Vibration control of a manipulator tip on a flexible body

NASA Technical Reports Server (NTRS)

Xu, J.; Bainum, P. M.; Li, F.

1992-01-01

Vibration control of a rigid manipulator tip on a main flexible uniform beam is examined. It is proposed to add a compensator between the manipulator and the beam to rotate and extend/retrieve the manipulator during the control period. The 2D station-keeping maneuvers within the linear range without gravity and damping are considered. The compensatory open-loop control law, which depends on the amplitudes of the beam's flexible deformations at the connection joint, is synthesized using linear quadratic regulator techniques. After introducing the compensatory control into the system, system control is still stable, and the tip coordinates of the manipulator can be made to closely follow the rigid beam motion, which is assumed to be a desired motion.

Studies to design and develop improved remote manipulator systems

NASA Technical Reports Server (NTRS)

Hill, J. W.; Sword, A. J.

1973-01-01

Remote manipulator control considered is based on several levels of automatic supervision which derives manipulator commands from an analysis of sensor states and task requirements. Principle sensors are manipulator joint position, tactile, and currents. The tactile sensor states can be displayed visually in perspective or replicated in the operator's control handle of perceived by the automatic supervisor. Studies are reported on control organization, operator performance and system performance measures. Unusual hardware and software details are described.

Verification hybrid control of a wheeled mobile robot and manipulator

NASA Astrophysics Data System (ADS)

Muszynska, Magdalena; Burghardt, Andrzej; Kurc, Krzysztof; Szybicki, Dariusz

2016-04-01

In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system's nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

Virtual- and real-world operation of mobile robotic manipulators: integrated simulation, visualization, and control environment

NASA Astrophysics Data System (ADS)

Chen, ChuXin; Trivedi, Mohan M.

1992-03-01

This research is focused on enhancing the overall productivity of an integrated human-robot system. A simulation, animation, visualization, and interactive control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for multisensor simulation, kinematics and locomotion animation, dynamic motion and manipulation animation, transformation between real and virtual modes within the same graphics system, ease in exchanging software modules and hardware devices between real and virtual world operations, and interfacing with a real robotic system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation, and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

Attitude dynamics and control of a spacecraft like a robotic manipulator when implementing on-orbit servicing

NASA Astrophysics Data System (ADS)

Da Fonseca, Ijar M.; Goes, Luiz C. S.; Seito, Narumi; da Silva Duarte, Mayara K.; de Oliveira, Élcio Jeronimo

2017-08-01

In space the manipulators working space is characterized by the microgravity environment. In this environment the spacecraft floats and its rotational/translational motion may be excited by any internal and external disturbances. The complete system, i.e., the spacecraft and the associated robotic manipulator, floats and is sensitive to any reaction force and torque related to the manipulator's operation. In this sense the effort done by the robot may result in torque about the system center of mass and also in forces changing its translational motion. This paper analyzes the impact of the robot manipulator dynamics on the attitude motion and the associated control effort to keep the attitude stable during the manipulator's operation. The dynamics analysis is performed in the close proximity phase of rendezvous docking/berthing operation. In such scenario the linear system equations for the translation and attitude relative motions are appropriate. The computer simulations are implemented for the relative translational and rotational motion. The equations of motion have been simulated through computer by using the MatLab software. The LQR and the PID control laws are used for linear and nonlinear control, respectively, aiming to keep the attitude stable while the robot is in and out of service. The gravity-gradient and the residual magnetic torque are considered as external disturbances. The control efforts are analyzed for the manipulator in and out of service. The control laws allow the system stabilization and good performance when the manipulator is in service.

Fuzzy logic control of telerobot manipulators

NASA Technical Reports Server (NTRS)

Franke, Ernest A.; Nedungadi, Ashok

1992-01-01

Telerobot systems for advanced applications will require manipulators with redundant 'degrees of freedom' (DOF) that are capable of adapting manipulator configurations to avoid obstacles while achieving the user specified goal. Conventional methods for control of manipulators (based on solution of the inverse kinematics) cannot be easily extended to these situations. Fuzzy logic control offers a possible solution to these needs. A current research program at SRI developed a fuzzy logic controller for a redundant, 4 DOF, planar manipulator. The manipulator end point trajectory can be specified by either a computer program (robot mode) or by manual input (teleoperator). The approach used expresses end-point error and the location of manipulator joints as fuzzy variables. Joint motions are determined by a fuzzy rule set without requiring solution of the inverse kinematics. Additional rules for sensor data, obstacle avoidance and preferred manipulator configuration, e.g., 'righty' or 'lefty', are easily accommodated. The procedure used to generate the fuzzy rules can be extended to higher DOF systems.

A shuttle and space station manipulator system for assembly, docking, maintenance cargo handling and spacecraft retrieval (preliminary design). Volume 1: Management summary

NASA Technical Reports Server (NTRS)

1972-01-01

A preliminary design is established for a general purpose manipulator system which can be used interchangeably on the shuttle and station and can be transferred back and forth between them. Control of the manipulator is accomplished by hard wiring from internal control stations in the shuttle or station. A variety of shuttle and station manipulator operations are considered including servicing the Large Space Telescope; however, emphasis is placed on unloading modules from the shuttle and assembling the space station. Simulation studies on foveal stereoscopic viewing and manipulator supervisory computer control have been accomplished to investigate the feasibility of their use in the manipulator system. The basic manipulator system consists of a single 18.3 m long, 7 degree of freedom (DOF), electrically acutated main boom with an auxiliary 3 DOF electrically actuated, extendible 18.3 m maximum length, lighting, and viewing boom. A 3 DOF orientor assembly is located at the tip of the viewing boom to provide camera pan, tilt, and roll.

Geometrically unrestricted, topologically constrained control of liquid crystal defects using simultaneous holonomic magnetic and holographic optical manipulation.

PubMed

Varney, Michael C M; Jenness, Nathan J; Smalyukh, Ivan I

2014-02-01

Despite the recent progress in physical control and manipulation of various condensed matter, atomic, and particle systems, including individual atoms and photons, our ability to control topological defects remains limited. Recently, controlled generation, spatial translation, and stretching of topological point and line defects have been achieved using laser tweezers and liquid crystals as model defect-hosting systems. However, many modes of manipulation remain hindered by limitations inherent to optical trapping. To overcome some of these limitations, we integrate holographic optical tweezers with a magnetic manipulation system, which enables fully holonomic manipulation of defects by means of optically and magnetically controllable colloids used as "handles" to transfer forces and torques to various liquid crystal defects. These colloidal handles are magnetically rotated around determined axes and are optically translated along three-dimensional pathways while mechanically attached to defects, which, combined with inducing spatially localized nematic-isotropic phase transitions, allow for geometrically unrestricted control of defects, including previously unrealized modes of noncontact manipulation, such as the twisting of disclination clusters. These manipulation capabilities may allow for probing topological constraints and the nature of defects in unprecedented ways, providing the foundation for a tabletop laboratory to expand our understanding of the role defects play in fields ranging from subatomic particle physics to early-universe cosmology.

Closed-loop model identification of cooperative manipulators holding deformable objects

NASA Astrophysics Data System (ADS)

Alkathiri, A. A.; Akmeliawati, R.; Azlan, N. Z.

2017-11-01

This paper presents system identification to obtain the closed-loop models of a couple of cooperative manipulators in a system, which function to hold deformable objects. The system works using the master-slave principle. In other words, one of the manipulators is position-controlled through encoder feedback, while a force sensor gives feedback to the other force-controlled manipulator. Using the closed-loop input and output data, the closed-loop models, which are useful for model-based control design, are estimated. The criteria for model validation are a 95% fit between the measured and simulated output of the estimated models and residual analysis. The results show that for both position and force control respectively, the fits are 95.73% and 95.88%.

Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

NASA Technical Reports Server (NTRS)

Chen, Vincent Wei-Kang

1992-01-01

Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free-flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously.

Study of design and control of remote manipulators. Part 4: Experiments in video camera positioning with regard to remote manipulation

NASA Technical Reports Server (NTRS)

Mackro, J.

1973-01-01

The results are presented of a study involving closed circuit television as the means of providing the necessary task-to-operator feedback for efficient performance of the remote manipulation system. Experiments were performed to determine the remote video configuration that will result in the best overall system. Two categories of tests were conducted which include: those which involved remote control position (rate) of just the video system, and those in which closed circuit TV was used along with manipulation of the objects themselves.

Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator.

PubMed

Hwang, Ji-Hwan; Kang, Young-Chang; Park, Jong-Wook; Kim, Dong W

2017-01-01

In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL) control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well.

Design and real-time control of a robotic system for fracture manipulation.

PubMed

Dagnino, G; Georgilas, I; Tarassoli, P; Atkins, R; Dogramadzi, S

2015-08-01

This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. The achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. The robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. The control architecture is also described here. The high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. The real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. The system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).

Control of an automated mobile manipulator using artificial immune system

NASA Astrophysics Data System (ADS)

Deepak, B. B. V. L.; Parhi, Dayal R.

2016-03-01

This paper addresses the coordination and control of a wheeled mobile manipulator (WMM) using artificial immune system. The aim of the developed methodology is to navigate the system autonomously and transport jobs and tools in manufacturing environments. This study integrates the kinematic structures of a four-axis manipulator and a differential wheeled mobile platform. The motion of the developed WMM is controlled by the complete system of parametric equation in terms of joint velocities and makes the robot to follow desired trajectories by the manipulator and platform within its workspace. The developed robot system performs its action intelligently according to the sensed environmental criteria within its search space. To verify the effectiveness of the proposed immune-based motion planner for WMM, simulations as well as experimental results are presented in various unknown environments.

Force reflecting hand controller for manipulator teleoperation

NASA Technical Reports Server (NTRS)

Bryfogle, Mark D.

1991-01-01

A force reflecting hand controller based upon a six degree of freedom fully parallel mechanism, often termed a Stewart Platform, has been designed, constructed, and tested as an integrated system with a slave robot manipulator test bed. A force reflecting hand controller comprises a kinesthetic device capable of transmitting position and orientation commands to a slave robot manipulator while simultaneously representing the environmental interaction forces of the slave manipulator back to the operator through actuators driving the hand controller mechanism. The Stewart Platform was chosen as a novel approach to improve force reflecting teleoperation because of its inherently high ratio of load generation capability to system mass content and the correspondingly high dynamic bandwidth. An additional novelty of the program was to implement closed loop force and torque control about the hand controller mechanism by equipping the handgrip with a six degree of freedom force and torque measuring cell. The mechanical, electrical, computer, and control systems are discussed and system tests are presented.

Study to design and develop remote manipulator systems

NASA Technical Reports Server (NTRS)

Hill, J. W.; Salisbury, J. K., Jr.

1977-01-01

A description is given of part of a continuing effort both to develop models for and to augment the performance of humans controlling remote manipulators. The project plan calls for the performance of several standard tasks with a number of different manipulators, controls, and viewing conditions, using an automated performance measuring system; in addition, the project plan calls for the development of a force-reflecting joystick and supervisory display system.

Intelligent Hierarchical Modal Control of a Novel Manipulator with Slewing and Deployable Links

NASA Astrophysics Data System (ADS)

Modi, V. J.; Zhang, J.; de Silva, C. W.

1. Introduction The Space Shuttle based Canada arm has vividly demonstrated its application in launching of satellites as well as retrieval of disabled spacecraft for repair. There have been proposals for free flying robotic systems with appropriate instrumentation to monitor health of spacecraft, identify problems and even perform corrective measures. Most of these applications involve multilink manipulators with revolute joints for which there is a vast body of literature [1]. On the other hand, manipulators with revolute as well as prismatic joints, permitting slewing as well as deployment/retrieval of links, have received relatively little attention [2]. Such variable geometry, snake-like manipulators have distinct advantages of reduced coupling effects leading to simpler equations of motion and inverse kinematics, less number of singularity conditions, and ease of obstacle avoidance [3]. 2. Hierarchical Structure The control system developed for the deployable manipulator has a three-level structure. This hierarchical structure takes the advantages of a crisp controller; specially, a modal controller, with those of a soft, knowledge-based, supervisory control . The overall structure can be separated and developed as three main layers. The first layer is the lowest layer of the control system. It deals with information coming from sensors attached to the plant ( manipulator). This type of information is characterized by a large amount of individual data points of high resolution, produced and collected at high frequency. The crisp controller that is used is a state feedback regulator with its feedback gain matrix determined using the eigenstructure assignment approach. The data processing for monitoring and evaluation of the system performance occurs in this intermediate or second layer. Here high-resolution, crisp data from sensors are filtered to afford representation of the current state of the manipulator. This servo-expert layer acts as an interface between the crisp controller, which regulates the servomotors at the bottom layer, and the knowledge-based controller at the top layer. The third uppermost layer of the control system has the knowledge-base and inference engine to make decisions, which achieve the overall control objective, particularly by improving the performance of low-level direct control. This layer can serve such functions as monitoring the performance of the overall system, assessment of the quality of operation, tuning of the low-level direct controller, and general supervisory control. In this layer, there is a high degree of information fuzziness and a relatively low control bandwidth. 3. Typical Simulation Results This hierarchical control system is used to suppress vibrations of the manipulator with flexible joint and links as well as supported by a flexible orbiting platform. The effectiveness of the control system is assessed through simulation studies by investigating how the vibrations caused by different initial disturbances are suppressed. The resutls showed that when regulated by the hieraicyical controller, the joint vibrations were eliminated much faster than that by the LQR. The hierauchical control system was found to reduce the amplitude of the vibraiton significantly in comparison with those by the LQR. [1]Nagata, T., Modi, V. J., and Matsuo, H., " An Approach to Dynamics and Control of Flexible Systems", Collection [2]Caron, M., " Planar Dynamics and Control of Space-Based Flexible Manipulators with Slewing and Deployable [3]Chu, M. S. T., " Design, Construction and Operation of a Variable Geometry Manipulator", M. A. Sc. Thesis, The

Model based manipulator control

NASA Technical Reports Server (NTRS)

Petrosky, Lyman J.; Oppenheim, Irving J.

1989-01-01

The feasibility of using model based control (MBC) for robotic manipulators was investigated. A double inverted pendulum system was constructed as the experimental system for a general study of dynamically stable manipulation. The original interest in dynamically stable systems was driven by the objective of high vertical reach (balancing), and the planning of inertially favorable trajectories for force and payload demands. The model-based control approach is described and the results of experimental tests are summarized. Results directly demonstrate that MBC can provide stable control at all speeds of operation and support operations requiring dynamic stability such as balancing. The application of MBC to systems with flexible links is also discussed.

Adaptive Control Of Remote Manipulator

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.

Multi-layer neural networks for robot control

NASA Technical Reports Server (NTRS)

Pourboghrat, Farzad

1989-01-01

Two neural learning controller designs for manipulators are considered. The first design is based on a neural inverse-dynamics system. The second is the combination of the first one with a neural adaptive state feedback system. Both types of controllers enable the manipulator to perform any given task very well after a period of training and to do other untrained tasks satisfactorily. The second design also enables the manipulator to compensate for unpredictable perturbations.

Selective microrobot control using a thermally responsive microclamper for microparticle manipulation

NASA Astrophysics Data System (ADS)

Go, Gwangjun; Choi, Hyunchul; Jeong, Semi; Ko, Seong Young; Park, Jong-Oh; Park, Sukho

2016-03-01

Microparticle manipulation using a microrobot in an enclosed environment, such as a lab-on-a-chip, has been actively studied because an electromagnetic actuated microrobot can have accurate motility and wireless controllability. In most studies on electromagnetic actuated microrobots, only a single microrobot has been used to manipulate cells or microparticles. However, the use of a single microrobot can pose several limitations when performing multiple roles in microparticle manipulation. To overcome the limitations associated with using a single microrobot, we propose a new method for the control of multiple microrobots. Multiple microrobots can be controlled independently by an electromagnetic actuation system and multiple microclampers combined with microheaters. To select a specific microrobot among multiple microrobots, we propose a microclamper composed of a clamper structure using thermally responsive hydrogel and a microheater for controlling the microclamper. A fundamental test of the proposed microparticle manipulation system is performed by selecting a specific microrobot among multiple microrobots. Through the independent locomotion of multiple microrobots with U- and V-shaped tips, heterogeneous microparticle manipulation is demonstrated in the creation of a two-dimensional structure. In the future, our proposed multiple-microrobot system can be applied to tasks that are difficult to perform using a single microrobot, such as cell manipulation, cargo delivery, tissue assembly, and cloning.

Rigid hoist articulated grapple system development for enhanced remote maintenance

DOE Office of Scientific and Technical Information (OSTI.GOV)

Witham, C.; White, P.; Garin, J.

1979-01-01

Remote maintenance and repair within nuclear environments have become more demanding of remote manipulation equipment in the last few years. A deficiency exists in the array of tools available for dexterous operations of loads in the 180-kg range. The development of a manipulation system with enhanced operator controls is discussed. This system is a six-degree-of-freedom manipulator with bilateral servo control. It is to be attached to a mobile support boom in order to operate throughout the nuclear cell. The manipulator is intended to work in conjunction with light duty servomanipulators, overhead crane systems, and through-the-wall mechanical master slaves.

Tool actuation and force feedback on robot-assisted microsurgery system

NASA Technical Reports Server (NTRS)

Das, Hari (Inventor); Ohm, Tim R. (Inventor); Boswell, Curtis D. (Inventor); Steele, Robert D. (Inventor)

2002-01-01

An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Novel graphical environment for virtual and real-world operations of tracked mobile manipulators

NASA Astrophysics Data System (ADS)

Chen, ChuXin; Trivedi, Mohan M.; Azam, Mir; Lassiter, Nils T.

1993-08-01

A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of an integrated mobile manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 3: Concept analysis. Part 1: Technical

NASA Technical Reports Server (NTRS)

1972-01-01

Information backing up the key features of the manipulator system concept and detailed technical information on the subsystems are presented. Space station assembly and shuttle cargo handling tasks are emphasized in the concept analysis because they involve shuttle berthing, transferring the manipulator boom between shuttle and station, station assembly, and cargo handling. Emphasis is also placed on maximizing commonality in the system areas of manipulator booms, general purpose end effectors, control and display, data processing, telemetry, dedicated computers, and control station design.

Summary report: A preliminary investigation into the use of fuzzy logic for the control of redundant manipulators

NASA Technical Reports Server (NTRS)

Cheatham, John B., Jr.; Magee, Kevin N.

1991-01-01

The Rice University Department of Mechanical Engineering and Materials Sciences' Robotics Group designed and built an eight degree of freedom redundant manipulator. Fuzzy logic was proposed as a control scheme for tasks not directly controlled by a human operator. In preliminary work, fuzzy logic control was implemented for a camera tracking system and a six degree of freedom manipulator. Both preliminary systems use real time vision data as input to fuzzy controllers. Related projects include integration of tactile sensing and fuzzy control of a redundant snake-like arm that is under construction.

Design of the laser acupuncture therapeutic instrument.

PubMed

Li, Chengwei; Zhen, Huang

2006-01-01

Laser acupuncture is defined as the stimulation of traditional acupuncture points with low-intensity, non-thermal laser irradiation. It has been well applied in clinic since the 1970s; however, some traditional acupuncture manipulating methods still cannot be implemented in the design of this kind of instruments, such as lifting and thrusting manipulating method, and twisting and twirling manipulating method, which are the essential acupuncture method in traditional acupuncture. The objective of this work was to design and build a low cost portable laser acupuncture therapeutic instrument, which can implement the two essential acupuncture manipulating methods. Digital PID control theory is used to control the power of laser diode (LD), and to implement the lifting and thrusting manipulating method. Special optical system is designed to implement twisting and twirling manipulating method. M5P430 microcontroller system is used as the control centre of the instrument. The realization of lifting and thrusting manipulating method and twisting and twirling manipulating method are technological innovations in traditional acupuncture coming true in engineering.

