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This research project dealt with the development of control methodologies which would effectively use existing inertial devices as control actuators in the manipulation of Remote Manipulator System (RMS)-type robotic arms. The existing devices proposed to be investigated are the Torque-Wheel (TW) and the Proof-Mass actuator (PM). This report presents a succinct summary of our results.
The Center for Engineering and Design at the University of Utah is developing an anthropomorphic, hydraulically actuated, teleoperated arm. The system includes a sixteen degree-of-freedom slave manipulator controlled by a kinematically identical, sixteen degree-of-freedom force-reflective, exoskeletal master. The project has focused on four areas: (1) formulating a realistic set of design objectives which balance, against technical realities, the desire for performance, reliability and economy; (2) understanding control issues; (3) designing and fabricating new subsystems necessary for the construction of a successful machine; and (4) integrating subsystems, through a series of prototype stages, into an operational teleoperation system.
Space exploration is dependent on robotic systems that utilize end-effectors to collect samples, probe surfaces, and manipulate objects. These systems can rarely be designed to do all three, forcing engineers to make tradeoffs based on the mission parameters - i.e. should the robotic appendage have a claw, drill, or shovel, and which would be best suited for the mission? Additionally, as more industrial and government entities partake in space exploration, data protection is needed in transit and at rest. To address these challenges, we present a first-of-its- kind robotic linkage that has no wiring between the joints. Instead, quasi-wireless capacitive (QWiC) power transfer is used to send energy over the robot’s chassis without a return wire. This enables the system to be completely modular through the use of single-contact permanent magnet connections, allowing rapid alterations in joint kinematics and/or the changing of end-effectors. For collecting sensor data from the robotic arm and to send remote commands to it, we use a Supervisory Control and Data Acquisition (SCADA) system. Data transmission relies on MQTT and OPC UA communication protocols with encryption. The SCADA server logs and archives sensor data and provides the functionality for authorized users to send remote commands from SCADA client(s) to motors. A SCADA client can be any of the web browsers that connects to a server via a secure communication channel using SSL protocol. Furthermore, as an extra data protection mechanism, we inject noise to the sensor data traffic, which obfuscates the timing of sensor data packets and adds confusion about which data packet represents which motor.
Techniques are provided for enhancing the visibility of objects located below the surface of a scattering medium such as tissue, water and smoke. Examples of such an object include a vein located below the skin, a mine located below the surface of the sea and a human in a location covered by smoke. The enhancement of the image contrast of a subsurface structure is based on the utilization of structured illumination. In the specific application of this invention to image the veins in the arm or other part of the body, the issue of how to control the intensity of the image of a metal object (such as a needle) that must be inserted into the vein is also addressed.
There are approximately 5000 m{sup 3} of radioactive calcine material stored in six Calcine Solids Storage Facilities (CSSFs) at the DOE Idaho site. Each CSSF contains from three to twelve stainless steel tanks surrounded by a concrete vault. In accordance with the Idaho Settlement Agreement (ISA), this waste has to be retrieved and immobilized by December 31 2035 although no final decision has yet been made on how the calcine wastes are going to be retrieved from the CSSF's. One of the primary issues with the retrieval is that, in accordance with the ISA, any existing risers into the tanks have to be used 'to the maximum extent possible' in the retrieval process. Since these risers are only 6-8'' in diameter, this limits the types of systems that can be used for the retrieval. In addition, each bin containing the calcine has a series of obstructions which need to be navigated around and so inflexible systems such as conventional hose-based vacuum type systems are not feasible. In addition, the retrieval system selected has to be able to manage multiple forms of calcine (powder, granular, agglomerated, chunks etc) and operate in a very highly radioactive environment. This paper describes the progress made to date in developing an approach based on the use of multiple remote system platforms to gain entry into the bin-sets and to safely and cost-effectively retrieve the calcine wastes. Much of the work has focused on the application of the OC Robotic snake-arm robot system although significant effort has also been allocated to understanding the deployment mechanism of the snake-arm and to the ancillary supporting systems such as those for contamination control, cutting and welding new risers into the bin-sets and vacuum hose management within the bin-set. Future work will include the construction of a scaled mock up to demonstrate the field implementation of the system. (authors)
The objective of the ARM Broadband Heating Rate Profile (BBHRP) Project is to provide a structure for the comprehensive assessment of our ability to model atmospheric radiative transfer for all conditions. Required inputs to BBHRP include surface albedo and profiles of atmospheric state (temperature, humidity), gas concentrations, aerosol properties, and cloud properties. In the past year, the Radiatively Important Parameters Best Estimate (RIPBE) VAP was developed to combine all of the input properties needed for BBHRP into a single gridded input file. Additionally, an interface between the RIPBE input file and the RRTM was developed using the new ARM integrated software development environment (ISDE) and effort was put into developing quality control (qc) flags and provenance information on the BBHRP output files so that analysis of the output would be more straightforward. This new version of BBHRP, sgp1bbhrpripbeC1.c1, uses the RIPBE files as input to RRTM, and calculates broadband SW and LW fluxes and heating rates at 1-min resolution using the independent column approximation. The vertical resolution is 45 m in the lower and middle troposphere to match the input cloud properties, but is at coarser resolution in the upper atmosphere. Unlike previous versions, the vertical grid is the same for both clear-sky and cloudy-sky calculations.
