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Hart, Stephen

Publications and source records attributed to Hart, Stephen.

Chemistry data from soils and soil incubation experiments from the whole-soil warming experiment at Blodgett Forest, CA, 2018, from: “Metabolic capabilities mute positive response to direct and indirect impacts of warming throughout the soil profile”

This dataset contains soil chemistry data of soils from the whole-soil warming experiment at Blodgett Forest in June 2018, and from laboratory incubation experiments conducted with a subset of those soils. Soil samples were collected at five different depths down to 80 cm from soil plots continuously heated by 4°C above ambient temperature for 4.5 years, and from the respective unheated control plots. Incubation experiments were conducted for 28 days with soils collected between 10-30 cm (“surface soils”) and 60-80 cm (“subsoils”) from heated and unheated field plots, amended in the laboratory with cellobiose (C, carbon amendment), or cellobiose plus ammonium and phosphate (CNP, combined carbon, nitrogen and phosphorus amendment). The dataset includes separate files for: (i) total carbon and nitrogen concentrations of initial field soils; (ii) carbon dioxide efflux rates at multiple times throughout the incubation experiments, and respective cumulative carbon dioxide efflux rates, as well as inorganic nitrogen concentrations at the beginning and end of the incubations, and net nitrogen mineralization rates and carbon use efficiency calculated at the end of the incubation. Analysis of these data has been published in Dove et al., (2021), “Metabolic capabilities mute positive response to direct and indirect impacts of warming throughout the soil profile. Nat. Commun. 12:2089”, https://doi.org/10.1038/s41467-021-22408-5. This research was performed as part of the TES Belowground Biogeochemistry SFA project at Lawrence Berkeley National Laboratory.

54 ENVIRONMENTAL SCIENCES↗

The Affordance Template ROS Package for Robot Task Programming

This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the task (specifically, object scale and location). The Affordance Template package stores task specifications in a robot-agnostic XML description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.

Hart, Stephen↗

Affordance Templates for Shared Robot Control

This paper introduces the Affordance Template framework used to supervise task behaviors on the NASA-JSC Valkyrie robot at the 2013 DARPA Robotics Challenge (DRC) Trials. This framework provides graphical interfaces to human supervisors that are adjustable based on the run-time environmental context (e.g., size, location, and shape of objects that the robot must interact with, etc.). Additional improvements, described below, inject degrees of autonomy into instantiations of affordance templates at run-time in order to enable efficient human supervision of the robot for accomplishing tasks.

Hart, Stephen↗

Advancing Robotic Control for Space Exploration Using Robonaut 2

Robonaut 2, or R2, arrived on the International Space Station (ISS) in February 2011 and is currently being tested in preparation for its role initially as an Intra-Vehicular Activity (IVA) tool and eventually as a robot that performs Extra-Vehicular Activities (EVA). Robonaut 2, is a state of the art dexterous anthropomorphic robotic torso designed for assisting astronauts. R2 features increased force sensing, greater range of motion, higher bandwidth, and improved dexterity over its predecessor. Robonaut 2 is unique in its ability to safely allow humans in its workspace and to perform significant tasks in a workspace designed for humans. The current operational paradigm involves either the crew or the ground control team running semi-autonomous scripts on the robot as both the astronaut and the ground team monitor R2 and the data it produces. While this is appropriate for the check-out phase of operations, the future plans for R2 will stress the current operational framework. The approach described here will outline a suite of operational modes that will be developed for Robonaut 2. These operational modes include teleoperation, shared control, directed autonomy, and supervised autonomy, and they cover a spectrum of human involvement in controlling R2.

Badger, Julia↗