Controlling Flexible Manipulators, an Experimental Investigation. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Hastings, Gordon Greene

1986-01-01

Lightweight, slender manipulators offer faster response and/or greater workspace range for the same size actuators than tradional manipulators. Lightweight construction of manipulator links results in increased structural flexibility. The increase flexibility must be considered in the design of control systems to properly account for the dynamic flexible vibrations and static deflections. Real time control of the flexible manipulator vibrations are experimentally investigated. Models intended for real-time control of distributed parameter system such as flexible manipulators rely on model approximation schemes. An linear model based on the application of Lagrangian dynamics to a rigid body mode and a series of separable flexible modes is examined with respect to model order requirements, and modal candidate selection. Balanced realizations are applied to the linear flexible model to obtain an estimate of appropriate order for a selected model. Describing the flexible deflections as a linear combination of modes results in measurements of beam state, which yield information about several modes. To realize the potential of linear systems theory, knowledge of each state must be available. State estimation is also accomplished by implementation of a Kalman Filter. State feedback control laws are implemented based upon linear quadratic regulator design.

On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach.

PubMed

Baigzadehnoe, Barmak; Rahmani, Zahra; Khosravi, Alireza; Rezaie, Behrooz

2017-09-01

In this paper, the position and force tracking control problem of cooperative robot manipulator system handling a common rigid object with unknown dynamical models and unknown external disturbances is investigated. The universal approximation properties of fuzzy logic systems are employed to estimate the unknown system dynamics. On the other hand, by defining new state variables based on the integral and differential of position and orientation errors of the grasped object, the error system of coordinated robot manipulators is constructed. Subsequently by defining the appropriate change of coordinates and using the backstepping design strategy, an adaptive fuzzy backstepping position tracking control scheme is proposed for multi-robot manipulator systems. By utilizing the properties of internal forces, extra terms are also added to the control signals to consider the force tracking problem. Moreover, it is shown that the proposed adaptive fuzzy backstepping position/force control approach ensures all the signals of the closed loop system uniformly ultimately bounded and tracking errors of both positions and forces can converge to small desired values by proper selection of the design parameters. Finally, the theoretic achievements are tested on the two three-link planar robot manipulators cooperatively handling a common object to illustrate the effectiveness of the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Dynamics modeling and adaptive control of flexible manipulators

NASA Technical Reports Server (NTRS)

Sasiadek, J. Z.

1991-01-01

An application of Model Reference Adaptive Control (MRAC) to the position and force control of flexible manipulators and robots is presented. A single-link flexible manipulator is analyzed. The problem was to develop a mathematical model of a flexible robot that is accurate. The objective is to show that the adaptive control works better than 'conventional' systems and is suitable for flexible structure control.

Earth orbital teleoperator manipulator system evaluation program

NASA Technical Reports Server (NTRS)

Brye, R. G.; Frederick, P. N.; Kirkpatrick, M., III; Shields, N. L., Jr.

1977-01-01

The operator's ability to perform five manipulator tip movements while using monoptic and stereoptic video systems was assessed. Test data obtained were compared with previous results to determine the impact of camera placement and stereoptic viewing on manipulator system performance. The tests were performed using the NASA MSFC extendible stiff arm Manipulator and an analog joystick controller. Two basic manipulator tasks were utilized. The minimum position change test required the operator to move the manipulator arm to touch a target contract. The dexterity test required removal and replacement of pegs.

Optimal design for robust control of uncertain flexible joint manipulators: a fuzzy dynamical system approach

NASA Astrophysics Data System (ADS)

Han, Jiang; Chen, Ye-Hwa; Zhao, Xiaomin; Dong, Fangfang

2018-04-01

A novel fuzzy dynamical system approach to the control design of flexible joint manipulators with mismatched uncertainty is proposed. Uncertainties of the system are assumed to lie within prescribed fuzzy sets. The desired system performance includes a deterministic phase and a fuzzy phase. First, by creatively implanting a fictitious control, a robust control scheme is constructed to render the system uniformly bounded and uniformly ultimately bounded. Both the manipulator modelling and control scheme are deterministic and not IF-THEN heuristic rules-based. Next, a fuzzy-based performance index is proposed. An optimal design problem for a control design parameter is formulated as a constrained optimisation problem. The global solution to this problem can be obtained from solving two quartic equations. The fuzzy dynamical system approach is systematic and is able to assure the deterministic performance as well as to minimise the fuzzy performance index.

Positional control of space robot manipulator

NASA Astrophysics Data System (ADS)

Kurochkin, Vladislav; Shymanchuk, Dzmitry

2018-05-01

In this article the mathematical model of a planar space robot manipulator is under study. The space robot manipulator represents a solid body with attached manipulators. The system of equations of motion is determined using the Lagrange's equations. The control problem concerning moving the robot to a given point and return it to a given trajectory in the phase space is solved. Changes of generalized coordinates and necessary control actions are plotted for a specific model.

Dynamic modeling, property investigation, and adaptive controller design of serial robotic manipulators modeled with structural compliance

NASA Technical Reports Server (NTRS)

Tesar, Delbert; Tosunoglu, Sabri; Lin, Shyng-Her

1990-01-01

Research results on general serial robotic manipulators modeled with structural compliances are presented. Two compliant manipulator modeling approaches, distributed and lumped parameter models, are used in this study. System dynamic equations for both compliant models are derived by using the first and second order influence coefficients. Also, the properties of compliant manipulator system dynamics are investigated. One of the properties, which is defined as inaccessibility of vibratory modes, is shown to display a distinct character associated with compliant manipulators. This property indicates the impact of robot geometry on the control of structural oscillations. Example studies are provided to illustrate the physical interpretation of inaccessibility of vibratory modes. Two types of controllers are designed for compliant manipulators modeled by either lumped or distributed parameter techniques. In order to maintain the generality of the results, neither linearization is introduced. Example simulations are given to demonstrate the controller performance. The second type controller is also built for general serial robot arms and is adaptive in nature which can estimate uncertain payload parameters on-line and simultaneously maintain trajectory tracking properties. The relation between manipulator motion tracking capability and convergence of parameter estimation properties is discussed through example case studies. The effect of control input update delays on adaptive controller performance is also studied.

Control algorithm implementation for a redundant degree of freedom manipulator

NASA Technical Reports Server (NTRS)

Cohan, Steve

1991-01-01

This project's purpose is to develop and implement control algorithms for a kinematically redundant robotic manipulator. The manipulator is being developed concurrently by Odetics Inc., under internal research and development funding. This SBIR contract supports algorithm conception, development, and simulation, as well as software implementation and integration with the manipulator hardware. The Odetics Dexterous Manipulator is a lightweight, high strength, modular manipulator being developed for space and commercial applications. It has seven fully active degrees of freedom, is electrically powered, and is fully operational in 1 G. The manipulator consists of five self-contained modules. These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly/disassembly for reconfiguration, transport, or servicing. Each joint incorporates a unique drive train design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. The sensing system is also designed to be single fault tolerant. Although the initial prototype is not space qualified, the design is well-suited to meeting space qualification requirements. The control algorithm design approach is to develop a hierarchical system with well defined access and interfaces at each level. The high level endpoint/configuration control algorithm transforms manipulator endpoint position/orientation commands to joint angle commands, providing task space motion. At the same time, the kinematic redundancy is resolved by controlling the configuration (pose) of the manipulator, using several different optimizing criteria. The center level of the hierarchy servos the joints to their commanded trajectories using both linear feedback and model-based nonlinear control techniques. The lowest control level uses sensed joint torque to close torque servo loops, with the goal of improving the manipulator dynamic behavior. The control algorithms are subjected to a dynamic simulation before implementation.

Learning control system design based on 2-D theory - An application to parallel link manipulator

NASA Technical Reports Server (NTRS)

Geng, Z.; Carroll, R. L.; Lee, J. D.; Haynes, L. H.

1990-01-01

An approach to iterative learning control system design based on two-dimensional system theory is presented. A two-dimensional model for the iterative learning control system which reveals the connections between learning control systems and two-dimensional system theory is established. A learning control algorithm is proposed, and the convergence of learning using this algorithm is guaranteed by two-dimensional stability. The learning algorithm is applied successfully to the trajectory tracking control problem for a parallel link robot manipulator. The excellent performance of this learning algorithm is demonstrated by the computer simulation results.

On-demand Droplet Manipulation via Triboelectrification

NASA Astrophysics Data System (ADS)

Wang, Wei; Vahabi, Hamed; Cackovic, Matthew; Jiang, Rui; Kota, Arun

2017-11-01

Controlled manipulation of liquid droplets has attracted tremendous interest across different scientific fields over the past two decades. To date, a variety of external stimuli-mediated methods such as magnetic field, electric field, and light have been developed for manipulating droplets on surfaces. However, these methods usually have drawbacks such as complex fabrication of manipulation platform, low droplet motility, expensive actuation system and lack of precise control. In this work, we demonstrate the controlled manipulation of liquid droplet with both high (e.g., water) and low (e.g., n-hexadecane) dielectric strengths on a smooth, slippery surface via triboelectric effect. Our highly simple, facile and portable methodology enables on-demand, precise manipulation of droplets using solely the electrostatic attraction or repulsion force, which is exerted on the droplet by a simple charged actuator (e.g., Teflon film). We envision that our triboelectric effect enabled droplet manipulation methodology will open a new avenue for droplet based lab-on-a-chip systems, energy harvesting devices and biomedical applications.

Telerobotic research at NASA Langley Research Center

NASA Technical Reports Server (NTRS)

Sliwa, Nancy E.

1987-01-01

An overview of Automation Technology Branch facilities and research is presented. Manipulator research includes dual-arm coordination studies, space manipulator dynamics, end-effector controller development, automatic space structure assembly, and the development of a dual-arm master-slave telerobotic manipulator system. Sensor research includes gravity-compensated force control, real-time monovision techniques, and laser ranging. Artificial intelligence techniques are being explored for supervisory task control, collision avoidance, and connectionist system architectures. A high-fidelity dynamic simulation of robotic systems, ROBSIM, is being supported and extended. Cooperative efforts with Oak Ridge National Laboratory have verified the ability of teleoperators to perform complex structural assembly tasks, and have resulted in the definition of a new dual-arm master-slave telerobotic manipulator. A bibliography of research results and a list of technical contacts are included.

Development of a multipurpose hand controller for JEMRMS

NASA Technical Reports Server (NTRS)

Matsuhira, Nobuto; Iikura, Shoichi; Asakura, Makoto; Shinomiya, Yasuo

1990-01-01

A prototype multipurpose hand controller for the JEMRMS (Japanese Experiment Module Remote Manipulator System) was developed. The hand controller (H/C) is an orthogonal type, with 6 degrees of freedom (DOF) and small size. The orthogonal type H/C is very simple for coordinate transformations and can easily control any type of manipulators. In fact, the JEMRMS is planned to have two manipulators controlled by a common H/C at this stage. The H/C was able to be used as a rate control joystick and a force reflection master arm, using an experimental 6 DOF manipulator. Good maneuverability was confirmed in the verification test. The orthogonal type H/C is suitable for use as a common H/C for the two manipulators of the JEMRMS.

Feedback control for manipulating magnetization in spin-exchange optical pumping system

NASA Astrophysics Data System (ADS)

Zhang, Ke; Li, Jun; Jiang, Min; Zhao, Nan; Peng, XinHua

2018-08-01

Control of magnetization plays an important role in the scientific and technological field of manipulating spin systems. In this work, we study the problem of manipulating nuclear magnetization in the spin-exchange optical pumping system, including accelerating the recovery of nuclear polarization and fixing it on a specific desired state. A real-time feedback control strategy is exploited here. We have also done some numerical simulations, with the results clearly demonstrating the effectiveness of our method, that the nuclear magnetization is able to be driven towards the equilibrium state at a much faster speed and also can be stabilized to a target state. We expect that our feedback control method can find applications in gyro experiments.

The KALI multi-arm robot programming and control environment

NASA Technical Reports Server (NTRS)

Backes, Paul; Hayati, Samad; Hayward, Vincent; Tso, Kam

1989-01-01

The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

Design and Performance Evaluation of Real-time Endovascular Interventional Surgical Robotic System with High Accuracy.

PubMed

Wang, Kundong; Chen, Bing; Lu, Qingsheng; Li, Hongbing; Liu, Manhua; Shen, Yu; Xu, Zhuoyan

2018-05-15

Endovascular interventional surgery (EIS) is performed under a high radiation environment at the sacrifice of surgeons' health. This paper introduces a novel endovascular interventional surgical robot that aims to reduce radiation to surgeons and physical stress imposed by lead aprons during fluoroscopic X-ray guided catheter intervention. The unique mechanical structure allowed the surgeon to manipulate the axial and radial motion of the catheter and guide wire. Four catheter manipulators (to manipulate the catheter and guide wire), and a control console which consists of four joysticks, several buttons and two twist switches (to control the catheter manipulators) were presented. The entire robotic system was established on a master-slave control structure through CAN (Controller Area Network) bus communication, meanwhile, the slave side of this robotic system showed highly accurate control over velocity and displacement with PID controlling method. The robotic system was tested and passed in vitro and animal experiments. Through functionality evaluation, the manipulators were able to complete interventional surgical motion both independently and cooperatively. The robotic surgery was performed successfully in an adult female pig and demonstrated the feasibility of superior mesenteric and common iliac artery stent implantation. The entire robotic system met the clinical requirements of EIS. The results show that the system has the ability to imitate the movements of surgeons and to accomplish the axial and radial motions with consistency and high-accuracy. Copyright © 2018 John Wiley & Sons, Ltd.

Development of a force-reflecting robotic platform for cardiac catheter navigation.

PubMed

Park, Jun Woo; Choi, Jaesoon; Pak, Hui-Nam; Song, Seung Joon; Lee, Jung Chan; Park, Yongdoo; Shin, Seung Min; Sun, Kyung

2010-11-01

Electrophysiological catheters are used for both diagnostics and clinical intervention. To facilitate more accurate and precise catheter navigation, robotic cardiac catheter navigation systems have been developed and commercialized. The authors have developed a novel force-reflecting robotic catheter navigation system. The system is a network-based master-slave configuration having a 3-degree of freedom robotic manipulator for operation with a conventional cardiac ablation catheter. The master manipulator implements a haptic user interface device with force feedback using a force or torque signal either measured with a sensor or estimated from the motor current signal in the slave manipulator. The slave manipulator is a robotic motion control platform on which the cardiac ablation catheter is mounted. The catheter motions-forward and backward movements, rolling, and catheter tip bending-are controlled by electromechanical actuators located in the slave manipulator. The control software runs on a real-time operating system-based workstation and implements the master/slave motion synchronization control of the robot system. The master/slave motion synchronization response was assessed with step, sinusoidal, and arbitrarily varying motion commands, and showed satisfactory performance with insignificant steady-state motion error. The current system successfully implemented the motion control function and will undergo safety and performance evaluation by means of animal experiments. Further studies on the force feedback control algorithm and on an active motion catheter with an embedded actuation mechanism are underway. © 2010, Copyright the Authors. Artificial Organs © 2010, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.

Configuration and design study of manipulator systems applicable to the free flying teleoperator. Volume 1: Executive summary

NASA Technical Reports Server (NTRS)

Tewell, J. R.

1974-01-01

A preliminary design of a manipulator system, applicable to a free flying teleoperator spacecraft operating in conjunction with the shuttle or tug, is presented. A new control technique is proposed for application to the manipulator system. This technique, a range/azimuth/elevation rate-rate mode, was selected based upon the results of man-in-the-loop simulations. Several areas are identified in which additional emphasis must be placed prior to the development of the manipulator system. The study results in a manipulator system which will provide an effective method for servicing, maintaining, and repairing satellites to increase their useful life.

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation

NASA Technical Reports Server (NTRS)

Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.

1984-01-01

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation.

Application of identification techniques to remote manipulator system flight data

NASA Technical Reports Server (NTRS)

Shepard, G. D.; Lepanto, J. A.; Metzinger, R. W.; Fogel, E.

1983-01-01

This paper addresses the application of identification techniques to flight data from the Space Shuttle Remote Manipulator System (RMS). A description of the remote manipulator, including structural and control system characteristics, sensors, and actuators is given. A brief overview of system identification procedures is presented, and the practical aspects of implementing system identification algorithms are discussed. In particular, the problems posed by desampling rate, numerical error, and system nonlinearities are considered. Simulation predictions of damping, frequency, and system order are compared with values identified from flight data to support an evaluation of RMS structural and control system models. Finally, conclusions are drawn regarding the application of identification techniques to flight data obtained from a flexible space structure.

Workspace Safe Operation of a Force- or Impedance-Controlled Robot

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E. (Inventor); Hargrave, Brian (Inventor); Strawser, Philip A. (Inventor); Yamokoski, John D. (Inventor)

2013-01-01

A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes a robotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

Systems and Methods of Coordination Control for Robot Manipulation

NASA Technical Reports Server (NTRS)

Chang, Chu-Yin (Inventor); English, James (Inventor); Tardella, Neil (Inventor); Bacon, James (Inventor)

2013-01-01

Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.

Modelling and Closed-Loop System Identification of a Quadrotor-Based Aerial Manipulator

NASA Astrophysics Data System (ADS)

Dube, Chioniso; Pedro, Jimoh O.

2018-05-01

This paper presents the modelling and system identification of a quadrotor-based aerial manipulator. The aerial manipulator model is first derived analytically using the Newton-Euler formulation for the quadrotor and Recursive Newton-Euler formulation for the manipulator. The aerial manipulator is then simulated with the quadrotor under Proportional Derivative (PD) control, with the manipulator in motion. The simulation data is then used for system identification of the aerial manipulator. Auto Regressive with eXogenous inputs (ARX) models are obtained from the system identification for linear accelerations \\ddot{X} and \\ddot{Y} and yaw angular acceleration \\ddot{\\psi }. For linear acceleration \\ddot{Z}, and pitch and roll angular accelerations \\ddot{θ } and \\ddot{φ }, Auto Regressive Moving Average with eXogenous inputs (ARMAX) models are identified.

A microcontroller-based three degree-of-freedom manipulator testbed. M.S. Thesis

NASA Technical Reports Server (NTRS)

Brown, Robert Michael, Jr.

1995-01-01

A wheeled exploratory vehicle is under construction at the Mars Mission Research Center at North Carolina State University. In order to serve as more than an inspection tool, this vehicle requires the ability to interact with its surroundings. A crane-type manipulator, as well as the necessary control hardware and software, has been developed for use as a sample gathering tool on this vehicle. The system is controlled by a network of four Motorola M68HC11 microcontrollers. Control hardware and software were developed in a modular fashion so that the system can be used to test future control algorithms and hardware. Actuators include three stepper motors and one solenoid. Sensors include three optical encoders and one cable tensiometer. The vehicle supervisor computer provides the manipulator system with the approximate coordinates of the target object. This system maps the workspace surrounding the given location by lowering the claw, along a set of evenly spaced vertical lines, until contact occurs. Based on this measured height information and prior knowledge of the target object size, the system determines if the object exists in the searched area. The system can find and retrieve a 1.25 in. diameter by 1.25 in. tall cylinder placed within the 47.5 sq in search area in less than 12 minutes. This manipulator hardware may be used for future control algorithm verification and serves as a prototype for other manipulator hardware.

Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes

NASA Astrophysics Data System (ADS)

Massimiliano Capisani, Luca; Facchinetti, Tullio; Ferrara, Antonella

2010-08-01

This article presents the networked control of a robotic anthropomorphic manipulator based on a second-order sliding mode technique, where the control objective is to track a desired trajectory for the manipulator. The adopted control scheme allows an easy and effective distribution of the control algorithm over two networked machines. While the predictability of real-time tasks execution is achieved by the Soft Hard Real-Time Kernel (S.Ha.R.K.) real-time operating system, the communication is established via a standard Ethernet network. The performances of the control system are evaluated under different experimental system configurations using, to perform the experiments, a COMAU SMART3-S2 industrial robot, and the results are analysed to put into evidence the robustness of the proposed approach against possible network delays, packet losses and unmodelled effects.

A comparison of control modes for time-delayed remote manipulation

NASA Technical Reports Server (NTRS)

Starr, G. P.

