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Controller provides both position and force feedback. Hand grip houses controller. End-effector force and position fed back to operator's hand through rotation of trigger and rocking of trigger guard.
Position and rate feedback signals derived from single transducer. Servoloop generates digital and analog shaft-position and analog shaft-speed signals from output of incremental optical encoder. Signals used in feedback control of motor.
Input-output stability conditions of time-varying nonlinear feedback systems obtained, using concepts of loop gain, conicity and positivity
The automated alignment system, described herein, employs a reflective, passive (requiring no power) target and includes a PC-based imaging system and one camera mounted on a six degree of freedom robot manipulator. The system detects and corrects for manipulator misalignment in three translational and three rotational directions by employing the Targeting and Reflective Alignment Concept (TRAC), which simplifies alignment by decoupling translational and rotational alignment control. The concept uses information on the camera and the target's relative position based on video feedback from the camera. These relative positions are converted into alignment errors and minimized by motions of the robot. The system is robust to exogenous lighting by virtue of a subtraction algorithm which enables the camera to only see the target. These capabilities are realized with relatively minimal complexity and expense.
Observations and analyses of water vapor and clouds in the tropics over the past decade suggest a different approach to radiative climate feedbacks: namely, that high clouds and high free-tropospheric relative humidity are largely tied to each other, and that the main feedback consists in changing the relative areas of cloudy/moist regions vis a vis clear/dry regions in response to the surface temperature of the cloudy/moist regions - as opposed to altering the humidity in either of the regions. This is an intrinsically 2-dimensional (horizontal and vertical) effect which does not readily enter simple 1-dimensional (vertical) radiative-convective schemes which emphasize average humidity, etc. Preliminary analyses of cloud data for the eastern part of the Western Pacific from the Japanese GMS-5(Geostationary Meteorological Satellite), are supportive of this suggestion - pointing to a 15% reduction in cloudy/moist area for a 1C increase of the sea surface temperature as measured by the cloud-weighted SST (sea surface temperature). The implication of this result is examined using a simple 2-dimensional radiative-convective model. The calculations show that such a change in the tropics would lead to a strong negative feedback in the global climate, with a feedback factor of about -1.7, which, if correct, would easily dominate the positive water vapor feedback found in current models. This new feedback mechanism, in effect, constitutes an adaptive infrared iris that opens and closes in order to control the OLR (outgoing longwave radiation) in response to changes in surface temperature in a manner similar to the way in which an eye's iris opens and closes in response to changing light levels. The climate sensitivity resulting from this thermostatic mechanism is consistent with the independent determination by Lindzen and Giannitisis (1998). Preliminary attempts to replicate observations with GCMs (General Circulation Models) suggest that models lack such a negative cloud/moist areal feedback.
Contemporary large-scale changes in satellite-derived snow cover were examined over the Northern Hemisphere extratropical land (NEL) areas. These areas encompass 55% of the land in the Northern Hemisphere. Snow cover (S) transient regions, the 'centers of action' relative to interannual variations of snow cover, were identified for the years 1972-1992. During these years a global retreat in snow cover extent (SE) occurred in the second half of the hydrologic year (April-September). Mean annual SE has decreased by 10% (2.3 x 10(exp 6) sq km). Negative trends account for one-third to one-half of the interannual continental variance of SE. The historical influence of S on the planetary albedo and outgoing longwave radiation (OLR) is investigated. The mean annual response of the S feedback on the radiative balance (RB) is negative and suggests a largescale heat redistribution. During autumn and early winter (up to January), however, the feedback of S on the planetary RB may be positive. Only by February does the cooling effect of S (due to albedo increase) dominate the planetary warming due to reduced OLR over the S. Despite a wintertime maximum in SE, the feedback in spring has the greatest magnitude. The global retreat of spring SE should lead to a positive feedback on temperature. Based on observed records of S, changes in RB are calculated that parallel an observed increase of spring temperature during the past 20 years. The results provide a partial explanation of the significant increase in spring surface air temperature observed over the land areas of the Northern Hemisphere during the past century. The mean SE in years with an El Nino and La Nina were also evaluated. El Nino events are generally accompanied by increased SE over the NEL during the first half of the hydrological year. In the second half of the hydrologic year (spring and summer), the El Nino events are accompanied by a global retreat of SE.