The objective of the ARM Broadband Heating Rate Profile (BBHRP) Project is to provide a structure for the comprehensive assessment of our ability to model atmospheric radiative transfer for all conditions. Required inputs to BBHRP include surface albedo and profiles of atmospheric state (temperature, humidity), gas concentrations, aerosol properties, and cloud properties. In the past year, the Radiatively Important Parameters Best Estimate (RIPBE) VAP was developed to combine all of the input properties needed for BBHRP into a single gridded input file. Additionally, an interface between the RIPBE input file and the RRTM was developed using the new ARM integrated software development environment (ISDE) and effort was put into developing quality control (qc) flags and provenance information on the BBHRP output files so that analysis of the output would be more straightforward. This new version of BBHRP, sgp1bbhrpripbeC1.c1, uses the RIPBE files as input to RRTM, and calculates broadband SW and LW fluxes and heating rates at 1-min resolution using the independent column approximation. The vertical resolution is 45 m in the lower and middle troposphere to match the input cloud properties, but is at coarser resolution in the upper atmosphere. Unlike previous versions, the vertical grid is the same for both clear-sky and cloudy-sky calculations.
The objective of the ARM Broadband Heating Rate Profile (BBHRP) Project is to provide a structure for the comprehensive assessment of our ability to model atmospheric radiative transfer for all conditions. Required inputs to BBHRP include surface albedo and profiles of atmospheric state (temperature, humidity), gas concentrations, aerosol properties, and cloud properties. In the past year, the Radiatively Important Parameters Best Estimate (RIPBE) VAP was developed to combine all of the input properties needed for BBHRP into a single gridded input file. Additionally, an interface between the RIPBE input file and the RRTM was developed using the new ARM integrated software development environment (ISDE) and effort was put into developing quality control (qc) flags and provenance information on the BBHRP output files so that analysis of the output would be more straightforward. This new version of BBHRP, sgp1bbhrpripbeC1.c1, uses the RIPBE files as input to RRTM, and calculates broadband SW and LW fluxes and heating rates at 1-min resolution using the independent column approximation. The vertical resolution is 45 m in the lower and middle troposphere to match the input cloud properties, but is at coarser resolution in the upper atmosphere. Unlike previous versions, the vertical grid is the same for both clear-sky and cloudy-sky calculations.
The objective of the ARM Broadband Heating Rate Profile (BBHRP) Project is to provide a structure for the comprehensive assessment of our ability to model atmospheric radiative transfer for all conditions. Required inputs to BBHRP include surface albedo and profiles of atmospheric state (temperature, humidity), gas concentrations, aerosol properties, and cloud properties. In the past year, the Radiatively Important Parameters Best Estimate (RIPBE) VAP was developed to combine all of the input properties needed for BBHRP into a single gridded input file. Additionally, an interface between the RIPBE input file and the RRTM was developed using the new ARM integrated software development environment (ISDE) and effort was put into developing quality control (qc) flags and provenance information on the BBHRP output files so that analysis of the output would be more straightforward. This new version of BBHRP, sgp1bbhrpripbeC1.c1, uses the RIPBE files as input to RRTM, and calculates broadband SW and LW fluxes and heating rates at 1-min resolution using the independent column approximation. The vertical resolution is 45 m in the lower and middle troposphere to match the input cloud properties, but is at coarser resolution in the upper atmosphere. Unlike previous versions, the vertical grid is the same for both clear-sky and cloudy-sky calculations.