1982-01-01

Transmission time delay in the communication channel of a manual control system is investigated. A time delay can exist in remote manipulation systems, caused by long communication distances or bandwidth limitations. Ferrell 1 conducted the first research in time-delayed manipulation using a two degree-of-freedom manipulator. His subjects, working at time delays of 1.0, 2.1, and 3.2 s, could accomplish tasks even requiring great accuracy. The subjects spontaneously adopted a pattern of moving cautiously, then waiting to see the results of their actions. In experiments with a six degree-of-freedom master-slave manipulator system and time delays of 1.0 to 6 s, Black 2 saw that subjects tried to use the move-and-wait strategy; but there were often difficulties. The subjects seemed to have a problem in holding the master arm stationary while waiting for feedback. Any undesired drifting of the master arm introduced a discrepancy between the positions of the master and slave. This discrepancy was not perceived because of the time delay. The subject would then begin his next move with an inherent error. The difficulty of effectively using the move-and-wait strategy with a master-slave manipulator suggested that rate control might be a more effective control mode with time delay.

Precision manipulation with a dextrous robot hand

NASA Astrophysics Data System (ADS)

Michelman, Paul

1994-01-01

In this thesis, we discuss a framework for describing and synthesizing precision manipulation tasks with a robot hand. Precision manipulations are those in which the motions of grasped objects are caused by finger motions alone (as distinct from arm or wrist motion). Experiments demonstrating the capabilities of the Utah-MIT hand are presented. This work begins by examining current research on biological motor control to raise a number of questions. For example, is the control centralized and organized by a central processor? Or is the control distributed throughout the nervous system? Motor control research on manipulation has focused on developing classifications of hand motions, concentrating solely on finger motions, while neglecting grasp stability and interaction forces that occur in manipulation. In addition, these taxonomies have not been explicitly functional. This thesis defines and analyzes a basic set of manipulation strategies that includes both position and force trajectories. The fundamental purposes of the manipulations are: (1) rectilinear and rotational motion of grasped objects of different geometries; and (2) the application of forces and moments against the environment by the grasped objects. First, task partitioning is described to allocate the fingers their roles in the task. Second, for each strategy, the mechanics and workspace of the tasks are analyzed geometrically to determine the gross finger trajectories required to achieve the tasks. Techniques illustrating the combination of simple manipulations into complex, multiple degree-of-freedom tasks are presented. There is a discussion of several tasks that use multiple elementary strategies. The tasks described are removing the top of a childproof medicine bottle, putting the top back on, rotating and regrasping a block and a cylinder within the grasp. Finally, experimental results are presented. The experimental setup at Columbia University's Center for Research in Intelligent Systems and experiments with a Utah-MIT hand is discussed. First, the overall system design is described. Two hybrid position/force controllers were designed and built. After a discussion of the entire system, experimental results are presented describing each of the basic manipulation and complex manipulation strategies.

Shuttle remote manipulator system mission preparation and operations

NASA Technical Reports Server (NTRS)

Smith, Ernest E., Jr.

1989-01-01

The preflight planning, analysis, procedures development, and operations support for the Space Transportation System payload deployment and retrieval missions utilizing the Shuttle Remote Manipulator System are summarized. Analysis of the normal operational loads and failure induced loads and motion are factored into all procedures. Both the astronaut flight crews and the Mission Control Center flight control teams receive considerable training for standard and mission specific operations. The real time flight control team activities are described.

Hardware interface unit for control of shuttle RMS vibrations

NASA Technical Reports Server (NTRS)

Lindsay, Thomas S.; Hansen, Joseph M.; Manouchehri, Davoud; Forouhar, Kamran

1994-01-01

Vibration of the Shuttle Remote Manipulator System (RMS) increases the time for task completion and reduces task safety for manipulator-assisted operations. If the dynamics of the manipulator and the payload can be physically isolated, performance should improve. Rockwell has developed a self contained hardware unit which interfaces between a manipulator arm and payload. The End Point Control Unit (EPCU) is built and is being tested at Rockwell and at the Langley/Marshall Coupled, Multibody Spacecraft Control Research Facility in NASA's Marshall Space Flight Center in Huntsville, Alabama.

Custom electronic subsystems for the laboratory telerobotic manipulator

NASA Technical Reports Server (NTRS)

Glassell, R. L.; Butler, P. L.; Rowe, J. C.; Zimmermann, S. D.

1990-01-01

The National Aeronautics and Space Administration (NASA) Space Station Program presents new opportunities for the application of telerobotic and robotic systems. The Laboratory Telerobotic Manipulator (LTM) is a highly advanced 7 degrees-of-freedom (DOF) telerobotic/robotic manipulator. It was developed and built for the Automation Technology Branch at NASA's Langley Research Center (LaRC) for work in research and to demonstrate ground-based telerobotic manipulator system hardware and software systems for future NASA applications in the hazardous environment of space. The LTM manipulator uses an embedded wiring design with all electronics, motor power, and control and communication cables passing through the pitch-yaw differential joints. This design requires the number of cables passing through the pitch/yaw joint to be kept to a minimum. To eliminate the cables needed to carry each pitch-yaw joint's sensor data to the VME control computers, a custom-embedded electronics package for each manipulator joint was developed. The electronics package collects and sends the joint's sensor data to the VME control computers over a fiber optic cable. The electronics package consist of five individual subsystems: the VME Link Processor, the Joint Processor and the Joint Processor power supply in the joint module, the fiber optics communications system, and the electronics and motor power cabling.

Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

NASA Technical Reports Server (NTRS)

Hennessey, Michael P.; Huang, Paul C.; Bunnell, Charles T.

1989-01-01

An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.

High performance bilateral telerobot control.

PubMed

Kline-Schoder, Robert; Finger, William; Hogan, Neville

2002-01-01

Telerobotic systems are used when the environment that requires manipulation is not easily accessible to humans, as in space, remote, hazardous, or microscopic applications or to extend the capabilities of an operator by scaling motions and forces. The Creare control algorithm and software is an enabling technology that makes possible guaranteed stability and high performance for force-feedback telerobots. We have developed the necessary theory, structure, and software design required to implement high performance telerobot systems with time delay. This includes controllers for the master and slave manipulators, the manipulator servo levels, the communication link, and impedance shaping modules. We verified the performance using both bench top hardware as well as a commercial microsurgery system.

Independent Orbiter Assessment (IOA): Analysis of the electrical power distribution and control/remote manipulator system subsystem

NASA Technical Reports Server (NTRS)

Robinson, W. W.

1987-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the Electrical Power Distribution and Control (EPD and C)/Remote Manipulator System (RMS) hardware to determine failure modes, criticality, and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained in the NASA FMEA/CIL documentation. This report documents the results of the independent analysis of the EPD and C/RMS (both port and starboard) hardware. The EPD and C/RMS subsystem hardware provides the electrical power and power control circuitry required to safely deploy, operate, control, and stow or guillotine and jettison two (one port and one starboard) RMSs. The EPD and C/RMS subsystem is subdivided into the four following functional divisions: Remote Manipulator Arm; Manipulator Deploy Control; Manipulator Latch Control; Manipulator Arm Shoulder Jettison; and Retention Arm Jettison. The IOA analysis process utilized available EPD and C/RMS hardware drawings and schematics for defining hardware assemblies, components, and hardware items. Each level of hardware was evaluated and analyzed for possible failure modes and effects. Criticality was assigned based on the severity of the effect for each failure mode.

Local position control: A new concept for control of manipulators

NASA Technical Reports Server (NTRS)

Kelly, Frederick A.

1988-01-01

Resolved motion rate control is currently one of the most frequently used methods of manipulator control. It is currently used in the Space Shuttle remote manipulator system (RMS) and in prosthetic devices. Position control is predominately used in locating the end-effector of an industrial manipulator along a path with prescribed timing. In industrial applications, resolved motion rate control is inappropriate since position error accumulates. This is due to velocity being the control variable. In some applications this property is an advantage rather than a disadvantage. It may be more important for motion to end as soon as the input command is removed rather than reduce the position error to zero. Local position control is a new concept for manipulator control which retains the important properties of resolved motion rate control, but reduces the drift. Local position control can be considered to be a generalization of resolved position and resolved rate control. It places both control schemes on a common mathematical basis.

Hydraulic manipulator research at ORNL

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kress, R.L.; Jansen, J.F.; Love, L.J.

1997-03-01

Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge Nationalmore » Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL`s flexible/prismatic test stand.« less

Telerobotic control of a mobile coordinated robotic server

NASA Technical Reports Server (NTRS)

Lee, Gordon

1991-01-01

Results from the Master's Degree Thesis of Mr. Robert Stanley, a graduate student supervised by the principal investigator on this project is reported. The goal of this effort is to develop advanced control methods for flexible space manipulator systems. As such, a fuzzy logic controller has been developed in which model structure as well as parameter constraints are not required for compensation. A general rule base is formulated using quantized linguistic terms; it is then augmented to a traditional integral control. The resulting hybrid fuzzy controller stabilizes the structure over a broad range of uncertainties, including unknown initial conditions. An off-line tuning approach using phase portraits gives further insight into the algorithm. The approach was applied to a three-degree-of-freedom manipulator system - the prototype of the coordinated flexible manipulator system currently being designed and built at North Carolina State University.

Dual fuel injection piggyback controller system

NASA Astrophysics Data System (ADS)

Muji, Siti Zarina Mohd.; Hassanal, Muhammad Amirul Hafeez; Lee, Chua King; Fawzi, Mas; Zulkifli, Fathul Hakim

2017-09-01

Dual-fuel injection is an effort to reduce the dependency on diesel and gasoline fuel. Generally, there are two approaches to implement the dual-fuel injection in car system. The first approach is changing the whole injector of the car engine, the consequence is excessive high cost. Alternatively, it also can be achieved by manipulating the system's control signal especially the Electronic Control Unit (ECU) signal. Hence, the study focuses to develop a dual injection timing controller system that likely adopted to control injection time and quantity of compressed natural gas (CNG) and diesel fuel. In this system, Raspberry Pi 3 reacts as main controller unit to receive ECU signal, analyze it and then manipulate its duty cycle to be fed into the Electronic Driver Unit (EDU). The manipulation has changed the duty cycle to two pulses instead of single pulse. A particular pulse mainly used to control injection of diesel fuel and another pulse controls injection of Compressed Natural Gas (CNG). The test indicated promising results that the system can be implemented in the car as piggyback system. This article, which was originally published online on 14 September 2017, contained an error in the acknowledgment section. The corrected acknowledgment appears in the Corrigendum attached to the pdf.

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 2, Part 2: Appendixes B, C, D and E

NASA Technical Reports Server (NTRS)

Lowrie, J. W.; Fermelia, A. J.; Haley, D. C.; Gremban, K. D.; Vanbaalen, J.; Walsh, R. W.

1982-01-01

The derivation of the equations is presented, the rate control algorithm described, and simulation methodologies summarized. A set of dynamics equations that can be used recursively to calculate forces and torques acting at the joints of an n link manipulator given the manipulator joint rates are derived. The equations are valid for any n link manipulator system with any kind of joints connected in any sequence. The equations of motion for the class of manipulators consisting of n rigid links interconnected by rotary joints are derived. A technique is outlined for reducing the system of equations to eliminate contraint torques. The linearized dynamics equations for an n link manipulator system are derived. The general n link linearized equations are then applied to a two link configuration. The coordinated rate control algorithm used to compute individual joint rates when given end effector rates is described. A short discussion of simulation methodologies is presented.

Robust high-performance control for robotic manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1991-01-01

Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal.

Robust high-performance control for robotic manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1989-01-01

Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies were merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal componet that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nomical feedforward signal.

The JPL telerobotic Manipulator Control and Mechanization (MCM) subsystem

NASA Technical Reports Server (NTRS)

Hayati, Samad; Lee, Thomas S.; Tso, Kam; Backes, Paul; Kan, Edwin; Lloyd, J.

1989-01-01

The Manipulator Control and Mechanization (MCM) subsystem of the telerobot system provides the real-time control of the robot manipulators in autonomous and teleoperated modes and real time input/output for a variety of sensors and actuators. Substantial hardware and software are included in this subsystem which interfaces in the hierarchy of the telerobot system with the other subsystems. The other subsystems are: run time control, task planning and reasoning, sensing and perception, and operator control subsystem. The architecture of the MCM subsystem, its capabilities, and details of various hardware and software elements are described. Important improvements in the MCM subsystem over the first version are: dual arm coordinated trajectory generation and control, addition of integrated teleoperation, shared control capability, replacement of the ultimate controllers with motor controllers, and substantial increase in real time processing capability.

Concept Design of the Payload Handling Manipulator System. [space shuttle orbiters

NASA Technical Reports Server (NTRS)

1975-01-01

The design, requirements, and interface definition of a remote manipulator system developed to handle orbiter payloads are presented. End effector design, control system concepts, and man-machine engineering are considered along with crew station requirements and closed circuit television system performance requirements.

Manipulator control by exact linearization

NASA Technical Reports Server (NTRS)

Kruetz, K.

1987-01-01

Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, a consequence of rigid link manipulators belonging to the class of natural physical systems, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular. Furthermore, this linearizing feedback is easy to produce.

Performance limitations of joint variable-feedback controllers due to manipulator structural flexibility

NASA Technical Reports Server (NTRS)

Cetinkunt, Sabri; Book, Wayne J.

1990-01-01

The performance limitations of manipulators under joint variable-feedback control are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite-dimensional time-domain dynamic model of a two-link two-joint planar manipulator is used in the study. Emphasis is placed on determining the limitations of control algorithms that use only joint variable-feedback information in calculations of control decisions, since most motion control systems in practice are of this kind. Both fine and gross motion cases are studied. Results for fine motion agree well with previously reported results in the literature and are also helpful in explaining the performance limitations in fast gross motions.

Systems and methods for controlling energy use in a building management system using energy budgets

DOEpatents

Wenzel, Michael J; Drees, Kirk H

2014-09-23

Systems and methods for limiting power consumption by a heating, ventilation, and air conditioning (HVAC) subsystem of a building are shown and described. A feedback controller is used to generate a manipulated variable based on an energy use setpoint and a measured energy use. The manipulated variable may be used for adjusting the operation of an HVAC device.

A study of interactive control scheduling and economic assessment for robotic systems

NASA Technical Reports Server (NTRS)

1982-01-01

A class of interactive control systems is derived by generalizing interactive manipulator control systems. Tasks of interactive control systems can be represented as a network of a finite set of actions which have specific operational characteristics and specific resource requirements, and which are of limited duration. This has enabled the decomposition of the overall control algorithm simultaneously and asynchronously. The performance benefits of sensor referenced and computer-aided control of manipulators in a complex environment is evaluated. The first phase of the CURV arm control system software development and the basic features of the control algorithms and their software implementation are presented. An optimal solution for a production scheduling problem that will be easy to implement in practical situations is investigated.

Dynamic Analysis of a Two Member Manipulator Arm

NASA Technical Reports Server (NTRS)

McGinley, Mark; Shen, Ji Y.

1997-01-01

Attenuating start-up and stopping vibrations when maneuvering large payloads attached to flexible manipulator systems is a great concern for many space missions. To address this concern, it was proposed that the use of smart materials, and their applications in smart structures, may provide an effective method of control for aerospace structures. In this paper, a modified finite element model has been developed to simulate the performance of piezoelectric ceramic actuators, and was applied to a flexible two-arm manipulator system. Connected to a control voltage, the piezoelectric actuators produce control moments based on the optimal control theory. The computer simulation modeled the end-effector vibration suppression of the NASA manipulator testbed for berthing operations of the Space Shuttle to the Space Station. The results of the simulation show that the bonded piezoelectric actuators can effectively suppress follow-up vibrations of the end-effector, stimulated by some external disturbance.

Investigation of interactions between limb-manipulator dynamics and effective vehicle roll control characteristics

NASA Technical Reports Server (NTRS)

Johnston, D. E.; Mcruer, D. T.

1986-01-01

A fixed-base simulation was performed to identify and quantify interactions between the pilot's hand/arm neuromuscular subsystem and such features of typical modern fighter aircraft roll rate command control system mechanization as: (1) force sensing side-stick type manipulator; (2) vehicle effective role time constant; and (3) flight control system effective time delay. The simulation results provide insight to high frequency pilot induced oscillations (PIO) (roll ratchet), low frequency PIO, and roll-to-right control and handling problems previously observed in experimental and production fly-by-wire control systems. The simulation configurations encompass and/or duplicate actual flight situations, reproduce control problems observed in flight, and validate the concept that the high frequency nuisance mode known as roll ratchet derives primarily from the pilot's neuromuscular subsystem. The simulations show that force-sensing side-stick manipulator force/displacement/command gradients, command prefilters, and flight control system time delays need to be carefully adjusted to minimize neuromuscular mode amplitude peaking (roll ratchet tendency) without restricting roll control bandwidth (with resulting sluggish or PIO prone control).

MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

DOE Office of Scientific and Technical Information (OSTI.GOV)

Joseph W. Geisinger, Ph.D.

ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the developmentmore » of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.« less

Design and implementation of a novel modal space active force control concept for spatial multi-DOF parallel robotic manipulators actuated by electrical actuators.

PubMed

Yang, Chifu; Zhao, Jinsong; Li, Liyi; Agrawal, Sunil K

2018-01-01

Robotic spine brace based on parallel-actuated robotic system is a new device for treatment and sensing of scoliosis, however, the strong dynamic coupling and anisotropy problem of parallel manipulators result in accuracy loss of rehabilitation force control, including big error in direction and value of force. A novel active force control strategy named modal space force control is proposed to solve these problems. Considering the electrical driven system and contact environment, the mathematical model of spatial parallel manipulator is built. The strong dynamic coupling problem in force field is described via experiments as well as the anisotropy problem of work space of parallel manipulators. The effects of dynamic coupling on control design and performances are discussed, and the influences of anisotropy on accuracy are also addressed. With mass/inertia matrix and stiffness matrix of parallel manipulators, a modal matrix can be calculated by using eigenvalue decomposition. Making use of the orthogonality of modal matrix with mass matrix of parallel manipulators, the strong coupled dynamic equations expressed in work space or joint space of parallel manipulator may be transformed into decoupled equations formulated in modal space. According to this property, each force control channel is independent of others in the modal space, thus we proposed modal space force control concept which means the force controller is designed in modal space. A modal space active force control is designed and implemented with only a simple PID controller employed as exampled control method to show the differences, uniqueness, and benefits of modal space force control. Simulation and experimental results show that the proposed modal space force control concept can effectively overcome the effects of the strong dynamic coupling and anisotropy problem in the physical space, and modal space force control is thus a very useful control framework, which is better than the current joint space control and work space control. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Cavity Mediated Manipulation of Distant Spin Currents Using a Cavity-Magnon-Polariton.

PubMed

Bai, Lihui; Harder, Michael; Hyde, Paul; Zhang, Zhaohui; Hu, Can-Ming; Chen, Y P; Xiao, John Q

2017-05-26

Using electrical detection of a strongly coupled spin-photon system comprised of a microwave cavity mode and two magnetic samples, we demonstrate the long distance manipulation of spin currents. This distant control is not limited by the spin diffusion length, instead depending on the interplay between the local and global properties of the coupled system, enabling systematic spin current control over large distance scales (several centimeters in this work). This flexibility opens the door to improved spin current generation and manipulation for cavity spintronic devices.

Dual use display systems for telerobotics

NASA Technical Reports Server (NTRS)

Massimino, Michael J.; Meschler, Michael F.; Rodriguez, Alberto A.

1994-01-01

This paper describes a telerobotics display system, the Multi-mode Manipulator Display System (MMDS), that has applications for a variety of remotely controlled tasks. Designed primarily to assist astronauts with the control of space robotics systems, the MMDS has applications for ground control of space robotics as well as for toxic waste cleanup, undersea, remotely operated vehicles, and other environments which require remote operations. The MMDS has three modes: (1) Manipulator Position Display (MPD) mode, (2) Joint Angle Display (JAD) mode, and (3) Sensory Substitution (SS) mode. These three modes are discussed in the paper.

