobots can be evaluated in order to characterize and improve performance.

Mosaic extremity protection system with transportable solid elements

Abstract: A flexible armor system adaptable to a garment suitable for extremity protection uses planar, polygon-shaped solid elements made of ceramic cores wrapped in high strength fabric and arranged with ratable edge and intersection protection as a flexible mosaic array which is bonded between an elastic strike side spall cover and a high tensile strength flexible backer layer, further supported by a substantial fiber pack. A progressive mode of localized system failure during a ballistic strike includes: a projectile penetrating the spall cover, fracturing the ceramic core of a wrapped SE while being partially deformed; the deformed projectile accelerating the fractured but still wrapped solid element before it so as to free the solid element from the array and drive it through the flexible backer as a combined mass at a reduced velocity into the fiber pack.

Teleoperation and Beyond for Assistive Humanoid Robots

Abstract: In this review, we explore how teleoperation could potentially be applied to the management of humanoid robots, with an emphasis on humanoid robots that are used in assistive roles, including clini...

Multi-robot Cooperation in Space: A Survey

Abstract: This paper reviews the literature related to multi-robot research with a focus on space applications. It starts by examining definitions of, and some of the fields of research, in multi-robot systems. An overview of space applications with multiple robots and cooperating multiple robots is presented. The multi-robot cooperation techniques used in theoretical research as well as experiments are reviewed, and the applicability for space applications is investigated.