On Modular Design of Field Robotic Systems

Robots are needed to perform important field tasks such as hazardous material clean-up, nuclear site inspection, and space exploration. Unfortunately their use is not widespread due to their long development times and high costs. To make them practical, a modular design approach is proposed. Prefabricated modules are rapidly assembled to give a low-cost system for a specific task. This paper described the modular design problem for field robots and the application of a hierarchical selection process to solve this problem. Theoretical analysis and an example case study are presented. The theoretical analysis of the modular design problem revealed the large size of the search space. It showed the advantages of approaching the design on various levels. The hierarchical selection process applies physical rules to reduce the search space to a computationally feasible size and a genetic algorithm performs the final search in a greatly reduced space. This process is based on the observation that simple physically based rules can eliminate large sections of the design space to greatly simplify the search. The design process is applied to a duct inspection task. Five candidate robots were developed. Two of these robots are evaluated using detailed physical simulation. It is shown that the more obvious solution is not able to complete the task, while the non-obvious asymmetric design develop by the process is successful.

A Field-Test of Rhodamine B as a Biomarker in Raccoons

Rhodamine B is a dye that when ingested results in fluorescent bands in growing hair and whiskers of many mammals. Previous research at Wildlife Services’ (WS) National Wildlife Research Center (NWRC) found that rhodamine B is a successful biomarker in raccoon whiskers and that raccoons do not have a taste aversion to the dye when it comprises ≤ 3% of a bait. Our study assessed the ease of bait distribution, whisker collection, and evaluation of the biomarker for potential use in the Oral Rabies Vaccination (ORV) program administered by the WS National Rabies Management Program (NRMP). In collaboration with WS operations personnel from Ohio and Michigan, 750 fishmeal polymer baits each containing 150 mg of rhodamine B were hand distributed at NASA’s Plum Brook Station, Sandusky, Ohio in the summer of 2008. Four weeks after baits were distributed whiskers from 162 raccoons were collected. Wildlife Services biologists and technicians evaluated the whiskers for fluorescence using a handheld UV magnifying lamp. Biologists then sent the whiskers to the NWRC, Ft. Collins, Colorado for confirmation of fluorescence under a UV microscope. Results suggest a high level of agreement between the two methods of evaluation. Surveys completed by biologists confirmed that the ease of use, less invasive sampling techniques and promptness of results obtained through the use of rhodamine B are advantageous to the tetracycline biomarker presently used by the ORV program. All participants recommended further evaluation of rhodamine B for its inclusion in future efforts requiring biomarker evaluation.

1969 ASSESSMENT OF BLACKBIRD DEPREDATIONS ON FIELD CORN IN OHIO AND MICHIGAN

In 1966, when the annual damage survey was initiated, Dr. C. R. Weaver, Statistician at the Ohio Agriculture Research and Development Center, Wooster, Ohio, drew up a sampling plan, balancing costs against desired precision. The plan included three combinations of fields to be sampled and stations per field for high damage areas, three combinations for moderate damage areas, and two combinations for light damage areas. Alternatives for the high damage area included (1) 497 fields with two stations per field (± .48), (2) 775 fields with two stations per field (± .26), and (3) 235 fields with ten stations per field (— .68). For the moderate damage areas, the alternatives were (1) 441 fields with three stations per field (± .26), (2) 155 fields with three stations per field (± .50), and (3) 235 fields with ten stations per field (± .32). The light dam¬age area alternatives were (1) 297 fields with three stations per field (- .26), and (2) 81 fields with three stations per field (± .50). The original survey in 1966 sampled eight counties in three regions. In 1967, 14 counties in the same three regions were sampled. Two new counties were added to one region and two new regions with two counties each (treated as one region for sampling purposes) were added to the 1968 survey. The 1968 survey was of sufficient size to be representative of the corn damage picture in Ohio and Southeast Michigan. The 1969 survey was identical to the 1968 survey.