Acceleration environment of payloads while being handled by the Shuttle Remote Manipulator System

NASA Technical Reports Server (NTRS)

Turnbull, J. F.

1983-01-01

Described in this paper is the method used in the Draper Remote Manipulator System (RMS) Simulation to compute linear accelerations at the point on the SPAS01 payload where its accelerometers are mounted. Simulated accelerometer output for representative on-orbit activities is presented. The objectives of post-flight analysis of SPAS01 data are discussed. Finally, the point is made that designers of acceleration-dependent payloads may have an interest in the capability of simulating the acceleration environment of payloads while under the control of the overall Payload Deployment and retrieval System (PDRS) that includes the Orbiter and its attitude control system as well as the Remote Manipulator Arm.

Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances

NASA Astrophysics Data System (ADS)

Yang, Xinxin; Ge, Shuzhi Sam; He, Wei

2018-04-01

In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler-Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system.

Sample Manipulation System for Sample Analysis at Mars

NASA Technical Reports Server (NTRS)

Mumm, Erik; Kennedy, Tom; Carlson, Lee; Roberts, Dustyn

2008-01-01

The Sample Analysis at Mars (SAM) instrument will analyze Martian samples collected by the Mars Science Laboratory Rover with a suite of spectrometers. This paper discusses the driving requirements, design, and lessons learned in the development of the Sample Manipulation System (SMS) within SAM. The SMS stores and manipulates 74 sample cups to be used for solid sample pyrolysis experiments. Focus is given to the unique mechanism architecture developed to deliver a high packing density of sample cups in a reliable, fault tolerant manner while minimizing system mass and control complexity. Lessons learned are presented on contamination control, launch restraint mechanisms for fragile sample cups, and mechanism test data.

Reducing Actuator Requirements in Continuum Robots Through Optimized Cable Routing.

PubMed

Case, Jennifer C; White, Edward L; SunSpiral, Vytas; Kramer-Bottiglio, Rebecca

2018-02-01

Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currently control each segment individually. For example, a planar cable-driven system is typically controlled by a pair of cables for each segment, which implies two actuators per segment. In this article, we demonstrate how highly coupled crossing cable configurations can reduce both actuator count and actuator torque requirements in a planar continuum manipulator, while maintaining workspace reachability and manipulability. We achieve highly coupled actuation by allowing cables to cross through the manipulator to create new cable configurations. We further derive an analytical model to predict the underactuated manipulator workspace and experimentally verify the model accuracy with a physical system. We use this model to compare crossing cable configurations to the traditional cable configuration using workspace performance metrics. Our work here focuses on a simplified planar robot, both in simulation and in hardware, with the goal of extending this to spiraling-cable configurations on full 3D continuum robots in future work.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1977-01-01

To accelerate the development of multi-armed, free-flying satellite manipulators, a fixed-base cooperative manipulation facility is being developed. The work performed on multiple arm cooperation on a free-flying robot is summarized. Research is also summarized on global navigation and control of free-flying space robots. The Locomotion Enhancement via Arm Pushoff (LEAP) approach is described and progress to date is presented.

Dynamic modeling and adaptive vibration suppression of a high-speed macro-micro manipulator

NASA Astrophysics Data System (ADS)

Yang, Yi-ling; Wei, Yan-ding; Lou, Jun-qiang; Fu, Lei; Fang, Sheng; Chen, Te-huan

2018-05-01

This paper presents a dynamic modeling and microscopic vibration suppression for a flexible macro-micro manipulator dedicated to high-speed operation. The manipulator system mainly consists of a macro motion stage and a flexible micromanipulator bonded with one macro-fiber-composite actuator. Based on Hamilton's principle and the Bouc-Wen hysteresis equation, the nonlinear dynamic model is obtained. Then, a hybrid control scheme is proposed to simultaneously suppress the elastic vibration during and after the motor motion. In particular, the hybrid control strategy is composed of a trajectory planning approach and an adaptive variable structure control. Moreover, two optimization indices regarding the comprehensive torques and synthesized vibrations are designed, and the optimal trajectories are acquired using a genetic algorithm. Furthermore, a nonlinear fuzzy regulator is used to adjust the switching gain in the variable structure control. Thus, a fuzzy variable structure control with nonlinear adaptive control law is achieved. A series of experiments are performed to verify the effectiveness and feasibility of the established system model and hybrid control strategy. The excited vibration during the motor motion and the residual vibration after the motor motion are decreased. Meanwhile, the settling time is shortened. Both the manipulation stability and operation efficiency of the manipulator are improved by the proposed hybrid strategy.

A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 4: Simulation studies

NASA Technical Reports Server (NTRS)

1972-01-01

Laboratory simulations of three concepts, based on maximum use of available off-the-shelf hardware elements, are described. The concepts are a stereo-foveal-peripheral TV system with symmetric steroscopic split-image registration and 90 deg counter rotation; a computer assisted model control system termed the trajectory following control system; and active manipulator damping. It is concluded that the feasibility of these concepts is established.

Mechatronic Development and Vision Feedback Control of a Nanorobotics Manipulation System inside SEM for Nanodevice Assembly

PubMed Central

Yang, Zhan; Wang, Yaqiong; Yang, Bin; Li, Guanghui; Chen, Tao; Nakajima, Masahiro; Sun, Lining; Fukuda, Toshio

2016-01-01

Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system. PMID:27649180

Mechatronic Development and Vision Feedback Control of a Nanorobotics Manipulation System inside SEM for Nanodevice Assembly.

PubMed

Yang, Zhan; Wang, Yaqiong; Yang, Bin; Li, Guanghui; Chen, Tao; Nakajima, Masahiro; Sun, Lining; Fukuda, Toshio

2016-09-14

Carbon nanotubes (CNT) have been developed in recent decades for nanodevices such as nanoradios, nanogenerators, carbon nanotube field effect transistors (CNTFETs) and so on, indicating that the application of CNTs for nanoscale electronics may play a key role in the development of nanotechnology. Nanorobotics manipulation systems are a promising method for nanodevice construction and assembly. For the purpose of constructing three-dimensional CNTFETs, a nanorobotics manipulation system with 16 DOFs was developed for nanomanipulation of nanometer-scale objects inside the specimen chamber of a scanning electron microscope (SEM). Nanorobotics manipulators are assembled into four units with four DOFs (X-Y-Z-θ) individually. The rotational one is actuated by a picomotor. That means a manipulator has four DOFs including three linear motions in the X, Y, Z directions and a 360-degree rotational one (X-Y-Z-θ stage, θ is along the direction rotating with X or Y axis). Manipulators are actuated by picomotors with better than 30 nm linear resolution and <1 micro-rad rotary resolution. Four vertically installed AFM cantilevers (the axis of the cantilever tip is vertical to the axis of electronic beam of SEM) served as the end-effectors to facilitate the real-time observation of the operations. A series of kinematic derivations of these four manipulators based on the Denavit-Hartenberg (D-H) notation were established. The common working space of the end-effectors is 2.78 mm by 4.39 mm by 6 mm. The manipulation strategy and vision feedback control for multi-manipulators operating inside the SEM chamber were been discussed. Finally, application of the designed nanorobotics manipulation system by successfully testing of the pickup-and-place manipulation of an individual CNT onto four probes was described. The experimental results have shown that carbon nanotubes can be successfully picked up with this nanorobotics manipulation system.

Design considerations of manipulator and feel system characteristics in roll tracking

NASA Technical Reports Server (NTRS)

Johnston, Donald E.; Aponso, Bimal L.

1988-01-01

A fixed-base simulation was performed to identify and quantify interactions between the pilot's hand/arm neuromuscular subsystem and such control system features of typical modern fighter aircraft roll rate command mechanizations as: (1) force versus displacement sensing side-stick type manipulator, (2) feel force/displacement gradient, (3) feel system versus command prefilter dynamic lag, and (4) flight control system effective time delay. The experiment encompassed some 48 manipulator/filter/aircraft configurations. Displacement side-stick experiment results are given and compared with the previous force sidestick experiment results. Attention is focused on control bandwidth, excitement (peaking) of the neuromuscular mode, feel force/displacement gradient effects, time delay effects, etc. Section 5 is devoted to experiments with a center-stick in which force versus displacement sensing, feel system lag, and command prefilter lag influences on tracking performance and pilot preference are investigated.

Method and system for providing autonomous control of a platform

NASA Technical Reports Server (NTRS)

Seelinger, Michael J. (Inventor); Yoder, John-David (Inventor)

2012-01-01

The present application provides a system for enabling instrument placement from distances on the order of five meters, for example, and increases accuracy of the instrument placement relative to visually-specified targets. The system provides precision control of a mobile base of a rover and onboard manipulators (e.g., robotic arms) relative to a visually-specified target using one or more sets of cameras. The system automatically compensates for wheel slippage and kinematic inaccuracy ensuring accurate placement (on the order of 2 mm, for example) of the instrument relative to the target. The system provides the ability for autonomous instrument placement by controlling both the base of the rover and the onboard manipulator using a single set of cameras. To extend the distance from which the placement can be completed to nearly five meters, target information may be transferred from navigation cameras (used for long-range) to front hazard cameras (used for positioning the manipulator).

Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

NASA Astrophysics Data System (ADS)

Shariati, Azadeh; Meghdari, Ali; Shariati, Parham

2008-08-01

In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

Hand controller commonality evaluation process

NASA Technical Reports Server (NTRS)

Stuart, Mark A.; Bierschwale, John M.; Wilmington, Robert P.; Adam, Susan C.; Diaz, Manuel F.; Jensen, Dean G.

1993-01-01

Hand controller selection for NASA's Orbiter and Space Station Freedom is an important area of human-telerobot interface design and evaluation. These input devices will control remotely operated systems that include large crane-like manipulators (e.g., Remote Manipulator System or RMS), smaller, more dexterous manipulators (e.g., Flight Telerobotic Servicer or FTS), and free flyers (e.g., Orbital Maneuvering Vehicle or OMV). Candidate hand controller configurations for these systems vary in many ways: shape, size, number of degrees-of-freedom (DOF), operating modes, provision of force reflection, range of movement, and 'naturalness' of use. Unresolved design implementation issues remain, including such topics as how the current Orbiter RMS rotational and translational rate hand controllers compare with the proposed Space Station Freedom hand controllers, the advantages that position hand controllers offer for these applications, and whether separate hand controller configurations are required for each application. Since previous studies contain little empirical hand controller task performance data, a controlled study is needed that tests Space Station Freedom candidate hand controllers during representative tasks. This study also needs to include anthropometric and biomechanical considerations.

A force-controllable macro-micro manipulator and its application to medical robots

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Uecker, Darrin R.; Wang, Yulun

1994-01-01

This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/software implementation of the algorithms are described in this paper. Initial experimental results are reported. In addition, this paper includes a discussion of medical surgery and the role that force control may play. We introduce a new class of robotic systems collectively called Robotic Enhancement Technology (RET). RET systems introduce the combination of robotic manipulation with human control to perform manipulation tasks beyond the individual capability of either human or machine. The RET class of robotic systems offers new challenges in mechanism design, control-law development, and man/machine interface design. We believe force-controllable mechanisms such as the macro-micro structure we have developed are a necessary part of RET. Work in progress in the area of RET systems and their application to minimally invasive surgery is presented, along with future research directions.

Systems and methods for controlling energy use during a demand limiting period

DOEpatents

Wenzel, Michael J.; Drees, Kirk H.

2016-04-26

Systems and methods for limiting power consumption by a heating, ventilation, and air conditioning (HVAC) subsystem of a building are shown and described. A feedback controller is used to generate a manipulated variable based on an energy use setpoint and a measured energy use. The manipulated variable may be used for adjusting the operation of an HVAC device.

Teleoperator technology and system development, volume 1

NASA Technical Reports Server (NTRS)

1972-01-01

A two phase approach was undertaken to: (1) evaluate the performance of a general-purpose anthropomorphic manipulator with various controllers and display arrangements, (2) identify basic technical limitations of existing teleoperator designs, and associated controls and displays, and (3) identify, through experimentation, the effects that controls and displays have on the performance of an anthropomorphic manipulator. In Phase 1 the NASA-furnished manipulators, controls and displays were integrated with the remote maneuvering unit; in Phase 2 experiments were defined and performed to assess the utility of teleoperators for 6 typical space inspection, maintenance and repair tasks.

Development of safe mechanism for surgical robots using equilibrium point control method.

PubMed

Park, Shinsuk; Lim, Hokjin; Kim, Byeong-sang; Song, Jae-bok

2006-01-01

This paper introduces a novel mechanism for surgical robotic systems to generate human arm-like compliant motion. The mechanism is based on the idea of the equilibrium point control hypothesis which claims that multi-joint limb movements are achieved by shifting the limbs' equilibrium positions defined by neuromuscular activity. The equilibrium point control can be implemented on a robot manipulator by installing two actuators at each joint of the manipulator, one to control the joint position, and the other to control the joint stiffness. This double-actuator mechanism allows us to arbitrarily manipulate the stiffness (or impedance) of a robotic manipulator as well as its position. Also, the force at the end-effector can be estimated based on joint stiffness and joint angle changes without using force transducers. A two-link manipulator and a three-link manipulator with the double-actuator units have been developed, and experiments and simulation results show the potential of the proposed approach. By creating the human arm-like behavior, this mechanism can improve the performance of robot manipulators to execute stable and safe movement in surgical environments by using a simple control scheme.

Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations

NASA Astrophysics Data System (ADS)

Kim, Jung Hoon; Hur, Sung-Moon; Oh, Yonghwan

2018-03-01

This paper is concerned with performance analysis of proportional-derivative/proportional-integral-derivative (PD/PID) controller for bounded persistent disturbances in a robotic manipulator. Even though the notion of input-to-state stability (ISS) has been widely used to deal with the effect of disturbances in control of a robotic manipulator, the corresponding studies cannot be directly applied to the treatment of persistent disturbances occurred in robotic manipulators. This is because the conventional studies relevant to ISS consider the H∞ performance for robotic systems, which is confined to the treatment of decaying disturbances, i.e. the disturbances those in the L2 space. To deal with the effect of persistent disturbances in robotic systems, we first provide a new treatment of ISS in the L∞ sense because bounded persistent disturbances should be intrinsically regarded as elements of the L∞ space. We next derive state-space representations of trajectory tracking control in the robotic systems which allow us to define the problem formulations more clearly. We then propose a novel control law that has a PD/PID control form, by which the trajectory tracking system satisfies the reformulated ISS. Furthermore, we can obtain a theoretical argument about the L∞ gain from the disturbance to the regulated output through the proposed control law. Finally, experimental studies for a typical 3-degrees of freedom robotic manipulator are given to demonstrate the effectiveness of the method introduced in this paper.

Status of Japanese Experiment Module (JEM) activities

NASA Technical Reports Server (NTRS)

1991-01-01

The current status of the JEM activities are presented in graphic form. The JEM spacecraft configuration is presented. The JEM configuration consist of the Pressurized Module, the Exposed Facility, the Experiment Logistics Module which consist of a pressurized section and an exposed section; and the Remote Manipulator System. The master schedule of the space station is given. Also the development tests of the structure and mechanism, the electrical power system, the data management system, the thermal control system, the environment control system, the experiment support system, and the remote manipulator system are listed.

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix A

NASA Technical Reports Server (NTRS)

Haley, D. C.; Almand, B. J.; Thomas, M. M.; Krauze, L. D.; Gremban, K. D.; Sanborn, J. C.; Kelly, J. H.; Depkovich, T. M.

1984-01-01

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed were: (1) Capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) Capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) Postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) Investigation and simulation of various control methods including manual force/torque and active compliance control; (5) Evaluation and implementation of three obstacle avoidance methods; (6) Video simulation and edge detection; and (7) Software simulation validation. This appendix is the user's guide and includes examples of program runs and outputs as well as instructions for program use.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1988-01-01

The focus of the work is to develop and perform a set of research projects using laboratory models of satellite robots. These devices use air cushion technology to simulate in two dimensions the drag-free, zero-g conditions of space. Five research areas are examined: cooperative manipulation on a fixed base; cooperative manipulation on a free-floating base; global navigation and control of a free-floating robot; an alternative transport mode call Locomotion Enhancement via Arm Push-Off (LEAP), and adaptive control of LEAP.

SAMURAI: Polar AUV-Based Autonomous Dexterous Sampling

NASA Astrophysics Data System (ADS)

Akin, D. L.; Roberts, B. J.; Smith, W.; Roderick, S.; Reves-Sohn, R.; Singh, H.

2006-12-01

While autonomous undersea vehicles are increasingly being used for surveying and mapping missions, as of yet there has been little concerted effort to create a system capable of performing physical sampling or other manipulation of the local environment. This type of activity has typically been performed under teleoperated control from ROVs, which provides high-bandwidth real-time human direction of the manipulation activities. Manipulation from an AUV will require a completely autonomous sampling system, which implies both advanced technologies such as machine vision and autonomous target designation, but also dexterous robot manipulators to perform the actual sampling without human intervention. As part of the NASA Astrobiology Science and Technology for Exploring the Planets (ASTEP) program, the University of Maryland Space Systems Laboratory has been adapting and extending robotics technologies developed for spacecraft assembly and maintenance to the problem of autonomous sampling of biologicals and soil samples around hydrothermal vents. The Sub-polar ice Advanced Manipulator for Universal Sampling and Autonomous Intervention (SAMURAI) system is comprised of a 6000-meter capable six-degree-of-freedom dexterous manipulator, along with an autonomous vision system, multi-level control system, and sampling end effectors and storage mechanisms to allow collection of samples from vent fields. SAMURAI will be integrated onto the Woods Hole Oceanographic Institute (WHOI) Jaguar AUV, and used in Arctic during the fall of 2007 for autonomous vent field sampling on the Gakkel Ridge. Under the current operations concept, the JAGUAR and PUMA AUVs will survey the water column and localize on hydrothermal vents. Early mapping missions will create photomosaics of the vents and local surroundings, allowing scientists on the mission to designate desirable sampling targets. Based on physical characteristics such as size, shape, and coloration, the targets will be loaded into the SAMURAI control system, and JAGUAR (with SAMURAI mounted to the lower forward hull) will return to the designated target areas. Once on site, vehicle control will be turned over to the SAMURAI controller, which will perform vision-based guidance to the sampling site and will then ground the AUV to the sea bottom for stability. The SAMURAI manipulator will collect samples, such as sessile biologicals, geological samples, and (potentially) vent fluids, and store the samples for the return trip. After several hours of sampling operations on one or several sites, JAGUAR control will be returned to the WHOI onboard controller for the return to the support ship. (Operational details of AUV operations on the Gakkel Ridge mission are presented in other papers at this conference.) Between sorties, SAMURAI end effectors can be changed out on the surface for specific targets, such as push cores or larger biologicals such as tube worms. In addition to the obvious challenges in autonomous vision-based manipulator control from a free-flying support vehicle, significant development challenges have been the design of a highly capable robotic arm within the mass limitations (both wet and dry) of the JAGUAR vehicle, the development of a highly robust manipulator with modular maintenance units for extended polar operations, and the creation of a robot-based sample collection and holding system for multiple heterogeneous samples on a single extended sortie.

Remotely manned systems: Exploration and operation in space; Proceedings of the First National Conference, California Institute of Technology, Pasadena, Calif., September 13-15, 1972.

NASA Technical Reports Server (NTRS)

Heer, E.

1973-01-01

Free-flying teleoperator systems are discussed, giving attention to earth-orbit mission considerations and Space Tug requirements, free-flying teleoperator requirements and conceptual design, system requirements for a free-flying teleoperator to despin, and the experimental evaluation of remote manipulator systems. Shuttle-Attached Manipulator Systems are considered, together with remote surface vehicle systems, manipulator systems technology, remote sensor and display technology, the man-machine interface, and control and machine intelligence. Nonspace applications are also explored, taking into account implications of nonspace applications, naval applications of remote manipulators, and hand tools and mechanical accessories for a deep submersible. Individual items are announced in this issue.

