SEARCH · Engineering Papers

Results for “coordination environment”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 811 records · Page 45

All sources NASA NTRS DOE OSTI

NASA NTRS2005

Environmental Public Health Tracking: Health and Environment Linked for Information Exchange-Atlanta (HEXIX-Atlanta: A cooperative Program Between CDC and NASA for Development of an Environmental Public Health Tracking Network in the Atlanta Metropolitan Area

The Centers for Disease Control and Prevention (CDC) is coordinating HELIX- Atlanta to provide information regarding the five-county Metropolitan Atlanta Area (Clayton, Cobb, DeKalb, Fulton, and Gwinett) via a network of integrated environmental monitoring and public health data systems so that all sectors can take action to prevent and control environmentally related health effects. The HELIX-Atlanta Network is a tool to access interoperable information systems with optional information technology linkage functionality driven by scientific rationale. HELIX-Atlanta is a collaborative effort with local, state, federal, and academic partners, including the NASA Marshall Space Flight Center. The HELIX-Atlanta Partners identified the following HELIX-Atlanta initial focus areas: childhood lead poisoning, short-latency cancers, developmental disabilities, birth defects, vital records, respiratory health, age of housing, remote sensing data, and environmental monitoring, HELIX-Atlanta Partners identified and evaluated information systems containing information on the above focus areas. The information system evaluations resulted in recommendations for what resources would be needed to interoperate selected information systems in compliance with the CDC Public Health Information Network (PHIN). This presentation will discuss the collaborative process of building a network that links health and environment data for information exchange, including NASA remote sensing data, for use in HELIX-Atlanta.

Quattrochi, Dale A.↗

NASA NTRS2016

R2U2 in Space: System and Software Health Management for Small Satellites

In order for small but complex systems like rovers, SmallSats, or Unmanned Aircraft (UAS) to operate autonomously, they must have a real-time solution for assessing their own system health. System and Software Health Management (SHM) enables better detection of faulty sensors and software problems, and enables better fault management including mitigation of unpredicted fault scenarios in the absence of a human on-board. In recent work, we have developed a Responsive, Realizable, Unobtrusive Unit (R2U2) for on-board SHM of autonomous UAS and demonstrated its ability to detect faults during flight time. These faults, from sensor failures, to software problems, to malicious security attacks, can present as transient temporal faults that even humans are challenged to find. An R2U2 congfiuration is a modular combination of multiple types of temporal logic runtime observers with fault-specic Bayesian Nets and sensor filters. R2U2 reasons about both on-board hardware and software components; R2U2 itself can be instantiated as an independent FPGA (Field-Programmable Gate Array)-based conguration or as a software component running independently from other software on-board. Small satellites, such as CubeSats, also require on-board SHM and failure mitigation, as limited telemetry bandwidth does not allow the transmission of the entire system state for ground-based health management. However, the autonomous operation of satellites brings a set of challenges different from UAS, including the effects of radiation on non-rad-hard, low-cost components, and the harsher environment of space. We surmise that a new extension of R2U2 could be adapted to help better detect, for example, radiation errors in cheaper COTS (Commercial Off the Shelf) (not rad-hard) components often used in small space systems. Since small satellites often operate in coordination, we will also examine new ways of distributed monitoring of their communication and cooperation and real-time detection of off-nominal situations utilizing multiple satellites. This talk will discuss preliminary work and ideas for building on terrestrial success of system and software health management for the harsher, and differently challenging, environment of space.

Runtime Verification & Validation↗

NASA NTRS2015

Coordination of International Risk-Reduction Investigations by the Multilateral Human Research Panel for Exploration

