{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/34952"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/34952","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Design of a Teleoperated Rock Sampling System","abstract":"Telemanipulators allow a user to interact with a potentially dangerous environment remotely. Deploying a robot arm from a UAV would allow an operator to reach farther and quicker than he or she would with a ground robotics system alone. This thesis will discuss the design and fabrication of a compact, light, 3 degree of freedom robot arm using common off the shelf products and machined components that in combination can pick up half pound samples and has a reach of 260 mm. Also addressed is making the telemanipulator interface easier to use. One of the challenges in using a robot arm with a single camera in a beyond line-of-sight scenario is the difficulty of interacting with the environment because of a loss of depth information. This lack of information can be remedied with additional sensors. Once depth to an object of interest is known, the sampler can automatically pick up objects of interest. The manipulator arm will be used in conjunction with systems developed by the Unmanned Systems Laboratory at Virginia Tech. This group is developing a unmanned ground vehicle to be carried in the payload pod of a unmanned aerial vehicle. The robot's ultimate objective is to collect shrapnel and bomb material from potentially dangerous environments.","abstract_html":"Telemanipulators allow a user to interact with a potentially dangerous environment remotely. Deploying a robot arm from a UAV would allow an operator to reach farther and quicker than he or she would with a ground robotics system alone. This thesis will discuss the design and fabrication of a compact, light, 3 degree of freedom robot arm using common off the shelf products and machined components that in combination can pick up half pound samples and has a reach of 260 mm. Also addressed is making the telemanipulator interface easier to use. One of the challenges in using a robot arm with a single camera in a beyond line-of-sight scenario is the difficulty of interacting with the environment because of a loss of depth information. This lack of information can be remedied with additional sensors. Once depth to an object of interest is known, the sampler can automatically pick up objects of interest. The manipulator arm will be used in conjunction with systems developed by the Unmanned Systems Laboratory at Virginia Tech. This group is developing a unmanned ground vehicle to be carried in the payload pod of a unmanned aerial vehicle. The robot's ultimate objective is to collect shrapnel and bomb material from potentially dangerous environments.","abstract_has_math":false,"creators":["Thomas, Shajan A."],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Kochersberger, Kevin B."],"committee_members":["Williams, Christopher B.","Hong, Dennis W."],"year":2011,"date_issued":"2011-07-11","date_published":"2011-07-11","updated_at":"2026-07-22T22:20:43Z","subjects":["Design","Autonomous Systems","Robot Arm"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-09062011-155734"],"render_values":[{"text":"etd-09062011-155734","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/34952","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Kochersberger, Kevin B."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Williams, Christopher B.","Hong, Dennis W."]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Thomas, Shajan A."]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2014-03-14T20:44:54Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2014-03-14T20:44:54Z","2011-09-29"]},{"key":"dc:date.issued","label":"Date","values":["2011-07-11"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Design","Autonomous Systems","Robot Arm"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-09062011-155734"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/34952"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Telemanipulators allow a user to interact with a potentially dangerous environment remotely. Deploying a robot arm from a UAV would allow an operator to reach farther and quicker than he or she would with a ground robotics system alone. This thesis will discuss the design and fabrication of a compact, light, 3 degree of freedom robot arm using common off the shelf products and machined components that in combination can pick up half pound samples and has a reach of 260 mm. Also addressed is making the telemanipulator interface easier to use. One of the challenges in using a robot arm with a single camera in a beyond line-of-sight scenario is the difficulty of interacting with the environment because of a loss of depth information. This lack of information can be remedied with additional sensors. Once depth to an object of interest is known, the sampler can automatically pick up objects of interest. The manipulator arm will be used in conjunction with systems developed by the Unmanned Systems Laboratory at Virginia Tech. This group is developing a unmanned ground vehicle to be carried in the payload pod of a unmanned aerial vehicle. The robot's ultimate objective is to collect shrapnel and bomb material from potentially dangerous environments."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:title","label":"Title","values":["Design of a Teleoperated Rock Sampling System"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Kochersberger, Kevin B."],"dc:contributor.committeemember":["Williams, Christopher B.","Hong, Dennis W."],"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["Thomas, Shajan A."],"dc:date.accessioned":["2014-03-14T20:44:54Z"],"dc:date.available":["2014-03-14T20:44:54Z","2011-09-29"],"dc:date.issued":["2011-07-11"],"dc:description.abstract":["Telemanipulators allow a user to interact with a potentially dangerous environment remotely. Deploying a robot arm from a UAV would allow an operator to reach farther and quicker than he or she would with a ground robotics system alone. This thesis will discuss the design and fabrication of a compact, light, 3 degree of freedom robot arm using common off the shelf products and machined components that in combination can pick up half pound samples and has a reach of 260 mm. Also addressed is making the telemanipulator interface easier to use. One of the challenges in using a robot arm with a single camera in a beyond line-of-sight scenario is the difficulty of interacting with the environment because of a loss of depth information. This lack of information can be remedied with additional sensors. Once depth to an object of interest is known, the sampler can automatically pick up objects of interest. The manipulator arm will be used in conjunction with systems developed by the Unmanned Systems Laboratory at Virginia Tech. This group is developing a unmanned ground vehicle to be carried in the payload pod of a unmanned aerial vehicle. The robot's ultimate objective is to collect shrapnel and bomb material from potentially dangerous environments."],"dc:description.degree":["Master of Science"],"dc:identifier.other":["etd-09062011-155734"],"dc:identifier.uri":["http://hdl.handle.net/10919/34952"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:subject":["Design","Autonomous Systems","Robot Arm"],"dc:title":["Design of a Teleoperated Rock Sampling System"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:20:43Z"}