Telerobotic control of the seven-degree-of-freedom CESAR manipulator

DOE Office of Scientific and Technical Information (OSTI.GOV)

Babcock, S.M.; Dubey, R.V.; Euler, J.A.

1988-01-01

The application of a computationally efficient kinematic control scheme for manipulators with redundant degrees of freedom to the unilateral telerobotic control of seven-degree-of-freedom manipulator (CESARM) at the Oak Ridge National Laboratory Center for Engineering Systems Advanced Research is presented. The kinematic control scheme uses a gradient projection optimization method, which eliminates that need to determine the generalized inverse of the Jacobian when solving for joint velocities, given Cartesian end-effector velocities. A six-degree-of-freedom (nonreplica) master controller is used. Performance indices for redundancy resolution are discussed. 5 ref., 6 figs.

Astronaut Anna Fisher practices control of the RMS in a trainer

NASA Technical Reports Server (NTRS)

1984-01-01

Astronaut Anna Lee Fisher, mission specialist for 51-A, practices control of the remote manipulator system (RMS) at a special trainer at JSC. Dr. Fisher is pictured in the manipulator development facility (MDF) of JSC's Shuttle mockup and integration laboratory.

Collision Detection for Underwater ROV Manipulator Systems

PubMed Central

Rossi, Matija; Dooly, Gerard; Toal, Daniel

2018-01-01

Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations. PMID:29642396

Collision Detection for Underwater ROV Manipulator Systems.

PubMed

Sivčev, Satja; Rossi, Matija; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel

2018-04-06

Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

Towards control of dexterous hand manipulations using a silicon Pattern Generator.

PubMed

Russell, Alexander; Tenore, Francesco; Singhal, Girish; Thakor, Nitish; Etienne-Cummings, Ralph

2008-01-01

This work demonstrates how an in silico Pattern Generator (PG) can be used as a low power control system for rhythmic hand movements in an upper-limb prosthesis. Neural spike patterns, which encode rotation of a cylindrical object, were implemented in a custom Very Large Scale Integration chip. PG control was tested by using the decoded control signals to actuate the fingers of a virtual prosthetic arm. This system provides a framework for prototyping and controlling dexterous hand manipulation tasks in a compact and efficient solution.

Informatics in radiology: Intuitive user interface for 3D image manipulation using augmented reality and a smartphone as a remote control.

PubMed

Nakata, Norio; Suzuki, Naoki; Hattori, Asaki; Hirai, Naoya; Miyamoto, Yukio; Fukuda, Kunihiko

2012-01-01

Although widely used as a pointing device on personal computers (PCs), the mouse was originally designed for control of two-dimensional (2D) cursor movement and is not suited to complex three-dimensional (3D) image manipulation. Augmented reality (AR) is a field of computer science that involves combining the physical world and an interactive 3D virtual world; it represents a new 3D user interface (UI) paradigm. A system for 3D and four-dimensional (4D) image manipulation has been developed that uses optical tracking AR integrated with a smartphone remote control. The smartphone is placed in a hard case (jacket) with a 2D printed fiducial marker for AR on the back. It is connected to a conventional PC with an embedded Web camera by means of WiFi. The touch screen UI of the smartphone is then used as a remote control for 3D and 4D image manipulation. Using this system, the radiologist can easily manipulate 3D and 4D images from computed tomography and magnetic resonance imaging in an AR environment with high-quality image resolution. Pilot assessment of this system suggests that radiologists will be able to manipulate 3D and 4D images in the reading room in the near future. Supplemental material available at http://radiographics.rsna.org/lookup/suppl/doi:10.1148/rg.324115086/-/DC1.

Robust high-performance control for robotic manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1989-01-01

A robust control scheme to accomplish accurate trajectory tracking for an integrated system of manipulator-plus-actuators is proposed. The control scheme comprises a feedforward and a feedback controller. The feedforward controller contains any known part of the manipulator dynamics that can be used for online control. The feedback controller consists of adaptive position and velocity feedback gains and an auxiliary signal which is simply generated by a fixed-gain proportional/integral/derivative controller. The feedback controller is updated by very simple adaptation laws which contain both proportional and integral adaptation terms. By introduction of a simple sigma modification to the adaptation laws, robustness is guaranteed in the presence of unmodeled dynamics and disturbances.

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

PubMed Central

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations. PMID:28421179

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

PubMed

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations.

Adaptive control of space based robot manipulators

NASA Technical Reports Server (NTRS)

Walker, Michael W.; Wee, Liang-Boon

1991-01-01

For space based robots in which the base is free to move, motion planning and control is complicated by uncertainties in the inertial properties of the manipulator and its load. A new adaptive control method is presented for space based robots which achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. A partition is made of the fifteen degree of freedom system dynamics into two parts: a nine degree of freedom invertible portion and a six degree of freedom noninvertible portion. The controller is then designed to achieve trajectory tracking of the invertible portion of the system. This portion consist of the manipulator joint positions and the orientation of the base. The motion of the noninvertible portion is bounded, but unpredictable. This portion consist of the position of the robot's base and the position of the reaction wheel.

Study and development of techniques for automatic control of remote manipulators

NASA Technical Reports Server (NTRS)

Shaket, E.; Leal, A.

1976-01-01

An overall conceptual design for an autonomous control system of remote manipulators which utilizes feedback was constructed. The system consists of a description of the high-level capabilities of a model from which design algorithms are constructed. The autonomous capability is achieved through automatic planning and locally controlled execution of the plans. The operator gives his commands in high level task-oriented terms. The system transforms these commands into a plan. It uses built-in procedural knowledge of the problem domain and an internal model of the current state of the world.

A 17 degree of freedom anthropomorphic manipulator

NASA Technical Reports Server (NTRS)

Vold, Havard I.; Karlen, James P.; Thompson, Jack M., Jr.; Farrell, James D.; Eismann, Paul H.

1989-01-01

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints.

Method and system for assembling miniaturized devices

DOEpatents

Montesanti, Richard C.; Klingmann, Jeffrey L.; Seugling, Richard M.

2013-03-12

An apparatus for assembling a miniaturized device includes a manipulator system including six manipulators operable to position and orient components of the miniaturized device with submicron precision and micron-level accuracy. The manipulator system includes a first plurality of motorized axes, a second plurality of manual axes, and force and torque and sensors. Each of the six manipulators includes at least one translation stage, at least one rotation stage, tooling attached to the at least one translation stage or the at least one rotation stage, and an attachment mechanism disposed at a distal end of the tooling and operable to attach at least a portion of the miniaturized device to the tooling. The apparatus also includes an optical coordinate-measuring machine (OCMM) including a machine-vision system, a laser-based distance-measuring probe, and a touch probe. The apparatus also includes an operator control system coupled to the manipulator system and the OCMM.

Control System Design Implementation and Preliminary Demonstration for a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

NASA Technical Reports Server (NTRS)

Komendera, Erik E.; Doggett, William R.; Dorsey, John T.; Debus, Thomas J.; Holub, Kris; Dougherty, Sean P.

2015-01-01

Satellite servicing is a high priority task for NASA and the space industry, addressing the needs of a variety of missions, and potentially lowering the overall cost of missions through refurbishment and reuse. However, the ability to service satellites is severely limited by the lack of long reach manipulation capability and inability to launch new devices due the end of the Space Transport System, or Space Shuttle Program. This paper describes the design and implementation of a control system for a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN), including; defining the forward and inverse kinematics, endpoint velocity to motor velocity, required cable tensions, and a proportional-integral-derivative (PID) controller. The tensions and velocities necessary to maneuver and capture small and large payloads are also discussed. To demonstrate the utility of the TALISMAN for satellite servicing, this paper also describes a satellite servicing demonstration using two TALISMAN prototypes to grasp and inspect a satellite mockup. Potential avenues for improving the control system are discussed.

Master/slave manipulator system

NASA Technical Reports Server (NTRS)

Vykukal, H. C.; King, R. F.; Vallotton, W. C.

1973-01-01

System capabilities are equivalent to mobility, dexterity, and strength of human arm. Arrangement of torque motor, harmonic drive, and potentiometer combination allows all power and control leads to pass through center of slave with position-transducer arrangement of master, and "stovepipe joint" is incorporated for manipulator applications.

Apparatus and Methods for Manipulation and Optimization of Biological Systems

NASA Technical Reports Server (NTRS)

Sun, Ren (Inventor); Ho, Chih-Ming (Inventor); Wong, Pak Kin (Inventor); Yu, Fuqu (Inventor)

2014-01-01

The invention provides systems and methods for manipulating biological systems, for example to elicit a more desired biological response from a biological sample, such as a tissue, organ, and/or a cell. In one aspect, the invention operates by efficiently searching through a large parametric space of stimuli and system parameters to manipulate, control, and optimize the response of biological samples sustained in the system. In one aspect, the systems and methods of the invention use at least one optimization algorithm to modify the actuator's control inputs for stimulation, responsive to the sensor's output of response signals. The invention can be used, e.g., to optimize any biological system, e.g., bioreactors for proteins, and the like, small molecules, polysaccharides, lipids, and the like. Another use of the apparatus and methods includes is for the discovery of key parameters in complex biological systems.

Designing minimal space telerobotics systems for maximum performance

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Long, Mark K.; Steele, Robert D.

1992-01-01

The design of the remote site of a local-remote telerobot control system is described which addresses the constraints of limited computational power available at the remote site control system while providing a large range of control capabilities. The Modular Telerobot Task Execution System (MOTES) provides supervised autonomous control, shared control and teleoperation for a redundant manipulator. The system is capable of nominal task execution as well as monitoring and reflex motion. The MOTES system is minimized while providing a large capability by limiting its functionality to only that which is necessary at the remote site and by utilizing a unified multi-sensor based impedance control scheme. A command interpreter similar to one used on robotic spacecraft is used to interpret commands received from the local site. The system is written in Ada and runs in a VME environment on 68020 processors and initially controls a Robotics Research K1207 7 degree of freedom manipulator.

Flexible manipulator control experiments and analysis

NASA Technical Reports Server (NTRS)

Yurkovich, S.; Ozguner, U.; Tzes, A.; Kotnik, P. T.

1987-01-01

Modeling and control design for flexible manipulators, both from an experimental and analytical viewpoint, are described. From the application perspective, an ongoing effort within the laboratory environment at the Ohio State University, where experimentation on a single link flexible arm is underway is described. Several unique features of this study are described here. First, the manipulator arm is slewed by a direct drive dc motor and has a rigid counterbalance appendage. Current experimentation is from two viewpoints: (1) rigid body slewing and vibration control via actuation with the hub motor, and (2) vibration suppression through the use of structure-mounted proof-mass actuation at the tip. Such an application to manipulator control is of interest particularly in design of space-based telerobotic control systems, but has received little attention to date. From an analytical viewpoint, parameter estimation techniques within the closed-loop for self-tuning adaptive control approaches are discussed. Also introduced is a control approach based on output feedback and frequency weighting to counteract effects of spillover in reduced-order model design. A model of the flexible manipulator based on experimental measurements is evaluated for such estimation and control approaches.

Eye-in-Hand Manipulation for Remote Handling: Experimental Setup

NASA Astrophysics Data System (ADS)

Niu, Longchuan; Suominen, Olli; Aref, Mohammad M.; Mattila, Jouni; Ruiz, Emilio; Esque, Salvador

2018-03-01

A prototype for eye-in-hand manipulation in the context of remote handling in the International Thermonuclear Experimental Reactor (ITER)1 is presented in this paper. The setup consists of an industrial robot manipulator with a modified open control architecture and equipped with a pair of stereoscopic cameras, a force/torque sensor, and pneumatic tools. It is controlled through a haptic device in a mock-up environment. The industrial robot controller has been replaced by a single industrial PC running Xenomai that has a real-time connection to both the robot controller and another Linux PC running as the controller for the haptic device. The new remote handling control environment enables further development of advanced control schemes for autonomous and semi-autonomous manipulation tasks. This setup benefits from a stereovision system for accurate tracking of the target objects with irregular shapes. The overall environmental setup successfully demonstrates the required robustness and precision that remote handling tasks need.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Unseren, M.A.

The report reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restricts the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for themore » closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.« less

DOE Office of Scientific and Technical Information (OSTI.GOV)

Unseren, M.A.

The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for themore » closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.« less

Intelligent control and adaptive systems; Proceedings of the Meeting, Philadelphia, PA, Nov. 7, 8, 1989

NASA Technical Reports Server (NTRS)

Rodriguez, Guillermo (Editor)

1990-01-01

Various papers on intelligent control and adaptive systems are presented. Individual topics addressed include: control architecture for a Mars walking vehicle, representation for error detection and recovery in robot task plans, real-time operating system for robots, execution monitoring of a mobile robot system, statistical mechanics models for motion and force planning, global kinematics for manipulator planning and control, exploration of unknown mechanical assemblies through manipulation, low-level representations for robot vision, harmonic functions for robot path construction, simulation of dual behavior of an autonomous system. Also discussed are: control framework for hand-arm coordination, neural network approach to multivehicle navigation, electronic neural networks for global optimization, neural network for L1 norm linear regression, planning for assembly with robot hands, neural networks in dynamical systems, control design with iterative learning, improved fuzzy process control of spacecraft autonomous rendezvous using a genetic algorithm.

Adaptive process control using fuzzy logic and genetic algorithms

NASA Technical Reports Server (NTRS)

Karr, C. L.

1993-01-01

Researchers at the U.S. Bureau of Mines have developed adaptive process control systems in which genetic algorithms (GA's) are used to augment fuzzy logic controllers (FLC's). GA's are search algorithms that rapidly locate near-optimum solutions to a wide spectrum of problems by modeling the search procedures of natural genetics. FLC's are rule based systems that efficiently manipulate a problem environment by modeling the 'rule-of-thumb' strategy used in human decision making. Together, GA's and FLC's possess the capabilities necessary to produce powerful, efficient, and robust adaptive control systems. To perform efficiently, such control systems require a control element to manipulate the problem environment, and a learning element to adjust to the changes in the problem environment. Details of an overall adaptive control system are discussed. A specific laboratory acid-base pH system is used to demonstrate the ideas presented.

Adaptive Process Control with Fuzzy Logic and Genetic Algorithms

NASA Technical Reports Server (NTRS)

Karr, C. L.

1993-01-01

Researchers at the U.S. Bureau of Mines have developed adaptive process control systems in which genetic algorithms (GA's) are used to augment fuzzy logic controllers (FLC's). GA's are search algorithms that rapidly locate near-optimum solutions to a wide spectrum of problems by modeling the search procedures of natural genetics. FLC's are rule based systems that efficiently manipulate a problem environment by modeling the 'rule-of-thumb' strategy used in human decision-making. Together, GA's and FLC's possess the capabilities necessary to produce powerful, efficient, and robust adaptive control systems. To perform efficiently, such control systems require a control element to manipulate the problem environment, an analysis element to recognize changes in the problem environment, and a learning element to adjust to the changes in the problem environment. Details of an overall adaptive control system are discussed. A specific laboratory acid-base pH system is used to demonstrate the ideas presented.

Genetic algorithms in adaptive fuzzy control

NASA Technical Reports Server (NTRS)

Karr, C. Lucas; Harper, Tony R.

1992-01-01

Researchers at the U.S. Bureau of Mines have developed adaptive process control systems in which genetic algorithms (GA's) are used to augment fuzzy logic controllers (FLC's). GA's are search algorithms that rapidly locate near-optimum solutions to a wide spectrum of problems by modeling the search procedures of natural genetics. FLC's are rule based systems that efficiently manipulate a problem environment by modeling the 'rule-of-thumb' strategy used in human decision making. Together, GA's and FLC's possess the capabilities necessary to produce powerful, efficient, and robust adaptive control systems. To perform efficiently, such control systems require a control element to manipulate the problem environment, an analysis element to recognize changes in the problem environment, and a learning element to adjust fuzzy membership functions in response to the changes in the problem environment. Details of an overall adaptive control system are discussed. A specific computer-simulated chemical system is used to demonstrate the ideas presented.

Bilateral Impedance Control For Telemanipulators

NASA Technical Reports Server (NTRS)

Moore, Christopher L.

1993-01-01

Telemanipulator system includes master robot manipulated by human operator, and slave robot performing tasks at remote location. Two robots electronically coupled so slave robot moves in response to commands from master robot. Teleoperation greatly enhanced if forces acting on slave robot fed back to operator, giving operator feeling he or she manipulates remote environment directly. Main advantage of bilateral impedance control: enables arbitrary specification of desired performance characteristics for telemanipulator system. Relationship between force and position modulated at both ends of system to suit requirements of task.

Spatial operator approach to flexible multibody system dynamics and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.

1991-01-01

The inverse and forward dynamics problems for flexible multibody systems were solved using the techniques of spatially recursive Kalman filtering and smoothing. These algorithms are easily developed using a set of identities associated with mass matrix factorization and inversion. These identities are easily derived using the spatial operator algebra developed by the author. Current work is aimed at computational experiments with the described algorithms and at modelling for control design of limber manipulator systems. It is also aimed at handling and manipulation of flexible objects.

Direct manipulation of tool-like masters for controlling a master-slave surgical robotic system.

PubMed

Zhang, Linan; Zhou, Ningxin; Wang, Shuxin

2014-12-01

Robotic-assisted minimally invasive surgery (MIS) can benefit both patients and surgeons. However, the learning curve for robotically assisted procedures can be long and the total system costs are high. Therefore, there is considerable interest in new methods and lower cost controllers for a surgical robotic system. In this study, a knife-master and a forceps-master, shaped similarly to a surgical knife and forceps, were developed as input devices for control of a master-slave surgical robotic system. In addition, a safety strategy was developed to eliminate the master-slave orientation difference and stabilize the surgical system. Master-slave tracking experiments and a ring-and-bar experiment showed that the safety tracking strategy could ensure that the robot system moved stably without any tremor in the tracking motion. Subjects could manipulate the surgical tool to achieve the master-slave operation with less training compared to a mechanical master. Direct manipulation of the small, light and low-cost surgical tools to control a robotic system is a possible operating mode. Surgeons can operate the robotic system in their own familiar way, without long training. The main potential safety issues can be solved by the proposed safety control strategy. Copyright © 2013 John Wiley & Sons, Ltd.

Robust adaptive tracking control for nonholonomic mobile manipulator with uncertainties.

PubMed

Peng, Jinzhu; Yu, Jie; Wang, Jie

2014-07-01

In this paper, mobile manipulator is divided into two subsystems, that is, nonholonomic mobile platform subsystem and holonomic manipulator subsystem. First, the kinematic controller of the mobile platform is derived to obtain a desired velocity. Second, regarding the coupling between the two subsystems as disturbances, Lyapunov functions of the two subsystems are designed respectively. Third, a robust adaptive tracking controller is proposed to deal with the unknown upper bounds of parameter uncertainties and disturbances. According to the Lyapunov stability theory, the derived robust adaptive controller guarantees global stability of the closed-loop system, and the tracking errors and adaptive coefficient errors are all bounded. Finally, simulation results show that the proposed robust adaptive tracking controller for nonholonomic mobile manipulator is effective and has good tracking capacity. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

A theoretical and experimental investigation of impact control for manipulators

NASA Technical Reports Server (NTRS)

Volpe, Richard; Khosla, Pradeep

1993-01-01

This article describes a simple control strategy for stable hardon-hard contact of a manipulator with the environment. The strategy is motivated by recognition of the equivalence of proportional gain explicit force control and impedance control. It is shown that negative proportional force gains, or impedance mass ratios less than unity, can equivalently provide excellent impact response without bouncing. This result is indicated by an analysis performed with an experimentally determined arm/sensor/environment model. The results are corroborated by experimental data from implementation of the control algorithms on the CMU DD Arm II system. The results confirm that manipulator impact against a stiff environment without bouncing can be readily handled by this novel control strategy.