Design of attitude control system for a sounding rocket is established by using a control loop which incorporates a lead network to convert position output into a feedback signal that is approximately proportional to position, plus a constant times rate.
Certain experiments contemplated for space platforms must be isolated from the accelerations of the platform. An optimal active control is developed for microgravity vibration isolation, using constant state feedback gains (identical to those obtained from the Linear Quadratic Regulator (LQR) approach) along with constant feedforward gains. The quadratic cost function for this control algorithm effectively weights external accelerations of the platform disturbances by a factor proportional to (1/omega) exp 4. Low frequency accelerations are attenuated by greater than two orders of magnitude. The control relies on the absolute position and velocity feedback of the experiment and the absolute position and velocity feedforward of the platform, and generally derives the stability robustness characteristics guaranteed by the LQR approach to optimality. The method as derived is extendable to the case in which only the relative positions and velocities and the absolute accelerations of the experiment and space platform are available.
Certain experiments contemplated for space platforms must be isolated from the accelerations of the platforms. An optimal active control is developed for microgravity vibration isolation, using constant state feedback gains (identical to those obtained from the Linear Quadratic Regulator (LQR) approach) along with constant feedforward (preview) gains. The quadratic cost function for this control algorithm effectively weights external accelerations of the platform disturbances by a factor proportional to (1/omega)(exp 4). Low frequency accelerations (less than 50 Hz) are attenuated by greater than two orders of magnitude. The control relies on the absolute position and velocity feedback of the experiment and the absolute position and velocity feedforward of the platform, and generally derives the stability robustness characteristics guaranteed by the LQR approach to optimality. The method as derived is extendable to the case in which only the relative positions and velocities and the absolute accelerations of the experiment and space platform are available.
Certain experiments contemplated for space platforms must be isolated from the accelerations of the platforms. An optimal active control is developed for microgravity vibration isolation, using constant state feedback gains (identical to those obtained from the Linear Quadratic Regulator (LQR) approach) along with constant feedforward (preview) gains. The quadratic cost function for this control algorithm effectively weights external accelerations of the platform disturbances by a factor proportional to (1/omega) (exp 4). Low frequency accelerations (less than 50 Hz) are attenuated by greater than two orders of magnitude. The control relies on the absolute position and velocity feedback of the experiment and the absolute position and velocity feedforward of the platform, and generally derives the stability robustness characteristics quaranteed by the LQR approach to optimality. The method as derived is extendable to the case in which only the relative positions and velocities and the absolute accelerations of the experiment and space platform are available.
A simple approach to the design of feedback controls for damping the vibrations in large spaceborne antennas with flexible dish reflectors is proposed. The feedback controls consist of movable velocity-feedback dampers whose positions are determined by minimizing the rate of change of total vibrational energy at any time. The performance of the proposed feedback controls is studied via computer simulations.
A concept that enables advanced airborne reroute operations is proposed, built on NextGen capabilities called Airborne Reroute (ABRR) and Trajectory Option Set (TOS). The concept introduces new third-party services / tools for the airline dispatchers to generate airline-preferred trajectories in response to convective weather events. The airborne TOS routes are sent to the traffic flow managers, who can evaluate the feasibility of the trajectory options with the help of their own third-party services / tools which have been built for this concept. A virtual demonstration study was conducted to elicit feedback from air traffic and airline subject-matter-experts. The feedback was generally positive, both in the benefits of the concept and the feasibility / need for the new tools to enable the concept but their feedback was mixed on the feasibility of the new tools to be third-party services instead of being integrated into their core tools. Nevertheless, this concept explores and demonstrates an evolutionary pathway toward a service-oriented future that shifts the responsibilities and the capabilities of air traffic operations from the air traffic service providers to the airline industry and third-party vendors.
System for measuring positions of sensors at designated points on body suit developed. Measuring system, body suit, and sensors incorporated into interactive virtual-reality system, wherein they provide feedback data on positions and orientations of various parts of wearer's body. Based on straightforward concept of computating three-dimensional coordinates of sensor from simultaneous measurements of distances of sensor from three locations, coordinates of which known.
The laser measuring system is designed to automatically measure and record the distances between small diameter wires on a wire wrapped grid frame assembly to an accuracy of 0.00635 mm (0.00025 in.). The system utilizes a helium-neon gas laser beam as the measuring instrument with a remote interferometer and retroreflector, a light source and photodetector to detect the wire positions, in conjunction with recording, display and printout units. The laser measuring system is utilized to perform precise automatic measurements for wire application machines or as an automatic feedback device for positioning wires and/or to adjust them for out of tolerance conditions.
