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Robot turned off if acceleration exceeds preset value. Signals from accelerometer on robot arm pass through filter and amplifier, eliminating high-frequency noise and hydraulic-pump pulsations. Data digitized and processed in computer. Unit controls other machines that perform repetitive movements, including rotary tables, tracked vehicles, conveyor lines, and elevators.
Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. This paper describes both ROBSIM and TRSS, including their capability, status, and future plans. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.
Two simulation and analysis environments have been developed to support telerobotics research at the Langley Research Center. One is a high-fidelity, nonreal-time, interactive model called ROBSIM, which combines user-generated models of workspace environment, robots, and loads into a working system and simulates the interaction among the system components. Models include user-specified actuator, sensor, and control parameters, as well as kinematic and dynamic characteristics. Kinematic, dynamic, and response analyses can be selected, with system configuration, task trajectories, and arm states displayed using computer graphics. The second environment is a real-time, manned Telerobotic Systems Simulation (TRSS) which uses the facilities of the Intelligent Systems Research Laboratory (ISRL). It utilizes a hierarchical structure of functionally distributed computers communicating over both parallel and high-speed serial data paths to enable studies of advanced telerobotic systems. Multiple processes perform motion planning, operator communications, forward and inverse kinematics, control/sensor fusion, and I/O processing while communicating via common memory. Both ROBSIM and TRSS, including their capability, status, and future plans are discussed. Also described is the architecture of ISRL and recent telerobotic system studies in ISRL.
The Flight Telerobotic Servicer (FTS) is being developed by the Goddard Space Flight Center (GSFC) for performing a variety of assembly, servicing, inspection and maintenance tasks on the Space Station. The Project Office at GSFC has tasked the Engineering Directorate to assemble a robotics research and development program which will support the FTS project. The activities center around support for the Development Test Flight (DTF) on the Space Shuttle and investigations of operational problems associated with the FTS on Space Station Freedom. For the DTF, areas such as control algorithms, safety systems, and end-effectors will be developed. For FTS operations, the emphasis will be to develop a dual-arm bi-lateral force-reflecting teleoperator and use it as an FTS Operational Simulator (FTSOS). The simulator will be used to investigate operational techniques, camera configurations, operator interfacing, orbital replacement unit (ORU) designs, end-effector designs, and training techniques. After a series of test activities, reports will be generated for input to the DTF and FTS designs.
Efficient algorithms for forward kinematic mappings of seven-degree-of-freedom (7-DOF) robotic manipulator having revolute joints developed on basis of representation of redundant DOF in terms of parameter called "arm angle." Continuing effort to exploit redundancy in manipulator according to concept of basic and additional tasks. Concept also discussed in "Configuration-Control Scheme Copes With Singularities" (NPO-18556) and "Increasing the Dexterity of Redundant Robots" (NPO-17801).
A robot experiment concept of space truss telemanipulation by National Aerospace Laboratory (NAL) is described in its flight model development. The experiment will be carried out on the Engineering Test Satellite No. 7 (ETS-7) using its robot arm. The satellite is scheduled to be launched in 1997 by National Space Development Agency of Japan (NASDA). The truss flight model is composed of deployable truss system and assemble truss joint. Those truss components will be manipulated by the ETS-7 robot arm using its small grapple fixture type-N (GPF-N), and the experimental task operation will be executed from the ground control station.
Early in the development of the Space Shuttle, it became clear that NASA needed a method of deploying and retrieving payloads from the payload bay. The Shuttle Remote Manipulator System (SRMS) was developed to fill this need. The 50 foot long robotic arm is an anthropomorphic design consisting of three electromechanical joints, six degrees of freedom, and two boom segments. Its composite boom construction provided a light weight solution needed for space operations. Additionally, a method of capturing payloads with the arm was required and a unique End Effector was developed using an electromechanical snare mechanism. The SRMS is operated using a Displays and Controls Panel and hand controllers located within the aft crew compartment of the shuttle. Although the SRMS was originally conceived to deploy and retrieve payloads, its generic capabilities allowed it to perform many other functions not originally conceived of. Over the years it has been used for deploying and retrieving constrained and free flying payloads, maneuvering and supporting EVA astronauts, satellite repair, International Space Station construction, and as a viewing aid for on-orbit International Space Station operations. After the Columbia accident, a robotically compatible Orbiter Boom Sensor System (OBSS) was developed and used in conjunction with the SRMS to scan the Thermal Protection System (TPS) of the shuttle. These scans ensure there is not a breach of the TPS prior to shuttle re-entry. Ground operations and pre mission simulation, analysis and planning played a major role in the success of the SRMS program. A Systems Engineering Simulator (SES) was developed to provide a utility complimentary to open loop engineering simulations. This system provided a closed-loop real-time pilot-driven simulation giving visual feedback, display and control panel interaction, and integration with other vehicle systems, such as GN&C. It has been useful for many more applications than traditional training. Evolution of the simulations, guided by the Math Model Working Group, showed the utility of input from multiple modeling groups with a structured forum for discussion.There were many unique development challenges in the areas of hardware, software, certification, modeling and simulation. Over the years, upgrades and enhancements were implemented to increase the capability, performance and safety of the SRMS. The history and evolution of the SRMS program provided many lessons learned that can be used for future space robotic systems.