Effective use of the unique capabilities of the International Space Station (ISS) for risk reduction on future deep space missions involves preliminary work in analog environments to identify and evaluate the most promising techniques, interventions and treatments. This entails a consolidated multinational approach to biomedical research both on ISS and in ground analogs. The Multilateral Human Research Panel for Exploration (MHRPE) was chartered by the five ISS partners to recommend the best combination of partner investigations on ISS for risk reduction in the relatively short time available for ISS utilization. MHRPE will also make recommendations to funding agencies for appropriate preparatory analog work. In 2011, NASA's Human Research Program (HRP) and the Institute of Biomedical Problems (IBMP) of the Russian Academy of Science, acting for MHRPE, developed a joint US-Russian biomedical program for the 2015 one-year ISS mission (1YM) of American and Russian crewmembers. This was to evaluate the possibilities for multilateral research on ISS. An overlapping list of 16 HRP, 9 IBMP, 3 Japanese, 3 European and 1 Canadian investigations were selected to address risk-reduction goals in 7 categories: Functional Performance, Behavioral Health, Visual Impairment, Metabolism, Physical Capacity, Microbial and Human Factors. MHRPE intends to build on this bilateral foundation to recommend more fully-integrated multilateral investigations on future ISS missions commencing after the 1YM. MHRPE has also endorsed an on-going program of coordinated research on 6-month, one-year and 6-week missions ISS expeditions that is now under consideration by ISS managers. Preparatory work for these missions will require coordinated and collaborative campaigns especially in the psychological and psychosocial areas using analog isolation facilities in Houston, Köln and Moscow, and possibly elsewhere. The multilateral Human Analogs research working group (HANA) is the focal point of those planning discussions, with MHRPE coordinating between the national programs and then supporting implementation on ISS. Experience gained during preparations for the 1YM has identified improvements in both American and Russian processes to enable well-integrated investigations on all subsequent ISS expeditions. Among those is that the greatest efficiency is to be gained with investigations that are fully integrated from their conception, with co-principal investigators, a consolidated proposal and integrated plans for crewmember time and other flight-related resources. Analog investigations preceding future ISS expeditions will employ these lessons in efficiency to evaluate the techniques and tools to be validated aboard ISS. In this way, the resources and capabilities of ISS can be applied most efficiently to solving the problems facing astronauts of all nations in missions deep into the solar system.

Charles, John B.↗

NASA NTRS1991

Sensor fusion III: 3-D perception and recognition; Proceedings of the Meeting, Boston, MA, Nov. 5-8, 1990

The volume on data fusion from multiple sources discusses fusing multiple views, temporal analysis and 3D motion interpretation, sensor fusion and eye-to-hand coordination, and integration in human shape perception. Attention is given to surface reconstruction, statistical methods in sensor fusion, fusing sensor data with environmental knowledge, computational models for sensor fusion, and evaluation and selection of sensor fusion techniques. Topics addressed include the structure of a scene from two and three projections, optical flow techniques for moving target detection, tactical sensor-based exploration in a robotic environment, and the fusion of human and machine skills for remote robotic operations. Also discussed are K-nearest-neighbor concepts for sensor fusion, surface reconstruction with discontinuities, a sensor-knowledge-command fusion paradigm for man-machine systems, coordinating sensing and local navigation, and terrain map matching using multisensing techniques for applications to autonomous vehicle navigation.

Schenker, Paul S.↗

NASA NTRS1990

A Petri-net coordination model for an intelligent mobile robot

The authors present a Petri net model of the coordination level of an intelligent mobile robot system (IMRS). The purpose of this model is to specify the integration of the individual efforts on path planning, supervisory motion control, and vision systems that are necessary for the autonomous operation of the mobile robot in a structured dynamic environment. This is achieved by analytically modeling the various units of the system as Petri net transducers and explicitly representing the task precedence and information dependence among them. The model can also be used to simulate the task processing and to evaluate the efficiency of operations and the responsibility of decisions in the coordination level of the IMRS. Some simulation results on the task processing and learning are presented.

