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Harshbarger S.D.,Contineo Robotics
Johns Hopkins APL Technical Digest (Applied Physics Laboratory) | Year: 2011

in 2005 the Defense Advanced Research Projects Agency (DARPA) issued a request to develop the world's most advanced prosthetic limb. It was required that this limb have the strength, sensation, weight, comfort, and appearance of a native human limb. In addition, this limb system had to be neurally controlled using the patient's mind-as opposed to by traditional methods involving body movements, switches, force-sensitive devices, and inputs from the patient's remaining muscles. APL won the right to meet this need after a competitive bid process. We had 4 years to complete this challenge and create a limb that was ready to go into clinical trials at completion of the program. This article describes the systems engineering challenges the Revolutionizing Prosthetics 2009 team faced and the tools, techniques, and pro-cesses they used to overcome these challenges over the course of this unique program. We focus on the factors that led to success in a team environment with a diversity of technical disciplines, geography, and organizational cultures.

Hinton M.A.,APLs AEODRS | Zeher M.J.,Contineo Robotics | Kozlowski M.V.,Darpa | Johannes M.S.,APLs AEODRS
Johns Hopkins APL Technical Digest (Applied Physics Laboratory) | Year: 2011

The Advanced Explosive Ordnance Disposal Robotic System (AEODRS) is a Navy-sponsored acquisition program developing a new generation of open, modular robotic systems. This article describes a common architecture for a family of explosive ordnance disposal robotic systems, including the rationale for and development of the architecture, as well as decomposition of the architecture into common physical, electrical, and logical interfaces. The article further describes the role of an open standard for the interchange of information within unmanned ground vehicle systems. The Joint Architecture for Unmanned Systems (JAUS) has enabled the development of the architecture's standards-based interfaces, both at the extra-vehicle controller-interface level and for the interface and integration of vehicle payloads and subsystems. Finally, the article explores the contribution of the architecture's common topology, protocols, services, and infrastructure to the development of common controllers, payloads, and subsystems. Additionally, the effects of the achieved commonality are discussed in terms of reduced field logistics footprint, increased mission flexibility, reduced deployment time for fielding new capabilities, and extended useful design life.

Johannes M.S.,MPL System | Harshbarger S.D.,Contineo Robotics | Kozlowski M.V.,Contineo Robotics | Van Doren T.,HDT Robotics
Johns Hopkins APL Technical Digest (Applied Physics Laboratory) | Year: 2011

The development of the Modular Prosthetic Limb (MPL) has and continues to be the result of cutting-edge technology innovation in mechanical, electri-cal, and software design. Sound systems engineering practices have laid the foundation for the successes achieved during the Revolutionizing Prosthetics pro-gram. From the initial effort to prove, with Prototype 1, that an advanced prosthetic device is possible to the technology candidate elimination process undertaken for Prototype 2, the design methodology included extensive analysis of user requirements, system trade studies, and testing to engineer the MPL to meet challenging sponsor needs. To show how this remarkable technology came to be, we describe in detail the MPL development process.

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