The basic design features of the Rancho Anthropomorphic Manipulator (RAM), bilateral manipulator system are reported. In contrast with other previous electrically powered manipulators, the RAM features increased payload capability, structural integrity, position control, and the ability to interchange its own terminal devices. A set of detailed design drawings and a motion picture are considered.
The purpose of this study was to evaluate the dosimetric and practical effects of the Monaco treatment planning system “max arcs-per-beam” optimization parameter in pelvic radiotherapy treatments. We selected for this study a total of 17 previously treated patients with a range of pelvic disease sites including prostate (9), bladder (1), uterus (3), rectum (3), and cervix (1). For each patient, 2 plans were generated, one using an arc-per-beam setting of “1” and another with an arc-per-beam setting of “2” using the volumes and constraints established from the initial clinical treatments. All constraints and dose coverage objects were kept the same between plans, and all plans were normalized to 99.7% to ensure 100% of the planning target volume (PTV) received 95% of the prescription dose. Plans were evaluated for PTV conformity, homogeneity, number of monitor units, number of control points, and overall plan acceptability. Treatment delivery time, patient-specific quality assurance procedures, and the impact on clinical workflow were also assessed. We found that for complex-shaped target volumes (small central volumes with extending arms to cover nodal regions), the use of 2 arc-per-beam (2APB) parameter setting achieved significantly lower average dose-volume histogram values for the rectum V{sub 20} (p = 0.0012) and bladder V{sub 30} (p = 0.0036) while meeting the high dose target constraints. For simple PTV shapes, we found reduced monitor units (13.47%, p = 0.0009) and control points (8.77%, p = 0.0004) using 2APB planning. In addition, we found a beam delivery time reduction of approximately 25%. In summary, the dosimetric benefit, although moderate, was improved over a 1APB setting for complex PTV, and equivalent in other cases. The overall reduced delivery time suggests that the use of mulitple arcs per beam could lead to reduced patient-on-table time, increased clinical throughput, and reduced medical physics quality assurance effort.
Excitation of coherent phonons has the potential to dramatically alter the electronic structure of Dirac and Weyl semimetals, enabling sub-picosecond control of their optical and electronic properties. The Dirac semimetal SrMnSb2 is a candidate for such control, with a coherent-phonon mode that is predicted to close and reopen a gap at the Dirac node. Here, through a series of ultrafast pump-probe experiments, we establish suitable samples and conditions for driving the coherent phonon to high amplitude and attempting to observe the gap’s closure. Films of SrMnSb2 grown by molecular-beam epitaxy are shown to have phononic properties matching those of bulk crystals. We find that the phonon can be strongly excited by pump pulses with wavelength near 1500 nm, which will excite a 30-nm film almost uniformly and will penetrate the arsenic capping layers that protect the films. We find that samples withstand pump pulses of fluence up to 20 mJ/cm2, and we demonstrate the potential for sequences of pulses to amplify the oscillation while suppressing other phonon modes. Armed with our new knowledge of the conditions for exciting the desired coherent phonon, future experiments will be well prepared to measure its motion and to observe phononic control of the Dirac-point gap.
We use small angle X-ray scattering (SAXS) to characterise a class of star diblock polymers with a nanogel core on which the outer block arms are comprised of random copolymers of temperature sensitive PEGMA with pH sensitive basic (PDMAEMA) and acidic (PMAA) monomers. The acquired SAXS data show that many of the nanogel star polymers undergo a sharp structural transition over a narrow range of pH, but with unexpectedly large shifts in the apparent pKa with respect to that of the acidic or basic monomer unit, the linear polymer form or even an alternate star polymer with a tightly cross-linked core chemistry. We have demonstrated a distinct and quantifiable structural response for the nanogel star copolymers by altering the core or by pairing the monomers PDMAEMA–PEGMA and PMAA–PEGMA to achieve structural transitions that have typically been observed in stars through changes in arm length and number.
Video coverage of NASA's Return to Flight continues with highlights from Day 2 of STS-114. After a wake-up song from Mission Control Center, the crew of Space Shuttle Discovery (Commander Eileen Collins, Pilot James Kelly, Mission Specialists Soichi Noguchi, Stephen Robinson, Andrew Thomas, Wendy Lawrence, and Charles Camarda) inspects the orbiter for damage using a camera on the Shuttle Remote Manipulator System (SRMS). The SRMS, a robot arm, extends its length by grappling the new Orbiter Boom Sensor System, in order to image Discovery's wing leading edges and the underside of its nose. After the boom is stowed in the payload bay, the top and sides of the crew cabin are then imaged, including the Reaction Control System jets. The Shuttle's Ku-band antenna is then deployed. The video includes scenes of the payload bay contents, and crew members on the flight deck.