Wang, F.-Y.↗

DOE OSTI2024

Transmission Operator Workflows for Real-Time Reliability Studies: A Review of Control Room Practices and Naturalistic Decision Making

This report provides an overview of real-time reliability study tools and their use by power system operators in the control room environment. After introducing some of the nuances of the control room environment and the differences in perspectives between power system engineers and operators, the roles and responsibilities of key entities involved in RTCA workflows are introduced. These are specifically the transmission system operator (TOP) and reliability coordinator (RC), which are required to run tools such as real-time contingency analysis (RTCA) as part of a real-time reliability assessment every 30 minutes, as dictated by a series of standards issued by the North American Electric Reliability Corporation (NERC). The process by which power systems operators operate the grid is discussed in terms of naturalistic decision making (NDM) and the recognition-primed decision-making (RPD) model. This cognitive model describe how experts working in high-risk, high-stress environments make safety-critical decisions under uncertainty and time pressure. For power system operators, the mental simulations involved in the traditional RPD model are supplemented by physics-based simulations using numerical tools, such as RTCA, to improve situational awareness and effectiveness of control actions. Next, a generic workflow is introduced to describe operator decision making for running RTCA tools and responding to system violations on a pre-contingent basis. The types of analysis performed and control actions chosen by power system operators are described in detail. The overall high-level workflow is then expanded in subsequent sections, with special attention given to high-voltage violations, low-voltage violations, and thermal overloads. Each type of violation is described in detail, with explanations of common causes, impacts on equipment and customers, and mitigation strategies. An additional workflow diagram is provided for each type of violation.

24 POWER TRANSMISSION AND DISTRIBUTION↗

NASA NTRS2006

Modification of Eccentric Gaze-Holding

Clear vision and accurate localization of objects in the environment are prerequisites for reliable performance of motor tasks. Space flight confronts the crewmember with a stimulus rearrangement that requires adaptation to function effectively with the new requirements of altered spatial orientation and motor coordination. Adaptation and motor learning driven by the effects of cerebellar disorders may share some of the same demands that face our astronauts. One measure of spatial localization shared by the astronauts and those suffering from cerebellar disorders that is easily quantified, and for which a neurobiological substrate has been identified, is the control of the angle of gaze (the "line of sight"). The disturbances of gaze control that have been documented to occur in astronauts and cosmonauts, both in-flight and postflight, can be directly related to changes in the extrinsic gravitational environment and intrinsic proprioceptive mechanisms thus, lending themselves to description by simple non-linear statistical models. Because of the necessity of developing robust normal response populations and normative populations against which abnormal responses can be evaluated, the basic models can be formulated using normal, non-astronaut test subjects and subsequently extended using centrifugation techniques to alter the gravitational and proprioceptive environment of these subjects. Further tests and extensions of the models can be made by studying abnormalities of gaze control in patients with cerebellar disease. A series of investigations were conducted in which a total of 62 subjects were tested to: (1) Define eccentric gaze-holding parameters in a normative population, and (2) explore the effects of linear acceleration on gaze-holding parameters. For these studies gaze-holding was evaluated with the subjects seated upright (the normative values), rolled 45 degrees to both the left and right, or pitched back 30 and 90 degrees. In a separate study the further effects of acceleration on gaze stability was examined during centrifugation (+2 G (sub x) and +2 G (sub z) using a total of 23 subjects. In all of our investigations eccentric gaze-holding was established by having the subjects acquire an eccentric target (+/-30 degrees horizontal, +/- 15 degrees vertical) that was flashed for 750 msec in an otherwise dark room. Subjects were instructed to hold gaze on the remembered position of the flashed target for 20 sec. Immediately following the 20 sec period, subjects were cued to return to the remembered center position and to hold gaze there for an additional 20 sec. Following this 20 sec period the center target was briefly flashed and the subject made any corrective eye movement back to the true center position. Conventionally, the ability to hold eccentric gaze is estimated by fitting the natural log of centripetal eye drifts by linear regression and calculating the time constant (G) of these slow phases of "gaze-evoked nystagmus". However, because our normative subjects sometimes showed essentially no drift (tau (sub c) = m), statistical estimation and inference on the effect of target direction was performed on values of the decay constant theta = 1/(tau (sub c)) which we found was well modeled by a gamma distribution. Subjects showed substantial variance of their eye drifts, which were centrifugal in approximately 20 % of cases, and > 40% for down gaze. Using the ensuing estimated gamma distributions, we were able to conclude that rightward and leftward gaze holding were not significantly different, but that upward gaze holding was significantly worse than downward (p<0.05). We also concluded that vertical gaze holding was significantly worse than horizontal (p<0.05). In the case of left and right roll, we found that both had a similar improvement to horizontal gaze holding (p<0.05), but didn't have a significant effect on vertical gaze holding. For pitch tilts, both tilt angles significantly decreased gaze-holding ility in all directions (p<0.05). Finally, we found that hyper-g centrifugation significantly decreased gaze holding ability in the vertical plane. The main findings of this study are as follows: (1) vertical gaze-holding is less stable than horizontal, (2) gaze-holding to upward targets is less stable than to downward targets, (3) tilt affects gaze holding, and (4) hyper-g affects gaze holding. This difference between horizontal and vertical gaze-holding may be ascribed to separate components of the velocity-to-position neural integrator for eye movements, and to differences in orbital mechanics. The differences between upward and downward gaze-holding may be ascribed to an inherent vertical imbalance in the vestibular system. Because whole body tilt and hyper-g affects gaze-holding, it is implied that the otolith organs have direct connections to the neural integrator and further studies of astronaut gaze-holding are warranted. Our statistical method for representing the range of normal eccentric gaze stability can be readily applied to normals who maybe exposed to environments which may modify the central integrator and require monitoring, and to evaluate patients with gaze-evoked nystagmus by comparing to the above established normative criteria.

