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At least 937 records · Page 52

Testing of FTS fingers and interface using a passive compliant robot manipulator

This report deals with testing of a pair of robot fingers designed for the Flight Telerobotic Servicer (FTS) to grasp a cylinder type of Orbital Replaceable Unit (ORU) interface. The report first describes the objectives of the study and then the testbed consisting of a Stewart Platform-based manipulator equipped with a passive compliant platform which also serves as a force/torque sensor. Kinematic analysis is then performed to provide a closed-form solution for the force inverse kinematics and iterative solution for the force forward kinematics using the Newton's Raphson Method. Mathematical expressions are then derived to compute force/torques applied to the FTS fingers during the mating/demating with the interface. The report then presents the three parts of the experimental study on the feasibility and characteristics of the fingers. The first part obtains data of forces applied by the fingers to the interface under various misalignments, the second part determines the maximum allowable capture angles for mating, and the third part processes and interprets the obtained force/torque data.

Nguyen, Charles C.↗

Adaptive impedance control of redundant manipulators

A scheme for controlling the mechanical impedance of the end-effector of a kinematically redundant manipulator is presented. The proposed control system consists of two subsystems: an adaptive impedance controller which generates the Cartesian-space control input F (is a member of Rm) required to provide the desired end-effector impedance characteristics, and an algorithm that maps this control input to the joint torque T (is a member of Rn). The F to T map is constructed so that the robot redundancy is utilized to improve either the kinematic or dynamic performance of the robot. The impedance controller does not require knowledge of the complex robot dynamic model or parameter values for the robot, the payload, or the environment, and is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme is very general and is computationally efficient for on-line implementation.

Colbaugh, R.↗

Dual redundant arm system operational quality measures and their applications - Static measures

The authors present dual-arm system static operational quality measures which quantify the efficiency and capability of a dual-arm system in generating Cartesian velocities and static forces. First, they define and analyze the kinematic interactions between the two arms incurred by the various modes of dual-arm cooperation, such as transport, assembly, and grasping modes of cooperation, and specify the kinematic constraints imposed on individual arms in Cartesian space due to the kinematic interactions. Dual-arm static manipulability is presented. Finally, dual-arm operational quality is scaled by a task-oriented operational quality measure (TOQs) obtained by the comparison between the desired and actual static manipulabilities. TOQs is used in the optimization of dual-arm joint configurations. Simulation results are shown.

Lee, Sukhan↗

Reliable fusion of control and sensing in intelligent machines

Although robotics research has produced a wealth of sophisticated control and sensing algorithms, very little research has been aimed at reliably combining these control and sensing strategies so that a specific task can be executed. To improve the reliability of robotic systems, analytic techniques are developed for calculating the probability that a particular combination of control and sensing algorithms will satisfy the required specifications. The probability can then be used to assess the reliability of the design. An entropy formulation is first used to quickly eliminate designs not capable of meeting the specifications. Next, a framework for analyzing reliability based on the first order second moment methods of structural engineering is proposed. To ensure performance over an interval of time, lower bounds on the reliability of meeting a set of quadratic specifications with a Gaussian discrete time invariant control system are derived. A case study analyzing visual positioning in robotic system is considered. The reliability of meeting timing and positioning specifications in the presence of camera pixel truncation, forward and inverse kinematic errors, and Gaussian joint measurement noise is determined. This information is used to select a visual sensing strategy, a kinematic algorithm, and a discrete compensator capable of accomplishing the desired task. Simulation results using PUMA 560 kinematic and dynamic characteristics are presented.

Mcinroy, John E.↗

The velocity fields of elliptical galaxies: Steps toward a solution of the intrinsic shape problem

One of the few surviving signatures, at low redshift, of the process of galaxy formation should be the distribution of shapes of elliptical galaxies. Yet the problem of inferring this distribution from the observed ellipticals is still unsolved, because insufficient use has been made of kinematic information. The levels of 'sophistication' of the theoretical models and of the observations have up to now been poorly matched. The kinematic data available for most ellipticals consists of only major and minor axis spectra; and Franx et al. (1991) find, using simple geometric models, that the addition of only one kinematic parameter (the ratio of minor axis to major axis rotation velocity) to the photometry is just not enough to finely constrain the intrinsic shape distribution. On the other hand, the more elaborate self-consistent models (e.g., Levison and Richstone 1987, Statler 1987) have made only infrequent and model-dependent predictions of complicated velocity patterns, mostly at small radii, and have not discussed how they change with shape.