Robotic controllers frequently operate under constraints. Often, the constraints are imperfectly or completely unknown. In this paper, the Lagrangian dynamics of a planar robot arm are expressed as a function of a globally unknown consraint.
The Miniaturized Optical Particle Counter (or mini-OPC) measures particle number size distribution. The b1 level adds standard quality control flags, and merges in flight navigation data.
The design of machines that rely on arrays of servomotors such as robotic arms, orbital platforms, and combinations of both, imposes a heavy computational burden to coordinate their actions to perform coherent tasks. For example, the robotic equivalent of a person tracing a straight line in space requires enormously complex kinematics calculations, and complexity increases with the number of servo nodes. A new high-level architecture for coordinated servo-machine control enables a practical, distributed transputer alternative to conventional central processor electronics. The solution is inherently scalable, dramatically reduces bulkiness and number of conductor runs throughout the machine, requires only a fraction of the power, and is designed for cooling in a vacuum.
Using high voltage (HV) silicon carbide (SiC) power semiconductors in a modular multilevel converter (MMC) is promising because it results in fewer submodules and lower switching loss compared to conventional Si based solutions. The nearest level pulsewidth modulation (NL-PWM) is commonly used in the MMC for medium voltage applications. However, with the NL-PWM and existing voltage balancing control, there are many submodules that switch their modes in a control cycle, resulting in a high dv/dt during the deadtime of the power semiconductor, which could be multiple times of the dv/dt of the single device. This poses great challenges on the noise immunity and insulation design in the MMC using HV SiC devices, which have very fast switching speed. A novel voltage balancing control, which ensures only two submodules switch their modes in a control cycle, is proposed in this article, limiting the maximum dv/dt to the dv/dt of a single power semiconductor and also maintaining the voltage balance performance. Furthermore, the proposed voltage balancing control is experimentally validated in a 10-kV SiC mosfet based MMC with four submodules per arm.
The technical development of the Proto-Flight Manipulator Arm (P-FMA) which is a seven-degree-of-freedom general-purpose arm capable of being remotely operated in an earth orbital environment is discussed. The P-FMA is a unique manipulator, combining the capabilities of significant dexterity, high tip forces, precise motion control, gear backdriveability, high end effector grip forces and torques, and the quality of flightworthiness. The 2.4-meter (8-foot) arm weighs 52.2 kilograms (115 pounds).
A general gross and fine motion planning and control strategy is needed for lightweight robotic manipulator applications such as painting, welding, material handling, surface finishing, and spacecraft servicing. The control problem of lightweight manipulators is to perform fast, accurate, and robust motions despite the payload variations, structural flexibility, and other environmental disturbances. Performance of the rigid manipulator model based computed torque and decoupled joint control methods are determined and simulated for the counterpart flexible manipulators. A counterpart flexible manipulator is defined as a manipulator which has structural flexibility, in addition to having the same inertial, geometric, and actuation properties of a given rigid manipulator. An adaptive model following control (AMFC) algorithm is developed to improve the performance in speed, accuracy, and robustness. It is found that the AMFC improves the speed performance by a factor of two over the conventional non-adaptive control methods for given accuracy requirements while proving to be more robust with respect to payload variations. Yet there are clear limitations on the performance of AMFC alone as well, which are imposed by the arm flexibility. In the search to further improve speed performance while providing a desired accuracy and robustness, a combined control strategy is developed. Furthermore, the problem of switching from one control structure to another during the motion and implementation aspects of combined control are discussed.
