Stephen M. Killough

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This paper presents the concepts for a new family of holonomic wheeled platforms that feature full omnidirectionality with simultaneous and independently controlled rotational 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 a(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)
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)
Early in calendar year 2004, TPG Applied Technology will deliver two manipulator systems to the Spallation Neutron Source (SNS) project in Oak Ridge, Tennessee, for use as remote maintenance systems when the SNS becomes operational in 2006. One of these manipulator systems will be a boom system mounted on a pedestal with a dual-arm dexterous manipulator(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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