Voice Controlled Wheelchair

NASA Technical Reports Server (NTRS)

1977-01-01

Michael Condon, a quadraplegic from Pasadena, California, demonstrates the NASA-developed voice-controlled wheelchair and its manipulator, which can pick up packages, open doors, turn a TV knob, and perform a variety of other functions. A possible boon to paralyzed and other severely handicapped persons, the chair-manipulator system responds to 35 one-word voice commands, such as "go," "stop," "up," "down," "right," "left," "forward," "backward." The heart of the system is a voice-command analyzer which utilizes a minicomputer. Commands are taught I to the computer by the patient's repeating them a number of times; thereafter the analyzer recognizes commands only in the patient's particular speech pattern. The computer translates commands into electrical signals which activate appropriate motors and cause the desired motion of chair or manipulator. Based on teleoperator and robot technology for space-related programs, the voice-controlled system was developed by Jet Propulsion Laboratory under the joint sponsorship of NASA and the Veterans Administration. The wheelchair-manipulator has been tested at Rancho Los Amigos Hospital, Downey, California, and is being evaluated at the VA Prosthetics Center in New York City.

A universal six-joint robot controller

NASA Technical Reports Server (NTRS)

Bihn, D. G.; Hsia, T. C.

1987-01-01

A general purpose six-axis robotic manipulator controller was designed and implemented to serve as a research tool for the investigation of the practical and theoretical aspects of various control strategies in robotics. A 80286-based Intel System 310 running the Xenix operating servo software as well as the higher level software (e.g., kinematics and path planning) were employed. A Multibus compatible interface board was designed and constructed to handle I/O signals from the robot manipulator's joint motors. From the design point of view, the universal controller is capable of driving robot manipulators equipped with D.C. joint motors and position optical encoders. To test its functionality, the controller is connected to the joint motor D.C. power amplifier of a PUMA 560 arm bypassing completely the manufacturer-supplied Unimation controller. A controller algorithm consisting of local PD control laws was written and installed into the Xenix operating system. Additional software drivers were implemented to allow application programs access to the interface board. All software was written in the C language.

Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload.

PubMed

Sharma, Richa; Gaur, Prerna; Mittal, A P

2015-09-01

The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Manipulation of biological samples using micro and nano techniques.

PubMed

Castillo, Jaime; Dimaki, Maria; Svendsen, Winnie Edith

2009-01-01

The constant interest in handling, integrating and understanding biological systems of interest for the biomedical field, the pharmaceutical industry and the biomaterial researchers demand the use of techniques that allow the manipulation of biological samples causing minimal or no damage to their natural structure. Thanks to the advances in micro- and nanofabrication during the last decades several manipulation techniques offer us the possibility to image, characterize and manipulate biological material in a controlled way. Using these techniques the integration of biomaterials with remarkable properties with physical transducers has been possible, giving rise to new and highly sensitive biosensing devices. This article reviews the different techniques available to manipulate and integrate biological materials in a controlled manner either by sliding them along a surface (2-D manipulation), by grapping them and moving them to a new position (3-D manipulation), or by manipulating and relocating them applying external forces. The advantages and drawbacks are mentioned together with examples that reflect the state of the art of manipulation techniques for biological samples (171 references).

Beyond Control Panels: Direct Manipulation for Visual Analytics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Endert, Alexander; Bradel, Lauren; North, Chris

2013-07-19

Information Visualization strives to provide visual representations through which users can think about and gain insight into information. By leveraging the visual and cognitive systems of humans, complex relationships and phenomena occurring within datasets can be uncovered by exploring information visually. Interaction metaphors for such visualizations are designed to enable users direct control over the filters, queries, and other parameters controlling how the data is visually represented. Through the evolution of information visualization, more complex mathematical and data analytic models are being used to visualize relationships and patterns in data – creating the field of Visual Analytics. However, the expectationsmore » for how users interact with these visualizations has remained largely unchanged – focused primarily on the direct manipulation of parameters of the underlying mathematical models. In this article we present an opportunity to evolve the methodology for user interaction from the direct manipulation of parameters through visual control panels, to interactions designed specifically for visual analytic systems. Instead of focusing on traditional direct manipulation of mathematical parameters, the evolution of the field can be realized through direct manipulation within the visual representation – where users can not only gain insight, but also interact. This article describes future directions and research challenges that fundamentally change the meaning of direct manipulation with regards to visual analytics, advancing the Science of Interaction.« less

Dynamic analysis and control of lightweight manipulators with flexible parallel link mechanisms

NASA Technical Reports Server (NTRS)

Lee, Jeh Won

1991-01-01

The flexible parallel link mechanism is designed for increased rigidity to sustain the buckling when it carries a heavy payload. Compared to a one link flexible manipulator, a two link flexible manipulator, especially the flexible parallel mechanism, has more complicated characteristics in dynamics and control. The objective of this research is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model. The step response of the analytical model and the TREETOPS model match each other well. The nonlinear dynamics is studied using a sinusoidal excitation. The actuator dynamic effect on a flexible robot was investigated. The effects are explained by the root loci and the Bode plot theoretically and experimentally. For the base performance for the advanced control scheme, a simple decoupled feedback scheme is applied.

Guidance and control 1992; Proceedings of the 15th Annual AAS Rocky Mountain Conference, Keystone, CO, Feb. 8-12, 1992

NASA Astrophysics Data System (ADS)

Culp, Robert D.; Zietz, Richard P.

The present volume on guidance and control discusses advances in guidance, navigation, and control, guidance and control storyboard displays, space robotic control, spacecraft control and flexible body interaction, and the Mission to Planet Earth. Attention is given to applications of Newton's method to attitude determination, a new family of low-cost momentum/reaction wheels, stellar attitude data handling, and satellite life prediction using propellant quantity measurements. Topics addressed include robust manipulator controller specification and design, implementations and applications of a manipulator control testbed, optimizing transparency in teleoperator architectures, and MIMO system identification using frequency response data. Also discussed are instrument configurations for the restructured Earth Observing System, the HIRIS instrument, clouds and the earth's radiant energy system, and large space-based systems for dealing with global change.

Free-flying teleoperator requirements and conceptual design.

NASA Technical Reports Server (NTRS)

Onega, G. T.; Clingman, J. H.

1973-01-01

A teleoperator, as defined by NASA, is a remotely controlled cybernetic man-machine system designed to augment and extend man's sensory, manipulative, and cognitive capabilities. Teleoperator systems can fulfill an important function in the Space Shuttle program. They can retrieve automated satellites for refurbishment and reuse. Cargo can be transferred over short or large distances and orbital operations can be supported. A requirements analysis is discussed, giving attention to the teleoperator spacecraft, docking and stowage systems, display and controls, propulsion, guidance, navigation, control, the manipulators, the video system, the electrical power, and aspects of communication and data management. Questions of concept definition and evaluation are also examined.

Controlled motion in an elastic world. Research project: Manipulation strategies for massive space payloads

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1992-01-01

The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feed forward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status, and future directions in this area.

Location and acquisition of objects in unpredictable locations. [a teleoperator system with a computer for manipulator control

NASA Technical Reports Server (NTRS)

Sword, A. J.; Park, W. T.

1975-01-01

A teleoperator system with a computer for manipulator control to combine the capabilities of both man and computer to accomplish a task is described. This system allows objects in unpredictable locations to be successfully located and acquired. By using a method of characterizing the work-space together with man's ability to plan a strategy and coarsely locate an object, the computer is provided with enough information to complete the tedious part of the task. In addition, the use of voice control is shown to be a useful component of the man/machine interface.

A Search-and-Rescue Robot System for Remotely Sensing the Underground Coal Mine Environment

PubMed Central

Gao, Junyao; Zhao, Fangzhou; Liu, Yi

2017-01-01

This paper introduces a search-and-rescue robot system used for remote sensing of the underground coal mine environment, which is composed of an operating control unit and two mobile robots with explosion-proof and waterproof function. This robot system is designed to observe and collect information of the coal mine environment through remote control. Thus, this system can be regarded as a multifunction sensor, which realizes remote sensing. When the robot system detects danger, it will send out signals to warn rescuers to keep away. The robot consists of two gas sensors, two cameras, a two-way audio, a 1 km-long fiber-optic cable for communication and a mechanical explosion-proof manipulator. Especially, the manipulator is a novel explosion-proof manipulator for cleaning obstacles, which has 3-degree-of-freedom, but is driven by two motors. Furthermore, the two robots can communicate in series for 2 km with the operating control unit. The development of the robot system may provide a reference for developing future search-and-rescue systems. PMID:29065560

Neural joint control for Space Shuttle Remote Manipulator System

NASA Technical Reports Server (NTRS)

Atkins, Mark A.; Cox, Chadwick J.; Lothers, Michael D.; Pap, Robert M.; Thomas, Charles R.

1992-01-01

Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.

Adaptive Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators with Sub-Task Extensions

DTIC Science & Technology

2005-01-01

C. Hughes, Spacecraft Attitude Dynamics, New York, NY: Wiley, 1994. [8] H. K. Khalil, “Adaptive Output Feedback Control of Non- linear Systems...Closed-Loop Manipulator Control Using Quaternion Feedback ”, IEEE Trans. Robotics and Automation, Vol. 4, No. 4, pp. 434-440, (1988). [23] E...full-state feedback quaternion based controller de- veloped in [5] and focuses on the design of a general sub-task controller. This sub-task controller

Manipulator Performance Evaluation Using Fitts' Taping Task

DOE Office of Scientific and Technical Information (OSTI.GOV)

Draper, J.V.; Jared, B.C.; Noakes, M.W.

1999-04-25

Metaphorically, a teleoperator with master controllers projects the user's arms and hands into a re- mote area, Therefore, human users interact with teleoperators at a more fundamental level than they do with most human-machine systems. Instead of inputting decisions about how the system should func- tion, teleoperator users input the movements they might make if they were truly in the remote area and the remote machine must recreate their trajectories and impedance. This intense human-machine inter- action requires displays and controls more carefully attuned to human motor capabilities than is neces- sary with most systems. It is important for teleoperatedmore » manipulators to be able to recreate human trajectories and impedance in real time. One method for assessing manipulator performance is to observe how well a system be- haves while a human user completes human dexterity tasks with it. Fitts' tapping task has been, used many times in the past for this purpose. This report describes such a performance assessment. The International Submarine Engineering (ISE) Autonomous/Teleoperated Operations Manipulator (ATOM) servomanipulator system was evalu- ated using a generic positioning accuracy task. The task is a simple one but has the merits of (1) pro- ducing a performance function estimate rather than a point estimate and (2) being widely used in the past for human and servomanipulator dexterity tests. Results of testing using this task may, therefore, allow comparison with other manipulators, and is generically representative of a broad class of tasks. Results of the testing indicate that the ATOM manipulator is capable of performing the task. Force reflection had a negative impact on task efficiency in these data. This was most likely caused by the high resistance to movement the master controller exhibited with the force reflection engaged. Measurements of exerted forces were not made, so it is not possible to say whether the force reflection helped partici- pants control force during testing.« less

Robust control of multi-jointed arm with a decentralized autonomous control mechanism

NASA Technical Reports Server (NTRS)

Kimura, Shinichi; Miyazaki, Ken; Suzuki, Yoshiaki

1994-01-01

A decentralized autonomous control mechanism applied to the control of three dimensional manipulators and its robustness to partial damage was assessed by computer simulation. Decentralized control structures are believed to be quite robust to time delay between the operator and the target system. A 10-jointed manipulator based on our control mechanism was able to continue its positioning task in three-dimensional space without revision of the control program, even after some of its joints were damaged. These results suggest that this control mechanism can be effectively applied to space telerobots, which are associated with serious time delay between the operator and the target system, and which cannot be easily repaired after being partially damaged.

Mobile camera-space manipulation

NASA Technical Reports Server (NTRS)

Seelinger, Michael J. (Inventor); Yoder, John-David S. (Inventor); Skaar, Steven B. (Inventor)

2001-01-01

The invention is a method of using computer vision to control systems consisting of a combination of holonomic and nonholonomic degrees of freedom such as a wheeled rover equipped with a robotic arm, a forklift, and earth-moving equipment such as a backhoe or a front-loader. Using vision sensors mounted on the mobile system and the manipulator, the system establishes a relationship between the internal joint configuration of the holonomic degrees of freedom of the manipulator and the appearance of features on the manipulator in the reference frames of the vision sensors. Then, the system, perhaps with the assistance of an operator, identifies the locations of the target object in the reference frames of the vision sensors. Using this target information, along with the relationship described above, the system determines a suitable trajectory for the nonholonomic degrees of freedom of the base to follow towards the target object. The system also determines a suitable pose or series of poses for the holonomic degrees of freedom of the manipulator. With additional visual samples, the system automatically updates the trajectory and final pose of the manipulator so as to allow for greater precision in the overall final position of the system.

Configuration Control of a Mobile Dextrous Robot: Real-Time Implementation and Experimentation

NASA Technical Reports Server (NTRS)

Lim, David; Seraji, Homayoun

1996-01-01

This paper describes the design and implementation of a real-time control system with multiple modes of operation for a mobile dexterous manipulator. The manipulator under study is a kinematically redundant seven degree-of-freedom arm from Robotics Research Corporation, mounted on a one degree-of-freedom motorized platform.

Improved control system power unit for large parachutes

NASA Technical Reports Server (NTRS)

Chandler, J. A.; Grubbs, T. M.

1968-01-01

Improved control system power unit drives the control surfaces of very large controllable parachutes. The design features subassemblies for determining control surface position and cable loading, and protection of the load sensor against the possibility of damage during manipulation.

Research on controlling thermal deformable mirror's influence functions via manipulating thermal fields.

PubMed

Xue, Qiao; Huang, Lei; Hu, Dongxia; Yan, Ping; Gong, Mali

2014-01-10

For thermal deformable mirrors (DMs), the thermal field control is important because it will decide aberration correction effects. In order to better manipulate the thermal fields, a simple water convection system is proposed. The water convection system, which can be applied in thermal field bimetal DMs, shows effective thermal fields and influence-function controlling abilities. This is verified by the simulations and the contrast experiments of two prototypes: one of which utilizes air convection, the other uses water convection. Controlling the thermal fields will greatly promote the influence-function adjustability and aberration correction ability of thermal DMs.

Adaptive control of space-based robot manipulators

NASA Technical Reports Server (NTRS)

Walker, Michael W.; Wee, Liang-Boon

1991-01-01

A control method is presented that achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. The 15-DOF system dynamics are divided into two components: a 9-DOF invertible portion and 6-DOF noninvertible portion. A controller is then designed to achieve trajectory tracking of the invertible portion of the system, which consists of the manipulator-joint positions and the orientation of the base. The motion of the noninvertible portion is bounded but otherwise unspecified. This portion of the system consists of the position of the robot's base and the position of the reaction wheels. A simulation is presented to demonstrate the effectiveness of the controller. A quadratic polynomial is used to generate the desired trajectory to illustrate the trajectory-tracking capability of the controller.

Direct model reference adaptive control of robotic arms

NASA Technical Reports Server (NTRS)

Kaufman, Howard; Swift, David C.; Cummings, Steven T.; Shankey, Jeffrey R.

1993-01-01

The results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.

Advanced control schemes and kinematic analysis for a kinematically redundant 7 DOF manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1990-01-01

The kinematic analysis and control of a kinematically redundant manipulator is addressed. The manipulator is the slave arm of a telerobot system recently built at Goddard Space Flight Center (GSFC) to serve as a testbed for investigating research issues in telerobotics. A forward kinematic transformation is developed in its most simplified form, suitable for real-time control applications, and the manipulator Jacobian is derived using the vector cross product method. Using the developed forward kinematic transformation and quaternion representation of orientation matrices, we perform computer simulation to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of Jacobian pseudo-inverse for various sampling times. The equivalence between Cartesian velocities and quaternion is also verified using computer simulation. Three control schemes are proposed and discussed for controlling the motion of the slave arm end-effector.

Space-based multifunctional end effector systems functional requirements and proposed designs

NASA Technical Reports Server (NTRS)

Mishkin, A. H.; Jau, B. M.

1988-01-01

The end effector is an essential element of teleoperator and telerobot systems to be employed in space in the next decade. The report defines functional requirements for end effector systems to perform operations that are currently only feasible through Extra-Vehicular Activity (EVA). Specific tasks and functions that the end effectors must be capable of performing are delineated. Required capabilities for forces and torques, clearances, compliance, and sensing are described, using current EVA requirements as guidelines where feasible. The implications of these functional requirements on the elements of potential end effector systems are discussed. The systems issues that must be considered in the design of space-based manipulator systems are identified; including impacts on subsystems tightly coupled to the end effector, i.e., control station, information processing, manipulator arm, tool and equipment stowage. Possible end effector designs are divided into three categories: single degree-of-freedom end effectors, multiple degree of freedom end effectors, and anthropomorphic hands. Specific design alternatives are suggested and analyzed within the individual categories. Two evaluations are performed: the first considers how well the individual end effectors could substitute for EVA; the second compares how manipulator systems composed of the top performers from the first evaluation would improve the space shuttle Remote Manipulator System (RMS) capabilities. The analysis concludes that the anthropomorphic hand is best-suited for EVA tasks. A left- and right-handed anthropomorphic manipulator arm configuration is suggested as appropriate to be affixed to the RMS, but could also be used as part of the Smart Front End for the Orbital Maneuvering Vehicle (OMV). The technical feasibility of the anthropomorphic hand and its control are demonstrated. An evolutionary development approach is proposed and approximate scheduling provided for implementing the suggested manipulator systems in time for space stations operations in the early 1990s.

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Kreutz, K.; Milman, M.

1988-01-01

A powerful new spatial operator algebra for modeling, control, and trajectory design of manipulators is discussed along with its implementation in the Ada programming language. Applications of this algebra to robotics include an operator representation of the manipulator Jacobian matrix; the robot dynamical equations formulated in terms of the spatial algebra, showing the complete equivalence between the recursive Newton-Euler formulations to robot dynamics; the operator factorization and inversion of the manipulator mass matrix which immediately results in O(N) recursive forward dynamics algorithms; the joint accelerations of a manipulator due to a tip contact force; the recursive computation of the equivalent mass matrix as seen at the tip of a manipulator; and recursive forward dynamics of a closed chain system. Finally, additional applications and current research involving the use of the spatial operator algebra are discussed in general terms.

A discrete decentralized variable structure robotic controller

NASA Technical Reports Server (NTRS)

Tumeh, Zuheir S.

1989-01-01

A decentralized trajectory controller for robotic manipulators is designed and tested using a multiprocessor architecture and a PUMA 560 robot arm. The controller is made up of a nominal model-based component and a correction component based on a variable structure suction control approach. The second control component is designed using bounds on the difference between the used and actual values of the model parameters. Since the continuous manipulator system is digitally controlled along a trajectory, a discretized equivalent model of the manipulator is used to derive the controller. The motivation for decentralized control is that the derived algorithms can be executed in parallel using a distributed, relatively inexpensive, architecture where each joint is assigned a microprocessor. Nonlinear interaction and coupling between joints is treated as a disturbance torque that is estimated and compensated for.

Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder

NASA Astrophysics Data System (ADS)

Qiu, Zhi-cheng; Wang, Bin; Zhang, Xian-min; Han, Jian-da

2013-04-01

This study presents a novel translating piezoelectric flexible manipulator driven by a rodless cylinder. Simultaneous positioning control and vibration suppression of the flexible manipulator is accomplished by using a hybrid driving scheme composed of the pneumatic cylinder and a piezoelectric actuator. Pulse code modulation (PCM) method is utilized for the cylinder. First, the system dynamics model is derived, and its standard multiple input multiple output (MIMO) state-space representation is provided. Second, a composite proportional derivative (PD) control algorithms and a direct adaptive fuzzy control method are designed for the MIMO system. Also, a time delay compensation algorithm, bandstop and low-pass filters are utilized, under consideration of the control hysteresis and the caused high-frequency modal vibration due to the long stroke of the cylinder, gas compression and nonlinear factors of the pneumatic system. The convergence of the closed loop system is analyzed. Finally, experimental apparatus is constructed and experiments are conducted. The effectiveness of the designed controllers and the hybrid driving scheme is verified through simulation and experimental comparison studies. The numerical simulation and experimental results demonstrate that the proposed system scheme of employing the pneumatic drive and piezoelectric actuator can suppress the vibration and achieve the desired positioning location simultaneously. Furthermore, the adopted adaptive fuzzy control algorithms can significantly enhance the control performance.