Reschke, M. F.↗

DOE OSTI2025

Selective reduction in epitaxial SrFe 0.5 Co 0.5 O 2.5 and its reversibility

Oxygen-vacancy engineering in transition metal oxides enables programmable functionalities by modulating the valence states and local coordination of constituents. Here, we report the selective reduction of cobalt ions in epitaxial SrFe 0.5 Co 0.5 O 2.5 thin films under reducing gas environments, while iron ions remain unchanged. X-ray absorption spectroscopy reveals an absorption edge shift of 1.65 eV in the Co L-edge upon reduction, and multiplet simulations estimate a decrease in the average Co valence from Co 2.91+ to Co 2.00+ . This site- and element-specific reduction leads to the formation of a structurally distinct oxygen-deficient phase stabilized by oxygen vacancies at tetrahedral sites, as confirmed by density functional theory. Optical spectroscopy reveals an increase in the bandgap from 2.47 eV to 3.04 eV, accompanied by enhanced transparency. Furthermore, simultaneous in situ diffraction and transport measurements confirm fully reversible redox-driven transitions among three phases: reduced defective perovskite, brownmillerite, and oxygen-rich perovskite phases. These findings demonstrate that selective redox control in multi-cation oxides enables the realization of chemically and functionally distinct oxygen-deficient phases.

Fuel cells↗

DOE OSTI2022

Progress on Near-Term Tasks for the Development of Advanced Reactor Mechanistic Source Term Modeling and Simulation Tools

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2023

Progress on Long-Term Objectives for the Development of Advanced Reactor Mechanistic Source Term Modeling and Simulation Tools

To assist both the advanced reactor industry and U.S. Nuclear Regulatory Commission (NRC) in the pursuit of reactor design and licensing, the U.S. Department of Energy (DOE) Nuclear Energy Advanced Modeling and Simulation (NEAMS) program has established a mechanistic source term (MST) research project under the auspices of the Multiphysics Applications technical area. MST analysis is central to the reactor licensing process and a focus of the NRC regarding their mission to provide reasonable assurance of adequate protection of public health and safety and environment. The MST research project is a collaboration between Argonne National Laboratory (Argonne) and Sandia National Laboratories (SNL) with a high-level objective to coordinate the development of comprehensive advanced reactor MST mod/sim capabilities to support risk-informed design and licensing decisions. As part of this effort, an MST mod/sim development pathway was developed in FY21, which outlines the high-level objectives and near-term tasks necessary to achieve the project objectives. Since publication of the development pathway, Argonne and SNL have focused initial efforts on addressing the “near-term tasks” outlined in the report, and the current work provides a status update of the progress achieved in FY22. This report is a progress update on 6 tasks supporting molten salt reactor (MSR) and sodium fast reactor (SFR) MST analyses which were initiated in FY22 as recommended high priority near-term tasks. These tasks were continued into FY23 as they also support previously recommended long-term development objectives to advance MST analyses for these advanced reactors.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2022

