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SUMMARYHERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omnidirectional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

Bach-y-Rita's clinical results in restoring lost sensory function are based on several phenomena not widely appreciated in cognitive science. First, there is volume transmission. Extensive laboratory observation has shown that the brain is much more than a network of synaptically connected neurons. Bach-y-Rita has found that a key implication of volume transmission is that it is a functional component in adult brain plasticity, also widely observed experimentally. Plasticity has led him to conclude that the structure of brain dynamics is beyond the scope of algorithmic computation. If the brain is not a computer, this insight would have a significant impact on the development of new technologies based on brain function. Bach-y-Rita's work is being extended from restoration of lost senses to the creation of new senses. This in turn could lead to a new technology of "wiring a human-in-the-loop" that would be utterly unlike any computationally based technology. Instead of mere interaction with a machine, the human "becomes one" with it.

Standard Form 298 (Rev. 8/98) REPORT DOCUMENTATION PAGEPrescribed by ANSI Std. Z39.18 Form Approved OMB No. 0704-0188The public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing the burden, to the Department of Defense, Executive Services and Communications Directorate (0704-0188). Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to any penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. An advanced energy management and control system in an existing building in the Construction and Engineering Research Laboratory (CERL) for Army at Urbana-Champaign (IL) was demonstrated. The medium-size office building underwent a retrofit of the HVAC system and controls employing a technology called optimal Model Predictive Control (MPC) which offers significant potential for saving energy by providing a means to dynamically optimize various sub-systems to take advantage of building utilization and weather patterns, and utility rate structures. A multi-variable optimization problem to minimize energy consumption and cost while guaranteeing zonal comfort over a 3 hour predictive horizon was formulated and solved periodically on line. The algorithms were integrated with the building automation system and evaluated experimentally at the demonstration site. A 45-50% reduction in HVAC system energy use was demonstrated while improving occupant comfort. A 10-15% installation cost reduction was accomplished due to the use of a robust wireless sensor network versus a fully wired network. PLEASE DO NOT RETURN YOUR PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) 8. PERFORMING ORGANIZATION REPORT NUMBER SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) 10. SPONSOR/MONITOR'S ACRONYM(S) SPONSOR/MONITOR'S REPORT NUMBER(S)Building energy efficiency, retrofit, model predictive control, dynamic building modeling, HVAC system modeling and control U U U UU Satish Narayanan (860)610-7412 Reset

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