A vision-based end-point control for a two-link flexible manipulator. M.S. Thesis

NASA Technical Reports Server (NTRS)

Obergfell, Klaus

1991-01-01

The measurement and control of the end-effector position of a large two-link flexible manipulator are investigated. The system implementation is described and an initial algorithm for static end-point positioning is discussed. Most existing robots are controlled through independent joint controllers, while the end-effector position is estimated from the joint positions using a kinematic relation. End-point position feedback can be used to compensate for uncertainty and structural deflections. Such feedback is especially important for flexible robots. Computer vision is utilized to obtain end-point position measurements. A look-and-move control structure alleviates the disadvantages of the slow and variable computer vision sampling frequency. This control structure consists of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation. A Landmark Tracking System (Dickerson, et al 1990) is used for vision-based end-point measurements. This system was modified and tested. A real-time control system was implemented on a PC and interfaced with the vision system and the robot.

Intelligent Robotic Systems Study (IRSS), phase 4

NASA Technical Reports Server (NTRS)

1991-01-01

Under the Intelligent Robotics Systems Study (IRSS), a generalized robotic control architecture was developed for use with the ProtoFlight Manipulator Arm (PFMA). Based upon the NASREM system design concept, the controller built for the PFMA provides localized position based force control, teleoperation, and advanced path recording and playback capabilities. The PFMA has six computer controllable degrees of freedom (DOF) plus a 7th manually indexable DOF, making the manipulator a pseudo 7 DOF mechanism. Joints on the PFMA are driven via 7 pulse width modulated amplifiers. Digital control of the PFMA is implemented using a variety of single board computers. There were two major activities under the IRSS phase 4 study: (1) enhancement of the PFMA control system software functionality; and (2) evaluation of operating modes via a teleoperation performance study. These activities are described and results are given.

Decoupled macro/micro-manipulator for fast and precise assembly operations: design and experiments

NASA Astrophysics Data System (ADS)

Hodac, Agathe; Siegwart, Roland Y.

1999-08-01

This paper presents a high performance single arm robot configuration, based on a macro-manipulator coupled with a micro-manipulator. The system is well suited to fast and precise positioning tasks for repetitive pick and place applications in the manufacturing industry. Firstly, the paper focuses on the design of the micro-manipulator, particularly on the selection of the proper micro-actuator type and location. We show that the micro-manipulator's design with an actuator placed between endpoint and ground and with a flexible suspension system can reduce the dynamic coupling between the macro-manipulator and the micro- manipulator. The overall system performance can then be improved. We describe two different designs of compact and fast micro-manipulators composed of voice coil actuators and a monolithic flexure suspension with notch hinges. Secondly, the paper presents a control strategy that allows both correction of possible misalignments of the end-effector relative to the target and compensation of tip oscillations. The dynamic interaction is analyzed and stability is verified. Finally, experimental results demonstrate significant improvements in acceleration, endpoint accuracy and settling time achieved by the novel configuration of the macro/micro-manipulator.

Experiments in cooperative-arm object manipulation with a two-armed free-flying robot. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Koningstein, Ross

1990-01-01

Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

[Comparison of self-controlled retruded approach and bimanual manipulation method on the relationship of incisal point displacement in the mandibular retruded contact position].

PubMed

Zhang, Lei; Li, Yun-xia; Kang, Yan-feng; Yang, Guang-ju; Xie, Qiu-fei

2014-02-18

To evaluate the relationship of incisal point displacements in the mandibular retruded contact position (RCP) between the self-controlled retruded approach and bimanual manipulation method. Twelve healthy young volunteers were selected. The RCP was guided through the self-controlled retruded approach and bimanual manipulation method. The track of the incisal point was recorded, using the mandibular movement trace recording system. The movement direction of the incisal point in horizontal plane was observed. The distance between the incisal point of the RCP and intercuspal contact position (ICP) was measured. Except one volunteer's incisal point movement direction of the RCP was oblique, others were straight toward posterior. The displacements of the incisal point from the ICP to RCP guided through self-controlled approach and bimanual manipulation method were (1.15 ± 0.64) mm, (0.98 ± 0.29) mm respectively. There was no statistical significance between the two methods (P > 0.05). The displacements of the incisal point from the ICP to RCP guided through self-controlled approach and bimanual manipulation method are approximately the same.

Touch sensors and control.

NASA Technical Reports Server (NTRS)

Hill, J. W.; Sword, A. J.

1973-01-01

Description of the equipment employed and results obtained in experiments with tactile feedback and different levels of automatic control. In the experiments described tactile feedback was investigated by incorporating a touch sensing and touch display system into a teleoperator, while the levels of automatic control were investigated by incorporating supervisory control features in the teleoperator control system. In particular, a hand contact system which senses and reproduces to the operator the contact between the end-effector and the object being touched or manipulated is described, as well as a jaw contact system which senses and reproduces to the operator the shape and location of the object held in the remote jaws, and an arm control system consisting of a control station where the operator controls the motion of the arm by transmitting commands, a remote station that accepts the commands and uses them, and a communications link that limits information flow. In addition, an algorithmic language for remote manipulation is described, and the desired features that an automatic arm controller should possess are reviewed.

Multivariable control of the Space Shuttle Remote Manipulator System using linearization by state feedback

NASA Technical Reports Server (NTRS)

Gettman, Chang-Ching L.; Adams, Neil; Bedrossian, Nazareth; Valavani, Lena

1993-01-01

This paper demonstrates an approach to nonlinear control system design that uses linearization by state feedback to allow faster maneuvering of payloads by the Shuttle Remote Manipulator System (SRMS). A nonlinear feedback law is defined to cancel the nonlinear plant dynamics so that a linear controller can be designed for the SRMS. First a nonlinear design model was generated via SIMULINK. This design model included nonlinear arm dynamics derived from the Lagrangian approach, linearized servo model, and linearized gearbox model. The current SRMS position hold controller was implemented on this system. Next, a trajectory was defined using a rigid body kinematics SRMS tool, KRMS. The maneuver was simulated. Finally, higher bandwidth controllers were developed. Results of the new controllers were compared with the existing SRMS automatic control modes for the Space Station Freedom Mission Build 4 Payload extended on the SRMS.

Electrokinetic high pressure hydraulic system

DOEpatents

Paul, Phillip H.; Rakestraw, David J.; Arnold, Don W.; Hencken, Kenneth R.; Schoeniger, Joseph S.; Neyer, David W.

2001-01-01

An electrokinetic high pressure hydraulic pump for manipulating fluids in capillary-based systems. The pump uses electro-osmotic flow to provide a high pressure hydraulic system, having no moving mechanical parts, for pumping and/or compressing fluids, for providing valve means and means for opening and closing valves, for controlling fluid flow rate, and manipulating fluid flow generally and in capillary-based systems (Microsystems), in particular. The compact nature of the inventive high pressure hydraulic pump provides the ability to construct a micro-scale or capillary-based HPLC system that fulfills the desire for small sample quantity, low solvent consumption, improved efficiency, the ability to run samples in parallel, and field portability. Control of pressure and solvent flow rate is achieved by controlling the voltage applied to an electrokinetic pump.

Electrokinetic high pressure hydraulic system

DOEpatents

Paul, Phillip H.; Rakestraw, David J.; Arnold, Don W.; Hencken, Kenneth R.; Schoeniger, Joseph S.; Neyer, David W.

2003-06-03

An electrokinetic high pressure hydraulic pump for manipulating fluids in capillary-based system. The pump uses electro-osmotic flow to provide a high pressure hydraulic system, having no moving mechanical parts, for pumping and/or compressing fluids, for providing valve means and means for opening and closing valves, for controlling fluid flow rate, and manipulating fluid flow generally and in capillary-based systems (microsystems), in particular. The compact nature of the inventive high pressure hydraulic pump provides the ability to construct a micro-scale or capillary-based HPLC system that fulfills the desire for small sample quantity, low solvent consumption, improved efficiency, the ability to run samples in parallel, and field portability. Control of pressure and solvent flow rate is achieved by controlling the voltage applied to an electrokinetic pump.

Real-time edge tracking using a tactile sensor

NASA Technical Reports Server (NTRS)

Berger, Alan D.; Volpe, Richard; Khosla, Pradeep K.

1989-01-01

Object recognition through the use of input from multiple sensors is an important aspect of an autonomous manipulation system. In tactile object recognition, it is necessary to determine the location and orientation of object edges and surfaces. A controller is proposed that utilizes a tactile sensor in the feedback loop of a manipulator to track along edges. In the control system, the data from the tactile sensor is first processed to find edges. The parameters of these edges are then used to generate a control signal to a hybrid controller. Theory is presented for tactile edge detection and an edge tracking controller. In addition, experimental verification of the edge tracking controller is presented.

Positive position control of robotic manipulators

NASA Technical Reports Server (NTRS)

Baz, A.; Gumusel, L.

1989-01-01

The present, simple and accurate position-control algorithm, which is applicable to fast-moving and lightly damped robot arms, is based on the positive position feedback (PPF) strategy and relies solely on position sensors to monitor joint angles of robotic arms to furnish stable position control. The optimized tuned filters, in the form of a set of difference equations, manipulate position signals for robotic system performance. Attention is given to comparisons between this PPF-algorithm controller's experimentally ascertained performance characteristics and those of a conventional proportional controller.

Comparison of System Identification Techniques for the Hydraulic Manipulator Test Bed (HMTB)

NASA Technical Reports Server (NTRS)

Morris, A. Terry

1996-01-01

In this thesis linear, dynamic, multivariable state-space models for three joints of the ground-based Hydraulic Manipulator Test Bed (HMTB) are identified. HMTB, housed at the NASA Langley Research Center, is a ground-based version of the Dexterous Orbital Servicing System (DOSS), a representative space station manipulator. The dynamic models of the HMTB manipulator will first be estimated by applying nonparametric identification methods to determine each joint's response characteristics using various input excitations. These excitations include sum of sinusoids, pseudorandom binary sequences (PRBS), bipolar ramping pulses, and chirp input signals. Next, two different parametric system identification techniques will be applied to identify the best dynamical description of the joints. The manipulator is localized about a representative space station orbital replacement unit (ORU) task allowing the use of linear system identification methods. Comparisons, observations, and results of both parametric system identification techniques are discussed. The thesis concludes by proposing a model reference control system to aid in astronaut ground tests. This approach would allow the identified models to mimic on-orbit dynamic characteristics of the actual flight manipulator thus providing astronauts with realistic on-orbit responses to perform space station tasks in a ground-based environment.

Sliding Mode Control (SMC) of Robot Manipulator via Intelligent Controllers

NASA Astrophysics Data System (ADS)

Kapoor, Neha; Ohri, Jyoti

2017-02-01

Inspite of so much research, key technical problem, naming chattering of conventional, simple and robust SMC is still a challenge to the researchers and hence limits its practical application. However, newly developed soft computing based techniques can provide solution. In order to have advantages of conventional and heuristic soft computing based control techniques, in this paper various commonly used intelligent techniques, neural network, fuzzy logic and adaptive neuro fuzzy inference system (ANFIS) have been combined with sliding mode controller (SMC). For validation, proposed hybrid control schemes have been implemented for tracking a predefined trajectory by robotic manipulator, incorporating structured and unstructured uncertainties in the system. After reviewing numerous papers, all the commonly occurring uncertainties like continuous disturbance, uniform random white noise, static friction like coulomb friction and viscous friction, dynamic friction like Dhal friction and LuGre friction have been inserted in the system. Various performance indices like norm of tracking error, chattering in control input, norm of input torque, disturbance rejection, chattering rejection have been used. Comparative results show that with almost eliminated chattering the intelligent SMC controllers are found to be more efficient over simple SMC. It has also been observed from results that ANFIS based controller has the best tracking performance with the reduced burden on the system. No paper in the literature has found to have all these structured and unstructured uncertainties together for motion control of robotic manipulator.

i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990

NASA Technical Reports Server (NTRS)

1990-01-01

The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.

Method and apparatus for accurately manipulating an object during microelectrophoresis

DOEpatents

Parvin, Bahram A.; Maestre, Marcos F.; Fish, Richard H.; Johnston, William E.

1997-01-01

An apparatus using electrophoresis provides accurate manipulation of an object on a microscope stage for further manipulations add reactions. The present invention also provides an inexpensive and easily accessible means to move an object without damage to the object. A plurality of electrodes are coupled to the stage in an array whereby the electrode array allows for distinct manipulations of the electric field for accurate manipulations of the object. There is an electrode array control coupled to the plurality of electrodes for manipulating the electric field. In an alternative embodiment, a chamber is provided on the stage to hold the object. The plurality of electrodes are positioned in the chamber, and the chamber is filled with fluid. The system can be automated using visual servoing, which manipulates the control parameters, i.e., x, y stage, applying the field, etc., after extracting the significant features directly from image data. Visual servoing includes an imaging device and computer system to determine the location of the object. A second stage having a plurality of tubes positioned on top of the second stage, can be accurately positioned by visual servoing so that one end of one of the plurality of tubes surrounds at least part of the object on the first stage.

Method and apparatus for accurately manipulating an object during microelectrophoresis

DOEpatents

Parvin, B.A.; Maestre, M.F.; Fish, R.H.; Johnston, W.E.

1997-09-23

An apparatus using electrophoresis provides accurate manipulation of an object on a microscope stage for further manipulations and reactions. The present invention also provides an inexpensive and easily accessible means to move an object without damage to the object. A plurality of electrodes are coupled to the stage in an array whereby the electrode array allows for distinct manipulations of the electric field for accurate manipulations of the object. There is an electrode array control coupled to the plurality of electrodes for manipulating the electric field. In an alternative embodiment, a chamber is provided on the stage to hold the object. The plurality of electrodes are positioned in the chamber, and the chamber is filled with fluid. The system can be automated using visual servoing, which manipulates the control parameters, i.e., x, y stage, applying the field, etc., after extracting the significant features directly from image data. Visual servoing includes an imaging device and computer system to determine the location of the object. A second stage having a plurality of tubes positioned on top of the second stage, can be accurately positioned by visual servoing so that one end of one of the plurality of tubes surrounds at least part of the object on the first stage. 11 figs.

Digital redesign of the control system for the Robotics Research Corporation model K-1607 robot

NASA Technical Reports Server (NTRS)

Carroll, Robert L.

1989-01-01

The analog control system for positioning each link of the Robotics Research Corporation Model K-1607 robot manipulator was redesigned for computer control. In order to accomplish the redesign, a linearized model of the dynamic behavior of the robot was developed. The parameters of the model were determined by examination of the input-output data collected in closed-loop operation of the analog control system. The robot manipulator possesses seven degrees of freedom in its motion. The analog control system installed by the manufacturer of the robot attempts to control the positioning of each link without feedback from other links. Constraints on the design of a digital control system include: the robot cannot be disassembled for measurement of parameters; the digital control system must not include filtering operations if possible, because of lack of computer capability; and criteria of goodness of control system performing is lacking. The resulting design employs sampled-data position and velocity feedback. The criteria of the design permits the control system gain margin and phase margin, measured at the same frequencies, to be the same as that provided by the analog control system.

Singularity-free dynamic equations of spacecraft-manipulator systems

NASA Astrophysics Data System (ADS)

From, Pål J.; Ytterstad Pettersen, Kristin; Gravdahl, Jan T.

2011-12-01

In this paper we derive the singularity-free dynamic equations of spacecraft-manipulator systems using a minimal representation. Spacecraft are normally modeled using Euler angles, which leads to singularities, or Euler parameters, which is not a minimal representation and thus not suited for Lagrange's equations. We circumvent these issues by introducing quasi-coordinates which allows us to derive the dynamics using minimal and globally valid non-Euclidean configuration coordinates. This is a great advantage as the configuration space of a spacecraft is non-Euclidean. We thus obtain a computationally efficient and singularity-free formulation of the dynamic equations with the same complexity as the conventional Lagrangian approach. The closed form formulation makes the proposed approach well suited for system analysis and model-based control. This paper focuses on the dynamic properties of free-floating and free-flying spacecraft-manipulator systems and we show how to calculate the inertia and Coriolis matrices in such a way that this can be implemented for simulation and control purposes without extensive knowledge of the mathematical background. This paper represents the first detailed study of modeling of spacecraft-manipulator systems with a focus on a singularity free formulation using the proposed framework.

Multilateral haptics-based immersive teleoperation for improvised explosive device disposal

NASA Astrophysics Data System (ADS)

Erickson, David; Lacheray, Hervé; Daly, John

2013-05-01

Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel. This paper presents new results in the research and development of a next generation mobile immersive teleoperated explosive ordnance disposal system. This system incorporates elements of 3D vision, multilateral teleoperation for high transparency haptic feedback, immersive augmented reality operator control interfaces, and a realistic hardware-in-the-loop (HIL) 3D simulation environment incorporating vehicle and manipulator dynamics for both operator training and algorithm development. In the past year, new algorithms have been developed to facilitate incorporating commercial off-the-shelf (COTS) robotic hardware into the teleoperation system. In particular, a real-time numerical inverse position kinematics algorithm that can be applied to a wide range of manipulators has been implemented, an inertial measurement unit (IMU) attitude stabilization system for manipulators has been developed and experimentally validated, and a voice­operated manipulator control system has been developed and integrated into the operator control station. The integration of these components into a vehicle simulation environment with half-car vehicle dynamics has also been successfully carried out. A physical half-car plant is currently being constructed for HIL integration with the simulation environment.

Human-in-the-loop evaluation of RMS Active Damping Augmentation

NASA Technical Reports Server (NTRS)

Demeo, Martha E.; Gilbert, Michael G.; Scott, Michael A.; Lepanto, Janet A.; Bains, Elizabeth M.; Jensen, Mary C.

1993-01-01

Active Damping Augmentation is the insertion of Controls-Structures Integration Technology to benefit the on-orbit performance of the Space Shuttle Remote Manipulator System. The goal is to reduce the vibration decay time of the Remote Manipulator System following normal payload maneuvers and operations. Simulation of Active Damping Augmentation was conducted in the realtime human-in-the-loop Systems Engineering Simulator at the NASA Johnson Space Center. The objective of this study was to obtain a qualitative measure of operational performance improvement from astronaut operators and to obtain supporting quantitative performance data. Sensing of vibratory motions was simulated using a three-axis accelerometer mounted at the end of the lower boom of the Remote Manipulator System. The sensed motions were used in a feedback control law to generate commands to the joint servo mechanisms which reduced the unwanted oscillations. Active damping of the Remote Manipulator System with an attached 3990 lb. payload was successfully demonstrated. Six astronaut operators examined the performance of an Active Damping Augmentation control law following single-joint and coordinated six-joint translational and rotational maneuvers. Active Damping Augmentation disturbance rejection of Orbiter thruster firings was also evaluated. Significant reductions in the dynamic response of the 3990 lb. payload were observed. Astronaut operators recommended investigation of Active Damping Augmentation benefits to heavier payloads where oscillations are a bigger problem (e.g. Space Station Freedom assembly operators).

Automation and Robotics for Space-Based Systems, 1991

NASA Technical Reports Server (NTRS)

Williams, Robert L., II (Editor)

1992-01-01

The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

Active Vibration Control of a Large Flexible Manipulator by Inertial Force and Joint Torque. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Lee, Soo Han

1988-01-01

The efficiency and positional accuracy of a lightweight flexible manipulator are limited by its flexural vibrations, which last after a gross motion is completed. The vibration delays subsequent operations. In the proposed work, the vibration is suppressed by inertial force of a small arm in addition to the joint actuators and passive damping treatment. The proposed approach is: (1) Dynamic modeling of a combined system, a large flexible manipulator and a small arm, (2) Determination of optimal sensor location and controller algorithm, and (3) Verification of the fitness of model and the performance of controller.

Lunar rovers and local positioning system

NASA Astrophysics Data System (ADS)

Avery, James; Su, Renjeng

1991-11-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running.