Probabilistic estimation of depth-resolved profiles of soil thermal diffusivity from temperature time series: Supporting Data

This dataset consists of soil temperature time series that were used to estimate soil thermal diffusivity and its uncertainty trough the probabilistic modelling approach developed and presented in the article named "Probabilistic estimation of depth-resolved profiles of soil thermal diffusivity from temperature time series" and published in Earth Surface Dynamics. There are two compressed (.zip) files that contains synthetic (Synthetic_soiltemp_Teller.zip) and field (Field_soiltemp_Teller.zip) data. There is one MATLAB file that requires MATLAB to execute but any text editor can open it. The Synthetic_soiltemp_Teller.zip file includes 5 comma-delimited data files (.csv) each of which contains soil temperature time series generated through forward modeling (i.e., heat-conduction process in a heterogeneous medium using an explicit finite difference method) to mimic various types of temperature gradients, trend and fluctuations. These synthetic soil temperatures were used to investigate the impact of different environmental conditions on the uncertainty of thermal diffusivity estimates. The Field_soiltemp_Teller.zip file contains 28 comma-delimited data files (.csv) out of which (a) 27 files includes soil temperature time series recorded from 27 temperature probes located in a site along Teller Road about 40 km northwest of Nome, Alaska (64.72°N, 165.94°W), (b) one includes the name and coordinates of the 27 probes. These field soil temperatures were used to infer soil thermal diffusivity at numerous locations and depths in a discontinuous permafrost environment, and to evaluate the links between the estimated soil thermal diffusivity values and soil physical properties. The comma-delimited data files (.csv) of the synthetic and field soil temperature time series includes date and time (UTC) in the first column and soil temperature from 5 cm below the ground surface to 1.05 m depth (with 5 or 10 cm spacing between sensors) in the other columns. The measurements were acquired every 15 minutes. The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a research effort to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research. The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska. Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1990

A description of the Global Resources Information Database

This paper describes the Global Resources Information Database (GRID), which is part of the Global Environmental Monitoring (GEM) Program. The following four objectives were established for GRID: (1) to collect and disseminate geographical information; (2) to construct within developing countries a geographical information system (GIS); (3) to demonstrate the ability of GIS to fuse global and national data sets for resource and environment management and planning at the national level; and (4) to train individuals from developing countries in remote sensing technology. The activities of GRID are coordinated at the GEM center at Nairobi (Kenya).

Vermillion, Charles H.↗

NASA NTRS2007

Simulation Environment for Orion Launch Abort System Control Design Studies

The development and use of an interactive environment to perform control system design and analysis of the proposed Crew Exploration Vehicle Launch Abort System is described. The environment, built using a commercial dynamic systems design package, includes use of an open-source configuration control software tool and a collaborative wiki to coordinate between the simulation developers, control law developers and users. A method for switching between multiple candidate control laws and vehicle configurations is described. Aerodynamic models, especially in a development program, change rapidly, so a means for automating the implementation of new aerodynamic models is described.

McMinn, J. Dana↗

NASA NTRS2008

Heliophysical Explorers (HELEX): Solar Orbiter and Sentinels - Report of the Joint Science and Technology Definition Team (JSTDT)

Heliophysical Explorers (HELEX) brings together and augments the unique capabilities of ESA's Solar Orbiter mission (near-Sun and out-of-ecliptic in-situ plus remote-sensing observations) with those of NASA's Inner Heliospheric Sentinels (in-situ observations from multiple platforms arrayed at varying radial distances and azimuthal locations in the near-ecliptic plane)to investigate, characterize, and understand how the Sun determines the environment of the inner solar system and, more broadly, generates the heliosphere itself. This joint ESA-NASA science program offers a unique opportunity for coordinated, correlative measurements, resulting in a combined observational capability and science return that far outweighs that of either mission alone. Building on the knowledge gained from missions like Helios and Ulysses, and STEREO, HELEX will bring to bear the power of multipoint, in-situ measurements using previously unavailable instrumental capabilities in combination with remote-sensing observations from a new, inner heliospheric perspective to answer fundamental questions about the Sun-heliosphere linkage.