Prolonged longevity of cardiac implantable electronic devices (CIEDs) is needed not only as a passive response to match the prolonging life expectancy of patient recipients, but will also actively prolong their life expectancy by avoiding/deferring the risks (and costs) associated with device replacement. CIEDs are still exclusively powered by nonrechargeable primary batteries, and energy exhaustion is the dominant and an inevitable cause of device replacement. The longevity of a CIED is thus determined by the attrition rate of its finite energy reserve. The energy available from a battery depends on its capacity (total amount of electric charge), chemistry (anode, cathode, and electrolyte), and internal architecture (stacked plate, folded plate, and spiral wound). The energy uses of a CIED vary and include a background current for running electronic circuitry, periodic radiofrequency telemetry, high‐voltage capacitor reformation, constant ventricular pacing, and sporadic shocks for the cardiac resynchronization therapy defibrillators. The energy use by a CIED is primarily determined by the patient recipient's clinical needs, but the energy stored in the device battery is entirely under the manufacturer's control. A larger battery capacity generally results in a longer‐lasting device, but improved battery chemistry and architecture may allow more space‐efficient designs. Armed with the necessary technical knowledge, healthcare professionals and purchasers will be empowered to make judicious selection on device models and maximize the utilization of all their energy‐saving features, to prolong device longevity for the benefits of their patients and healthcare systems.
Magnetically controlled torque wrench produces the required torque values accurately, and prevents overtorquing. The force between a magnet and a soft iron bar on the arms of the wrench constitutes a predetermined maximum torque that cannot be exceeded. So long as the magnetic flux remain constant, the torque remains the same.
STS-109 Mission Specialist 2 Nancy Jane Currie is seen during a prelaunch interview. She answers questions about her inspiration to become an astronaut and her career path. She gives details on the Columbia Orbiter mission which has as its main tasks the maintenance and augmentation of the Hubble Space Telescope (HST). While she will do many things during the mission, the most important will be her role as the primary operator of the robotic arm, which is responsible for grappling the HST, bringing it to the Orbiter bay, and providing support for the astronauts during their EVAs (Extravehicular Activities). Additionally, the robotic arm will be responsible for transferring new and replacement equipment from the Orbiter to the HST. This equipment includes: two solar arrays, a Power Control Unit (PCU), the Advanced Camera for Surveys, and a replacement cooling system for NICMOS (Near Infrared Camera Multi-Object Spectrometer).
Barrett Technology Inc., of Cambridge, Massachusetts, completed three Phase II Small Business Innovation Research (SBIR) contracts with Johnson Space Center, during which the company developed and commercialized three core technologies: a robotic arm, a hand that functions atop the arm, and a motor driver to operate the robotics. Among many industry uses, recently, an adaptation of the arm has been cleared by the U.S. Food and Drug Administration (FDA) for use in a minimally invasive knee surgery procedure, where its precision control makes it ideal for inserting a very small implant.
An Orbital Winch mechanism enables high-load, multi-line tethers to be deployed and retracted without rotating the spool on which the tether is wound. To minimize damage to the tether and the wound package during retraction or deployment under load, it can incorporate a Tension Management Module that reduces the infeed tension by a factor of 15 through the use of a powered capstan with guide rollers. This design eliminates the need for rotating high-voltage electrical connections in tether systems that use propellantless electro-dynamic propulsion. It can also eliminate the need for rotating optical connections in applications where the tether contains optical fibers. This winch design was developed to deploy a 15-km-long, 15-kg high-strength Hoytether structure incorporating conductive wires as part of the MXER-1 demonstration mission concept. Two slewing rings that orbit around the tether spool, combined with translation of one of the slewing rings back and forth along the spool axis to traverse the wind point, enables the winch to wind the tether. Variations of the traverse motion of the slewing ring can accomplish level winds and conical pirn winds. By removing the non-traversing slewing ring, and adding an actuated guide arm, the winch can manage rapid, low-drag deployment of a tether off the end of a pirn-wound spool, followed by controlled retraction and rewinding, in a manner very similar to a spin-casting reel. The winch requires at least two motor driver controller units to coordinate the action of two stepper motors to accomplish tether deployment or retraction.
The Rapid infrared IMAger-Spectrometer (RIMAS) is a near-infrared (NIR) imager and spectrometer that will quickly follow up gamma-ray burst afterglows on the 4.3-meter Discovery Channel Telescope (DCT). RIMAS has two optical arms which allows simultaneous coverage over two bandpasses (YJ and HK) in either imaging or spectroscopy mode. RIMAS utilizes two Teledyne HgCdTe H2RG detectors controlled by Astronomical Research Cameras, Inc. (ARC/Leach) drivers. We report the laboratory characterization of RIMAS's detectors: conversion gain, read noise, linearity, saturation, dynamic range, and dark current. We also present RIMAS's instrument efficiency from atmospheric transmission models and optics data (both telescope and instrument) in all three observing modes.