Statler, Thomas S.↗

Ice tracking techniques, implementation, performance, and applications

Present techniques of ice tracking make use both of cross-correlation and of edge tracking, the former being more successful in heavy pack ice, the latter being critical for the broken ice of the pack margins. Algorithms must assume some constraints on the spatial variations of displacements to eliminate fliers, but must avoid introducing any errors into the spatial statistics of the measured displacement field. We draw our illustrations from the implementation of an automated tracking system for kinematic analyses of ERS-1 and JERS-1 SAR imagery at the University of Alaska - the Alaska SAR Facility's Geophysical Processor System. Analyses of the ice kinematic data that might have some general interest to analysts of cloud-derived wind fields are the spatial structure of the fields, and the evaluation and variability of average deformation and its invariants: divergence, vorticity and shear. Many problems in sea ice dynamics and mechanics can be addressed with the kinematic data from SAR.

Rothrock, D. A.↗

Reliable automatic plan selection for visual robotic positioning

Reliability analysis techniques developed for robotics are applied to a six-DOF (degree-of-freedom) visual positioning system. The task is to measure an object's pose and then grip the object reliably subject to time and accuracy constraints. Errors due to pixel truncation in the stadimetric vision system, forward kinematic and inverse kinematic uncertainties, and joint position and velocity noise are stochastically modeled. Simulation results for PUMA 500 kinematic and dynamic characteristics are presented.

Mcinroy, John E.↗

Hydrodynamic models of the Cartwheel ring galaxy

A series of increasingly sophisticated models of the Cartwheel ring galaxy is studied in order to test the collisional model for the galaxy formation and examine the star formation processes in this unique environment, using new data acquired in the last decade. The simulations provided some possible answers to a number of questions about the Cartwheel. First, an explanation for the wide spacing between inner and outer rings is suggested by the simple epicyclic kinematics within the dark matter-dominated potential implied by H I rotation curve. These models and the kinematic model of Struck-Marcell and Lotan (1990) also predict that the outer ring should be relatively weak, while the second inner ring should be stronger, with a dense orbit-crossing region of significant width bounded by sharp, caustic edges. The collisional model is given support by the agreement between the observations and the morphological and kinematic properties of the numerical simulations presented.

Struck-Marcell, Curtis↗

Interaction of NGC 2276 with the NGC 2300 group - Fabry-Perot observations of the H-alpha velocity field

We report kinematic observations of H-alpha emission from the spiral galaxy NGC 2276 obtained with a Fabry-Perot Camera. The 'bow shock' appearance and enhanced star formation in NGC 2276 have been attributed by Mulchaey et al. (1993) to a ram-pressure interaction with the dense IGM detected in ROSAT observations of the NGC 2300 group of galaxies. Along the 'bow shock' limb of the galaxy, we observe strong H-alpha emission and significant kinematic perturbations located immediately interior to an abrupt decrease in the scale length of the optical disk. Although ram-pressure forces may be important in the evolution of the outer gaseous disk, the peculiar kinematics and the truncation in the stellar disk are difficult to explain in a ram-pressure model; a more likely cause is tidal interaction, probably with the elliptical galaxy NGC 2300.

Gruendl, Robert A.↗

Investigation of Damping Liquids for Aircraft Instruments : II

Data are presented on the kinematic viscosity, in the temperature range -50 degrees to +30 degrees C. of pure liquids and of solutions of animal oils, vegetable oils, mineral oils, glycerine, and ethylene glycol in various low freezing point solvents. It is shown that the thermal coefficient of kinematic viscosity as a function of the kinematic viscosity of the solutions of glycerine and ethylene glycol in alcohols is practically independent of the temperature and the chemical composition of the individual liquids. This is similarly true for the mineral oil group and, for a limited temperature interval, for the pure animal and vegetable oils. The efficiency of naphthol, hydroquinone, and diphenylamine to inhibit the change of viscosity of poppyseed and linseed oils was also investigated.