Source record↗

NASA NTRS2011

Which Way is Up? Lessons Learned from Space Shuttle Sensorimotor Research

The Space Shuttle Program provided the opportunity to examine sensorimotor adaptation to space flight in unprecedented numbers of astronauts, including many over multiple missions. Space motion sickness (SMS) severity was highly variable across crewmembers. SMS generally lasted 2-3 days in-flight with approximately 1/3 of crewmembers experiencing moderate to severe symptoms, and decreased incidence in repeat flyers. While SMS has proven difficult to predict from susceptibility to terrestrial analogs, symptoms were alleviated by medications, restriction of early activities, maintaining familiar orientation with respect to the visual environment and maintaining contact cues. Adaptive changes were also reflected by the oculomotor and perceptual disturbances experienced early inflight and by the perceptual and motor coordination problems experienced during re-entry and landing. According to crew self-reports, systematic head movements performed during reentry, as long as paced within one's threshold for motion tolerance, facilitated the early readaptation process. The Shuttle provided early postflight crew access to document the initial performance decrements and time course of recovery. These early postflight measurements were critical to inform the program of risks associated with extending the duration of Shuttle missions. Neurological postflight deficits were documented using a standardized subjective rating by flight surgeons. Computerized dynamic posturography was also implemented as a quantitative means of assessing sensorimotor function to support crew return-to-duty assessments. Towards the end of the Shuttle Program, more emphasis has been placed on mapping physiological changes to functional performance. Future commercial flights will benefit from pre-mission training including exposures to launch and entry G transitions and sensorimotor adaptability assessments. While SMS medication usage will continue to be refined, non-pharmacological countermeasures (e.g., sensory aids) will have both space and Earth-based applications. Early postflight field tests are recommended to provide the evidence base for best practices for future commercial flight programs. Learning Objective: Overview of the Space Shuttle Program regarding adaptive changes in sensorimotor function, including what was learned from research, what was implemented for medical operations, and what is recommended for commercial flights.

Wood, S. J.↗

NASA NTRS2017

Earth Science Project Office (ESPO) Field Experiences During ORACLES, ATom, KORUS and POSIDON

Very often, scientific field campaigns entail years of planning and incur substantial cost, especially if they involve the operation of large research aircraft in remote locations. Deploying and operating these aircrafts even for short periods of time poses challenges that, if not addressed properly, can have significant negative consequences and potentially jeopardize the success of a scientific campaign. Challenges vary from country to country and range from safety, health, and security risks to differences in cultural and social norms. Our presentation will focus on sharing experiences on the ESPO 2016 conducted field campaigns ORACLES, ATom, KORUS and POSIDON. We will focus on the best practices, lessons learned, international relations and coordination aspects of the country-specific experiences. This presentation will be part of the ICARE Conference (2nd International Conference on Airborne Research for the Environment (ICARE 2017) that will focus on "Developing the infrastructure to meet future scientific challenges". This unique conference and gathering of facility support experts will not only allow for dissemination and sharing of knowledge but also promote collaboration and networking among groups that support scientific research using airborne platforms around the globe.

Salazar, Vidal↗

NASA NTRS1977

Physiological spacecraft environment data documentation

The physiological limits of exposure to environmental parameters encountered during space flight was documented. The environmental limits which have been previously established were described in terms of acceptable physiological changes. The process of coordinating data and assembling the completed data book is described in this report.

Source record↗

NASA NTRS1987

Dynamics and control of coordinated multiple manipulators

A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6 x n degrees of freedom of a manipulators each having six joints. Additional constraint equations are considered when one or more of the degrees of freedom of the object is reduced due to external constraints. Utilizing the operational space dynamics equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Finally, simulation results for the control of a pair of two-link manipulators are presented.

Hayati, S. A.↗