Stephen M. Killough

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This paper presents the concepts for a new family of holonomic wheeled platforms that feature full omnidirec-tionality with simultaneous and independently controlled rota-tional and translational motion capabilities. We first present the " orthogonal-wheels " concept and the two major wheel assemblies on which these platforms are based. We then describe how(More)
In recent years, there has been great interest in using hybrid spread-spectrum (HSS) techniques for commercial applications, particularly in the Smart Grid, in addition to their inherent uses in military communications. This is because HSS can accommodate high data rates with high link integrity, even in the presence of significant multipath effects and(More)
Oak Ridge National Laboratory (ORNL) has developed expertise in computer control of forcereflecting master/slave servomanipulators as a result of research for the Consolidated Fuel Reprocessing Program. These computer control capabilities have been applied to a commercially available servomanipulator, the TeleOperator Systems SM-229. All of the servo drive(More)
The submitted manuscript has been authored by a contractor of the U. S. Government under contract DE-AC05-84OR21400. Accordingly, the U. S. Government retains a paid-up, nonexclusive, irrevocable, worldwide license to publish or reproduce the published form of the public, and perform publicly and display publicly, or allow others to do so, for U. S.(More)
—In recent years there has been great interest in using hybrid spread-spectrum (HSS) techniques for commercial applications, particularly in the Smart Grid, in addition to their inherent uses in military communications. This is because HSS can accommodate high data rates with high link integrity, even in the presence of significant multipath effects and(More)
It is estimated that 50% of the global population lives in urban areas occupying just 0.4% of the Earth's surface. Understanding urban activity constitutes monitoring population density and its changes over time, in urban environments. Currently, there are limited mechanisms to non-intrusively monitor population density in real-time. The pervasive use of(More)
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