Houseman, M R↗

Fuzzy logic based robotic controller

Existing Proportional-Integral-Derivative (PID) robotic controllers rely on an inverse kinematic model to convert user-specified cartesian trajectory coordinates to joint variables. These joints experience friction, stiction, and gear backlash effects. Due to lack of proper linearization of these effects, modern control theory based on state space methods cannot provide adequate control for robotic systems. In the presence of loads, the dynamic behavior of robotic systems is complex and nonlinear, especially where mathematical modeling is evaluated for real-time operators. Fuzzy Logic Control is a fast emerging alternative to conventional control systems in situations where it may not be feasible to formulate an analytical model of the complex system. Fuzzy logic techniques track a user-defined trajectory without having the host computer to explicitly solve the nonlinear inverse kinematic equations. The goal is to provide a rule-based approach, which is closer to human reasoning. The approach used expresses end-point error, location of manipulator joints, and proximity to obstacles as fuzzy variables. The resulting decisions are based upon linguistic and non-numerical information. This paper presents a solution to the conventional robot controller which is independent of computationally intensive kinematic equations. Computer simulation results of this approach as obtained from software implementation are also discussed.

Attia, F.↗

Methodologies to determine forces on bones and muscles of body segments during exercise, employing compact sensors suitable for use in crowded space vehicles

A complete description of an instrumented ergometer system, including the sensors, the data acquisition system, and the methodologies to calculate the kinematic parameters were initially developed at Tulane University. This work was continued by the PI at NASA Johnson Space Center, where a flight ergometer was instrumented and tested during a KC-135 Zero-Gravity flight. The sensors that form part of the system include EMG probes and accelerometers mounted on the subject using the ergometer, load cells to measure pedal forces, and encoders to measure position and orientation of the pedal (foot). Currently, data from the flight test is being analyzed and processed to calculate the kinematic parameters of the individual. The formulation developed during the initial months of the grant will be used for this purpose. The system's components are compact (all sensors are very small). A salient feature of the system and associated methodology to determine the kinematics is that although it uses accelerometers, position is not determined by integration. Position is determined by determining the angle of two frames of reference for which acceleration at one point is known in coordinates of both frames.

Figueroa, Fernando↗

A musculoskeletal model of the elbow joint complex

This paper describes a musculoskeletal model that represents human elbow flexion-extension and forearm pronation-supination. Musculotendon parameters and the skeletal geometry were determined for the musculoskeletal model in the analysis of ballistic elbow joint complex movements. The key objective was to develop a computational model, guided by optimal control, to investigate the relationship among patterns of muscle excitation, individual muscle forces, and movement kinematics. The model was verified using experimental kinematic, torque, and electromyographic data from volunteer subjects performing both isometric and ballistic elbow joint complex movements. In general, the model predicted kinematic and muscle excitation patterns similar to what was experimentally measured.

Gonzalez, Roger V.↗

On the ellipticity of the Galactic disk

We investigate two kinds of constraints on the ellipticity of the Galactic disk: local constraints, based on the kinematics of the solar neighborhood (such as the Oort constants, the axis ratio of the velocity ellipsoid, the vertex deviation, and the radial velocity of the local standard of rest relative to the Galactic center), and global constraints (H I tangent point velocities, the velocity fields of distant carbon stars, Cepheids and H II regions, and the kinematics of distant H I). Local and global constraints independently suggest that the Sun lies near the minor axis of the potential of an elliptical Galactic disk, with equipotential axis ratio 0.9. The kinematic data are consistent with a flat rotation curve of constant ellipticity, with a mean rotation speed of 200 km/s. In this model, the present velocity of the local standard of rest is 180 km/s.

Kuijken, Konrad↗

Spring dehydration in the Antarctic stratospheric vortex observed by HALOE

The distribution of dehydrated air in the middle and lower stratosphere during the 1992 Southern Hemisphere spring is investigated using Halogen Occultation Experiment (HALOE) observations and trajectory techniques. Comparisons between previously published Version 9 and the improved Version 16 retrievals on the 700-K isentropic surface show very slight (0.05 ppmv) increases in Version 16 CH4 relative to Version 9 within the polar vortex. Version 16 H2O mixing ratios show a reduction of 0.5 ppmv relative to Version 9 within the polar night jet and a reduction of nearly 1.0 ppmv in middle latitudes when compared to Version 9. The version 16 HALOE retrievals show low mixing ratios of total hydrogen (2CH4 + H2O) within the polar vortex on both 700 and 425 K isentropic surfaces relative to typical middle-stratospheric 2CH4 + H2O mixing ratios. The low 2CH4 + H2O mixing ratios are associated with dehydration. Slight reductions in total hydrogen, relative to typical middle-stratospheric values, are found at these levels throughout the Southern Hemisphere during this period. Trajectory calculations show that middle-latitude air masses are composed of a mixture of air from within the polar night jet and air from middle latitudes. A strong kinematic barrier to large-scale exchange is found on the poleward flank of the polar night jet at 700 K. A much weaker kinematic barrier is found at 425 K. The impact of the finite tangent pathlength of the HALOE measurements is investigated using an idealized tracer distribution. This experiment suggests that HALOE should be able to resolve the kinematic barrier, if it exists.

