Machine Recognition for Reality Registration in Ordance Fuse Removal

The proposed Phase I research will define a semi-autonomous ordnance fuse recognition and removal system which incorporates graphical to physical world registrations through machine recognition, Cybernet's PER-Force 6 DOF force feedback hand controller and a special purpose end effector. The semi-autonomous fuse removal system will provide a robust, reliable, maintainable means by which to recover unexploded test ordnance. The technology is centered around machine recognition algorithms which can bridge graphical and physical realities. Cybernet'd force feedback hand controller will be used to manipulate graphics while at the same time providing valuable haptic feedback to the human controller. To successfully manipulate the ordnance and its associated fuse requires a special purpose end effector. Phase I will effector for fuse and ordnance manipulations. The proposed research can provide a cost effective reliable means by which to remove fuses from ordnance. Thi will significantly increase the safety involved in retrieving faulty ordnance for evaluation.