Underestimation of the proportion of supercooled liquid in mixed‐phase clouds in climate models has called into question its impact on Arctic climate change. We show that correcting for this bias in the CESM model can either enhance or reduce Arctic amplification depending on the microphysical characteristics of the clouds as a corollary to the cloud phase feedback. Replacement of ice with liquid in the cloud phase feedback results in more downward longwave radiation, which is effectively trapped as heat at the surface in the Arctic due to its unique stable stratification conditions, and this ultimately leads to a more positive lapse rate feedback. The larger the ice particles are to begin with, the stronger Arctic amplification becomes due to the lower precipitation efficiency of liquid droplets compared to ice crystals. Our results emphasize the importance of realistic representations of microphysical processes in mixed‐phase clouds, particularly in the Arctic.
Topics include: Relative-Motion Sensors and Actuators for Two Optical Tables; Improved Position Sensor for Feedback Control of Levitation; Compact Tactile Sensors for Robot Fingers; Improved Ion-Channel Biosensors; Suspended-Patch Antenna With Inverted, EM-Coupled Feed; System Would Predictively Preempt Traffic Lights for Emergency Vehicles; Optical Position Encoders for High or Low Temperatures; Inter-Valence-Subband/Conduction-Band-Transport IR Detectors; Additional Drive Circuitry for Piezoelectric Screw Motors; Software for Use with Optoelectronic Measuring Tool; Coordinating Shared Activities; Software Reduces Radio-Interference Effects in Radar Data; Using Iron to Treat Chlorohydrocarbon-Contaminated Soil; Thermally Insulating, Kinematic Tensioned-Fiber Suspension; Back Actuators for Segmented Mirrors and Other Applications; Mechanism for Self-Reacted Friction Stir Welding; Lightweight Exoskeletons with Controllable Actuators; Miniature Robotic Submarine for Exploring Harsh Environments; Electron-Spin Filters Based on the Rashba Effect; Diffusion-Cooled Tantalum Hot-Electron Bolometer Mixers; Tunable Optical True-Time Delay Devices Would Exploit EIT; Fast Query-Optimized Kernel-Machine Classification; Indentured Parts List Maintenance and Part Assembly Capture Tool - IMPACT; An Architecture for Controlling Multiple Robots; Progress in Fabrication of Rocket Combustion Chambers by VPS; CHEM-Based Self-Deploying Spacecraft Radar Antennas; Scalable Multiprocessor for High-Speed Computing in Space; and Simple Systems for Detecting Spacecraft Meteoroid Punctures.
Improved scheme for force-reflecting hand control of remote robotic manipulator provides unprecedently high force-reflection gain, even when dissimilar master and slave arms used. Three feedback loops contained in remote robot control system exerting position-error-based force feedback and compliance control. Outputs of force and torque sensors on robot not used directly for force reflection, but for compliance control, while errors in position used to generate reflected forces.
Recent investigations have examined observations in an attempt to determine when and how the ocean forces the atmosphere, and vice versa. These studies focus primarily on relationships between sea surface temperature anomalies and the turbulent and radiative surface heat fluxes. It has been found that both positive and negative feedbacks, which enhance or reduce sea surface temperature anomaly amplitudes, can be generated through changes in the surface boundary layer. Consequent changes in sea surface temperature act to change boundary layer characteristics through changes in static stability or turbulent fluxes. Previous studies over the global oceans have used coarse-resolution observational and model products such as ICOADS and the NCEP Reanalysis. This study focuses on documenting the atmosphere ocean feedbacks that exist in recently produced higher resolution products, namely the SeaFlux v1.0 product and the NASA Modern Era Retrospective-Analysis for Research and Applications (MERRA). It has been noted in recent studies that evidence of oceanic forcing of the atmosphere exists on smaller scales than the usually more dominant atmospheric forcing of the ocean, particularly in higher latitudes. It is expected that use of these higher resolution products will allow for a more comprehensive description of these small-scale ocean-atmosphere feedbacks. The SeaFlux intercomparisons have revealed large scatter between various surface flux climatologies. This study also investigates the uncertainty in surface flux feedbacks based on several of these recent satellite based climatologies