Traditionally, bowtie antennas have been known to exhibit wide impedance characteristics, omnidirectional radiation patterns, and linear polarization. There is a broad range of applications from medical imaging, archaeological survey, and Ground Penetrating Radar (GPR) to trackers and sensor networks where wideband bowtie antenna designs are required for their operations. Broadening the bandwidth of bowtie antenna requires widening the flare angle of the bowtie arms, which consequently results in a large surface area that may not be suitable for space-constrained applications. Moreover, drawback attributes of the wideband bowtie designs feature inconsistent radiation pattern across the bandwidth and low signal-to-noise (SNR) ratios. As it is known, the SNR would be improved in dual- or multi-band antennas due to their reduced bandwidth. To this end, dual-band/multi-band antennas are preferred over wideband antennas in applications where more than a single frequency of interest is present. Previously, a two-port double-dipole elements was reported, whose arms were orthogonally interleaved to facilitate operation in both the standard WLAN frequency bands (J. M. Steyn and et. al, Progress in Electromagnetic Research, Vol. – 10 pp. 151-161). Even though the antenna is not very compact it does exhibit good cross-polarization, moderate gain in both frequency bands. Another dual-band bowtie antenna which excites two bands using a single transmission line was reported (Wen Chao Zheng and et. al, IEEE Trans. Antennas propag., 2014). The design was compact and did not need multi-port feeding network. In this paper, a dual-band compact bowtie antenna operating at 900 MHz (RF band) and 2.45 GHz (ISM band) using a single excitation port is introduced. It is printed on a 1.54mm thick dielectric substrate (εr = 3.38). The antenna consists of two sets of bowtie arms, a microstrip transmission line to feed the bowtie arms, and a ground plane acting as a reflector to partially reduce the back radiation. One of the bowtie arms of each frequency is printed on the top layer and the other arm, which is mirror imaged, is printed on the bottom layer of the substrate. The length of the bowtie controls the resonance frequency of the antenna and the flare angle controls the bandwidth of the antenna. The microstrip transmission line, connected to a 50 Ω SMA probe, feeds the bowtie antenna. The compact antenna can be used for both RF and ISM band applications. The bowtie arms at the lower frequency band are miniaturized by elongating their electrical lengths. The influence of miniaturizing the bowtie arms and the supporting partial ground plane is observed in the reduced peak gain and degraded front-to-back ratio. These are partly neutralized using four quarter-wave choke-slots in the ground plane with two on each side of the feeding transmission line. The proposed antenna is numerically investigated and finalized by the finite-element based full-wave EM solver, ANSYS HFSS. The miniaturization has reduced the ground plane size by ~45% and the arms size by ~41%. In addition to the size reduction benefits, the antenna shows reasonable peak gain and front-to-back ratio in both the bands. The corresponding results will be presented and discussed at the conference.
Here, semiconductor nanostructures capable of emitting from two excited states and thereby of producing two photoluminescence colours are of fundamental and potential technological significance. In this limited class of nanocrystals, CdSe/CdS core/arm tetrapods exhibit the unusual trait of two-colour (red and green) multiexcitonic emission, with green emission from the CdS arms emerging only at high excitation fluences. Here we show that by synthetic shape-tuning, both this multi-colour emission process, and blinking and photobleaching behaviours of single tetrapods can be controlled. Specifically, we find that the properties of dual emission and single-nanostructure photostability depend on different structural parameters—arm length and arm diameter, respectively—but that both properties can be realized in the same nanostructure. Furthermore, based on results of correlated photoluminescence and transient absorption measurements, we conclude that hole-trap filling in the arms and partial state-filling in the core are necessary preconditions for the observation of multiexciton multi-colour emission.
In order to perform useful tasks, the robot end-effector must come into contact with its environment. For such tasks, force feedback is frequently used to control the interaction forces. Control of these forces is complicated by the fact that the flexibility of the environment affects the stability of the force control algorithm. Because of the wide variety of different materials present in everyday environments, it is necessary to gain an understanding of how environmental flexibility affects the stability of force control algorithms. This report presents the theory and experimental results of two force control algorithms: Position Accommodation Control and Direct Force Servoing. The implementation of each of these algorithms on a two-arm robotic test bed located in the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) is discussed in detail. The behavior of each algorithm when contacting materials of different flexibility is experimentally determined. In addition, several robustness improvements to the Direct Force Servoing algorithm are suggested and experimentally verified. Finally, a qualitative comparison of the force control algorithms is provided, along with a description of a general tuning process for each control method.