Pierce, R. Bradley↗

A molecular line study of NGC 1333/IRAS 4

Molecular line surveys and fully sampled spectral line maps at 1.3 and 0.87 mm are used to examine the physical and chemical characteristics of the extreme Class I sources IRAS 4A and 4B in the L1450/NGC 1333 molecular cloud complex. A very well collimated, jetlike molecular flow emanates from IRAS 4A, with a dynamical age of a few thousand years. Symmetric, clumpy structure along the outflow lobes suggests that there is considerable variability in the mass-loss rate or wind velocity even at this young age. Molecular emission lines toward IRAS 4A and 4B are observed to be weak in the velocity range corresponding to quiescent material surrounding the young stellar objects (YSOs). Depletion factors of 10-20 are observed for all molecules, including CO, even for very conservative mass estimates from the measured millimeter and submillimeter dust continuum. However, abundance scaled with respect to CO are similar to other dark molecular cloud cores. Such depletions could be mimicked by high dust and optical depths or increased grain emissivities at the observing frequencies of 230 and 435 GHz, but the millimeter and submillimeter spectral energy distributions suggest that this is unlikely over the single-dish size scales of 5000-10,000 AU. Dense, outflowing gas is found to be kinematically, but not spatially, distinct from the quiescent material on these size scales. If CO is used as a chemical standard for the high-velocity gas, we find substantial enhancements in abundances of several molecules in outflowing material, most notably CS, SIO, and CH3OH. The SiO emission is kinematically well displaced from the bulk cloud velocity and likely arises from directly shocked material. As is the case for CO, however, the outflow features from more volatile species are centered near the cloud velocity and are often characterized by quite low rotational temperatures. We suggest that grain-grain collisions induced by velocity shear zones surrounding the outflow axes transiently desorb the grain mantles, resulting in large abundance enhancements of selected species. Similar results have recently been obtained in several other low-mass YSOs, where outflowing gas is often both kinematically and spatailly distinct, and are illustrative of the ability of accretion and outflow processes to simultaneously modify the composition of the gas and dust surrounding young stars.

Blake, Geoffrey A.↗

Topography and subduction geometry in the central Andes: Clues to the mechanics of a noncollisional orogen

The central Andeean orogen between 12 deg and 32 deg S latitude exhibits a high degree of spatial order: principally an extraordinary bilateral symmetry that is common to the Earth's surface, the underlying Wadati-Benioff zone, and the Nazca/South America plate kinematics, which has been stable since the mid-Tertiary. This spatial order must reflect the physical mechanisms of mountain building in this noncollisional orogen. The shapes of the topography and subduction zone can be reduced to symmetric and antisummeric components relative to any verical symmetry plane; the particular plaen which minimizes the antisymmetry (and maximizes the symmetry) is well resolved and is essentially coincident with the stable Euler equator of Nacza/South America relative motion since the mid-Tertiary. That the topography, subduction geometry, and persistent mid-Tertiary plate kinematics share common spatial and geometric elements suggests that he distribution of topography in this orogen depends strongly on the dynamics of subduction. Other factors that might affect the topography and underlying tectonics, such as climate and inherited strutura fabric, which have different spatial characterisitcs, must be of less significance at a continental scale. Furthermore, the small components of asymmetry among the various elements of the orogen appear to be mutually relate in a simple way; it is possible that this coupled asymmetry is associated with a late Teriary change in plate kinematics. These observations suggest that there is a close connection between plate tectonics and the form of the Earth's surface in this noncollisional setting. It follows hta the distribution of topography near convergent plate boundaries may provide a powerful constraing for understanding the dynamics of subduction.

Gephart, John W.↗

Oxygen-rich Mira variables: Near-infrared luminosity calibrations. Populations and period-luminosity relations

Hipparcos astrometric and kinematical data of oxygen-rich Mira variables are used to calibrate absolute near-infrared magnitudes and kinematic parameters. Three distinct classes of stars with different kinematics and scale heights were identified. The two most significant groups present characteristics close to those usually assigned to extended/thick disk-halo populations and old disk populations, respectively, and thus they may differ by their metallicity abundance. Two parallel period-luminosity relations are found, one for each population. The shift between these relations is interpreted as the consequence of the effects of metallicity abundance on the luminosity.

Alvarez, R.↗