Michael Griffis

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This paper describes the development of an autonomous vehicle system that participated in the 2005 DARPA Grand Challenge event. After a brief description of the event, the architecture, based on version 3.0 of the DoD Joint Architecture for Unmanned Systems (JAUS), and design of the system are presented in detail. In particular, the " smart sensor " concept(More)
This paper presents the development and testing of a parallel mechanism that is designed to utilize the Theory of Kinestatic Control to simultaneously regulate force/torque and displacement in an application involving a serial robot manipulator. A passive six degree-of-freedom parallel mechanism has been fabricated. This device is designed to be inserted at(More)
This paper describes the development of an autonomous vehicle system that participated in the 2005 DARPA Grand Challenge event. After a brief description of the event, the architecture, based on version 3.0 of the DoD Joint Architecture for Unmanned Systems (JAUS), and design of the system are presented in detail. In particular, the " smart sensor " concept(More)
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