Lunar rovers and local positioning system

NASA Technical Reports Server (NTRS)

Avery, James; Su, Renjeng

1991-01-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running. The rover system is able to perform simple tasks such as sensing and signaling; coordination systems which allow construction tasks to begin were established, and soon coordinated teams of robots in the laboratory will be able to manipulate common objects.

Bio-inspired multistructured conical copper wires for highly efficient liquid manipulation.

PubMed

Wang, Qianbin; Meng, Qingan; Chen, Ming; Liu, Huan; Jiang, Lei

2014-09-23

Animal hairs are typical structured conical fibers ubiquitous in natural system that enable the manipulation of low viscosity liquid in a well-controlled manner, which serves as the fundamental structure in Chinese brush for ink delivery in a controllable manner. Here, drawing inspiration from these structure, we developed a dynamic electrochemical method that enables fabricating the anisotropic multiscale structured conical copper wire (SCCW) with controllable conicity and surface morphology. The as-prepared SCCW exhibits a unique ability for manipulating liquid with significantly high efficiency, and over 428 times greater than its own volume of liquid could be therefore operated. We propose that the boundary condition of the dynamic liquid balance behavior on conical fibers, namely, steady holding of liquid droplet at the tip region of the SCCW, makes it an excellent fibrous medium to manipulate liquid. Moreover, we demonstrate that the titling angle of the SCCW can also affect its efficiency of liquid manipulation by virtue of its mechanical rigidity, which is hardly realized by flexible natural hairs. We envision that the bio-inspired SCCW could give inspiration in designing materials and devices to manipulate liquid in a more controllable way and with high efficiency.

Centralized, decentralized, and independent control of a flexible manipulator on a flexible base

NASA Technical Reports Server (NTRS)

Li, Feiyue; Bainum, Peter M.; Xu, Jianke

1991-01-01

The dynamics and control of a flexible manipulator arm with payload mass on a flexible base in space are considered. The controllers are provided by one torquer at the center of the base and one torquer at the connection joint of the robot and the base. The nonlinear dynamics of the system is modeled by applying the finite element method and Lagrangian formula. Three control strategies are considered and compared, i.e., centralized control, decentralized control, and independent control. All these control designs are based on the linear quadratic regulator theory. A mathematical decomposition is used in the decentralization process so that the coupling between the subsystems is weak, while a physical decomposition is used in the independent control design process. For both the decentralized and the independent controls, the stability of the overall linear system is checked before a numerical simulations is initiated. Two numerical examples show that the response of the independent control system are close to those of the centralized control system, while the responses of the decentralized control system are not.

Boundary control for a constrained two-link rigid-flexible manipulator with prescribed performance

NASA Astrophysics Data System (ADS)

Cao, Fangfei; Liu, Jinkun

2018-05-01

In this paper, we consider a boundary control problem for a constrained two-link rigid-flexible manipulator. The nonlinear system is described by hybrid ordinary differential equation-partial differential equation (ODE-PDE) dynamic model. Based on the coupled ODE-PDE model, boundary control is proposed to regulate the joint positions and eliminate the elastic vibration simultaneously. With the help of prescribed performance functions, the tracking error can converge to an arbitrarily small residual set and the convergence rate is no less than a certain pre-specified value. Asymptotic stability of the closed-loop system is rigorously proved by the LaSalle's Invariance Principle extended to infinite-dimensional system. Numerical simulations are provided to demonstrate the effectiveness of the proposed controller.

Analysis of a concentric-tube robot design and feasibility for endoscopic deployment

NASA Astrophysics Data System (ADS)

Ponten, Ryan; Black, Caroline B.; Russ, Andrew J.; Rucker, D. Caleb

2017-03-01

An intraluminal endoscopic approach is desirable for most colonoscopic procedures and is growing in favor for other surgeries as tools are enhanced. Flexible robotic manipulators could further enhance the dexterity and precision of commercial endoscopic systems. In this paper, we explore the capabilities of concentric tube robots to work as tool manipulators at the tip of a colonoscope to perform endoscopic submucousal dissection (ESD) and endoscopic full thickness resection (EFTR). We provide an overview of the kinematic modeling of these manipulators, a design of a prototype manipulator and the transmission actuation system. Our analysis examines the workspace and stiffness of these manipulators being controlled at the tip of a colonoscope. We compare the results to reported surgical requirements and propose solutions for enhancing their effectiveness including notching tubes with a larger Young's Modulus. We also determine the resolution and accuracy of the actuation system.

The JPL Serpentine Robot: A 12 DOF System for Inspection

NASA Technical Reports Server (NTRS)

Paljug, E.; Ohm, T.; Hayati, S.

1995-01-01

The Serpentine Robot is a prototype hyper-redundant (snake-like) manipulator system developed at the Jet Propulsion Laboratory. It is designed to navigate and perform tasks in obstructed and constrained environments in which conventional 6 DOF manipulators cannot function. Described are the robot mechanical design, a joint assembly low level inverse kinematic algorithm, control development, and applications.

Hydraulic redistribution in a Douglas-fir forest: lessons from system manipulations.

Treesearch

J. Renée Brooks; Frederick C. Meinzer; Jeffery M. Warren; Jean-Christophe Domec; Rob Coulombe

2006-01-01

Hydraulic redistribution (HR) occurs in many ecosystems; however, key questions remain about its consequences at the ecosystem level. The objectives of the present study were to quantify seasonal variation in HR and its driving force, and to manipulate the soil-root system to elucidate physiological components controlling HR and utilization of redistributed water. In...

Dynamic task allocation for a man-machine symbiotic system

NASA Technical Reports Server (NTRS)

Parker, L. E.; Pin, F. G.

1987-01-01

This report presents a methodological approach to the dynamic allocation of tasks in a man-machine symbiotic system in the context of dexterous manipulation and teleoperation. This report addresses a symbiotic system containing two symbiotic partners which work toward controlling a single manipulator arm for the execution of a series of sequential manipulation tasks. It is proposed that an automated task allocator use knowledge about the constraints/criteria of the problem, the available resources, the tasks to be performed, and the environment to dynamically allocate task recommendations for the man and the machine. The presentation of the methodology includes discussions concerning the interaction of the knowledge areas, the flow of control, the necessary communication links, and the replanning of the task allocation. Examples of task allocation are presented to illustrate the results of this methodolgy.

Dynamics modelling and Hybrid Suppression Control of space robots performing cooperative object manipulation

NASA Astrophysics Data System (ADS)

Zarafshan, P.; Moosavian, S. Ali A.

2013-10-01

Dynamics modelling and control of multi-body space robotic systems composed of rigid and flexible elements is elaborated here. Control of such systems is highly complicated due to severe under-actuated condition caused by flexible elements, and an inherent uneven nonlinear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, also to develop simulation studies in support of design improvement, and finally for practical implementations. In this paper, the Rigid-Flexible Interactive dynamics Modelling (RFIM) approach is introduced as a combination of Lagrange and Newton-Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. To reveal such merits of this new approach, a Hybrid Suppression Control (HSC) for a cooperative object manipulation task will be proposed, and applied to usual space systems. A Wheeled Mobile Robotic (WMR) system with flexible appendages as a typical space rover is considered which contains a rigid main body equipped with two manipulating arms and two flexible solar panels, and next a Space Free Flying Robotic system (SFFR) with flexible members is studied. Modelling verification of these complicated systems is vigorously performed using ANSYS and ADAMS programs, while the limited computations of RFIM approach provides an efficient tool for the proposed controller design. Furthermore, it will be shown that the vibrations of the flexible solar panels results in disturbing forces on the base which may produce undesirable errors and perturb the object manipulation task. So, it is shown that these effects can be significantly eliminated by the proposed Hybrid Suppression Control algorithm.

Personnel occupied woven envelope robot

NASA Technical Reports Server (NTRS)

Wessling, Francis; Teoh, William; Ziemke, M. Carl

1988-01-01

The Personnel Occupied Woven Envelope Robot (POWER) provides an alternative to extravehicular activity (EVA) of space suited astronauts and/or use of long slender manipulator arms such as are used in the Shuttle Remote Manipulator System. POWER provides the capability for a shirt sleeved astronaut to perform such work by entering a control pod through air locks at both ends of an inflated flexible bellows (access tunnel). The exoskeleton of the tunnel is a series of six degrees of freedom (Six-DOF) articulated links compressible to 1/6 of their fully extended length. The operator can maneuver the control pod to almost any location within about 50 m of the base attachment to the space station. POWER can be envisioned as a series of hollow Six-DOF manipulator segments or arms wherein each arm grasps the shoulder of the next arm. Inside the hollow arms ia a bellow-type access tunnel. The control pod is the fist of the series of linked hollow arms. The fingers of the fist are conventional manipulator arms under direct visual control of the nearby operator in the pod. The applications and progress to date of the POWER system is given.

Model-independent position domain sliding mode control for contour tracking of robotic manipulator

NASA Astrophysics Data System (ADS)

Yue, W. H.; Pano, V.; Ouyang, P. R.; Hu, Y. Q.

2017-01-01

In this paper, a new position domain feedback type sliding mode control (PDC-SMC) law is proposed for contour tracking control of multi-DOF (degree of freedom) nonlinear robotic manipulators focusing on the improvement of contour tracking performances. One feature of the proposed control law is its model-independent control scheme that can avoid calculation of the feedforward part in a standard SMC. The new control law takes the advantages of the high contour tracking performance of PD type feedback position domain control (PDC) and the robustness of SMC. Stability analysis is performed using the Lyapunov stability theory, and simulation studies are conducted to verify the effectiveness of the developed PDC-SMC control system. In addition, the effects of control parameters of the SMC on system performances are studied.

Dual-Arm Generalized Compliant Motion With Shared Control

NASA Technical Reports Server (NTRS)

Backes, Paul G.

1994-01-01

Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134).

Experiments in cooperative manipulation: A system perspective

NASA Technical Reports Server (NTRS)

Schneider, Stanley A.; Cannon, Robert H., Jr.

1989-01-01

In addition to cooperative dynamic control, the system incorporates real time vision feedback, a novel programming technique, and a graphical high level user interface. By focusing on the vertical integration problem, not only these subsystems are examined, but also their interfaces and interactions. The control system implements a multi-level hierarchical structure; the techniques developed for operator input, strategic command, and cooperative dynamic control are presented. At the highest level, a mouse-based graphical user interface allows an operator to direct the activities of the system. Strategic command is provided by a table-driven finite state machine; this methodology provides a powerful yet flexible technique for managing the concurrent system interactions. The dynamic controller implements object impedance control; an extension of Nevill Hogan's impedance control concept to cooperative arm manipulation of a single object. Experimental results are presented, showing the system locating and identifying a moving object catching it, and performing a simple cooperative assembly. Results from dynamic control experiments are also presented, showing the controller's excellent dynamic trajectory tracking performance, while also permitting control of environmental contact force.

Dynamic coupling of underactuated manipulators

NASA Astrophysics Data System (ADS)

Bergerman, Marcel; Lee, Christopher; Xu, Yangsheng

1994-08-01

In recent years, researchers have been turning their attention to so called underactuated systems, where the term underactuated refers to the fact that the system has more joints than control actuators. Some examples of underactuated systems are robot manipulators with failed actuators; free-floating space robots, where the base can be considered as a virtual passive linkage in inertia space; legged robots with passive joints; hyper-redundant (snake-like) robots with passive joints, etc. From the examples above, it is possible to justify the importance of the study of underactuated systems. For example, if some actuators of a conventional manipulator fail, the loss of one or more degrees of freedom may compromise an entire operation. In free-floating space systems, the base (satellite) can be considered as a 6-DOF device without positioning actuators. Finally, manipulators with passive joints and hyper-redundant robots with few actuators are important from the viewpoint of energy saving, lightweight design and compactness.

Pneumatic artificial muscle actuators for compliant robotic manipulators

NASA Astrophysics Data System (ADS)

Robinson, Ryan Michael

Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and adaptive neural network control. Results demonstrated the benefits of an accurate model in model-based control, and the advantages of adaptive neural network control when a model is unavailable or variations in payload are expected. Lastly, a variable recruitment strategy was applied to a group of parallel muscles actuating a common joint. Increased manipulator efficiency was observed when fewer PAMs were activated, justifying the use of variable recruitment strategies. Overall, this research demonstrates the benefits of pneumatic artificial muscles as actuators in robotics applications. It demonstrates that PAM-based manipulators can be well-modeled and can achieve high tracking accuracy over a wide range of payloads and inputs while maintaining natural compliance.

Flight telerobotic servicer legacy

NASA Astrophysics Data System (ADS)

Shattuck, Paul L.; Lowrie, James W.

1992-11-01

The Flight Telerobotic Servicer (FTS) was developed to enhance and provide a safe alternative to human presence in space. The first step for this system was a precursor development test flight (DTF-1) on the Space Shuttle. DTF-1 was to be a pathfinder for manned flight safety of robotic systems. The broad objectives of this mission were three-fold: flight validation of telerobotic manipulator (design, control algorithms, man/machine interfaces, safety); demonstration of dexterous manipulator capabilities on specific building block tasks; and correlation of manipulator performance in space with ground predictions. The DTF-1 system is comprised of a payload bay element (7-DOF manipulator with controllers, end-of-arm gripper and camera, telerobot body with head cameras and electronics module, task panel, and MPESS truss) and an aft flight deck element (force-reflecting hand controller, crew restraint, command and display panel and monitors). The approach used to develop the DTF-1 hardware, software and operations involved flight qualification of components from commercial, military, space, and R controller, end-of-arm tooling, force/torque transducer) and the development of the telerobotic system for space applications. The system is capable of teleoperation and autonomous control (advances state of the art); reliable (two-fault tolerance); and safe (man-rated). Benefits from the development flight included space validation of critical telerobotic technologies and resolution of significant safety issues relating to telerobotic operations in the Shuttle bay or in the vicinity of other space assets. This paper discusses the lessons learned and technology evolution that stemmed from developing and integrating a dexterous robot into a manned system, the Space Shuttle. Particular emphasis is placed on the safety and reliability requirements for a man-rated system as these are the critical factors which drive the overall system architecture. Other topics focused on include: task requirements and operational concepts for servicing and maintenance of space platforms; origins of technology for dexterous robotic systems; issues associated with space qualification of components; and development of the industrial base to support space robotics.

Electromechanical actuator for the tongs of a servomanipulator

DOEpatents

Martin, H. Lee; Killough, Stephen M.

1986-01-01

Computer-augmented electromechanical system is provided for controlling the tongs of a servomanipulator. The mechanical tongs are motor-driven through the remote slave arm of the manipulator, and the motor control current is supplied by a position sensor which senses the position of a spring-loaded trigger in the master arm handle on the manipulator. The actuator for the tongs provides the operator with artificial force reflection in a unilateral force-force control loop.

Data-driven methods towards learning the highly nonlinear inverse kinematics of tendon-driven surgical manipulators.

PubMed

Xu, Wenjun; Chen, Jie; Lau, Henry Y K; Ren, Hongliang

2017-09-01

Accurate motion control of flexible surgical manipulators is crucial in tissue manipulation tasks. The tendon-driven serpentine manipulator (TSM) is one of the most widely adopted flexible mechanisms in minimally invasive surgery because of its enhanced maneuverability in torturous environments. TSM, however, exhibits high nonlinearities and conventional analytical kinematics model is insufficient to achieve high accuracy. To account for the system nonlinearities, we applied a data driven approach to encode the system inverse kinematics. Three regression methods: extreme learning machine (ELM), Gaussian mixture regression (GMR) and K-nearest neighbors regression (KNNR) were implemented to learn a nonlinear mapping from the robot 3D position states to the control inputs. The performance of the three algorithms was evaluated both in simulation and physical trajectory tracking experiments. KNNR performed the best in the tracking experiments, with the lowest RMSE of 2.1275 mm. The proposed inverse kinematics learning methods provide an alternative and efficient way to accurately model the tendon driven flexible manipulator. Copyright © 2016 John Wiley & Sons, Ltd.

A lightweight, high strength dexterous manipulator for commercial applications

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Schena, Bruce M.; Cohan, Steve M.

1991-01-01

The concept, design, and features are described of a lightweight, high strength, modular robot manipulator being developed for space and commercial applications. The manipulator has seven fully active degrees of freedom and is fully operational in 1 G. Each of the seven joints incorporates a unique drivetrain design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. Feedback sensors provide position, velocity, torque, and motor winding temperature information at each joint. This sensing system is also designed to be single fault tolerant. The manipulator consists of five modules (not including gripper). These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly and/or disassembly for reconfiguration, transport, or servicing. The manipulator is a completely enclosed assembly, with no exposed components or wires. Although the initial prototype will not be space qualified, the design is well suited to meeting space requirements. The control system provides dexterous motion by controlling the endpoint location and arm pose simultaneously. Potential applications are discussed.

Project Plan 7930 Cell G PaR Remote Handling System Replacement

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kinney, Kathryn A

2009-10-01

For over 40 years the US Department of Energy (DOE) and its predecessors have made Californium-252 ({sup 252}Cf) available for a wide range of industries including medical, nuclear fuels, mining, military and national security. The Radiochemical Engineering Development Center (REDC) located within the Oak Ridge National Laboratory (ORNL) processes irradiated production targets from the High Flux Isotope Reactor (HFIR). Operations in Building 7930, Cell G provide over 70% of the world's demand for {sup 252}Cf. Building 7930 was constructed and equipped in the mid-1960s. Current operations for {sup 252}Cf processing in Building 7930, Cell G require use of through-the-wall manipulatorsmore » and the PaR Remote Handling System. Maintenance and repairs for the manipulators is readily accomplished by removal of the manipulator and relocation to a repair shop where hands-on work can be performed in glove boxes. Contamination inside cell G does not currently allow manned entry and no provisions were created for a maintenance area inside the cell. There has been no maintenance of the PaR system or upgrades, leaving operations vulnerable should the system have a catastrophic failure. The Cell G PaR system is currently being operated in a run to failure mode. As the manipulator is now 40+ years old there is significant risk in this method of operation. In 2006 an assessment was completed that resulted in recommendations for replacing the manipulator operator control and power centers which are used to control and power the PaR manipulator in Cell G. In mid-2008 the chain for the bridge drive failed and subsequent examinations indicated several damaged links (see Figure 1). To continue operations the PaR manipulator arm is being used to push and pull the bridge as a workaround. A retrieval tool was fabricated, tested and staged inside Cell G that will allow positioning of the bridge and manipulator arm for removal from the cell should the PaR system completely fail. A fully functioning and reliable Par manipulator arm is necessary for uninterrupted {sup 252}Cf operations; a fully-functioning bridge is needed for the system to function as intended.« less

Mechanisms test bed math model modification and simulation support

NASA Technical Reports Server (NTRS)

Gilchrist, Andrea C.; Tobbe, Patrick A.

1995-01-01

This report summarizes the work performed under contract NAS8-38771 in support of the Marshall Space Flight Center Six Degree of Freedom Motion Facility and Flight Robotics Laboratory. The contract activities included the development of the two flexible body and Remote Manipulator System simulations, Dynamic Overhead Target Simulator control system and operating software, Global Positioning System simulation, and Manipulator Coupled Spacecraft Controls Testbed. Technical support was also provided for the Lightning Imaging Sensor and Solar X-Ray Imaging programs. The cover sheets and introductory sections for the documentation written under this contract are provided as an appendix.

The locating ways of laying pipe manipulator

NASA Astrophysics Data System (ADS)

Wang, Dan; Li, Bin; Lei, DongLiang

2010-01-01

The laying pipe manipulator is a new equipment to lay concrete pipe. This kind of manipulator makes the work of laying pipes mechanized and automated. We report here a new laying pipe manipulator. The manipulator has 5 free degrees, and is driven by the hydraulic system. In the paper, one critical question of manipulator is studied: the locating ways of the manipulator to lay concrete pipe. During the process of laying concrete pipe, how to locate the manipulator is realized by the locating system of manipulator. The locating system consists of photoelectric target, laser producer, and computer. According to different construction condition, one or two or three photoelectric targets can be used. During the process of laying concrete pipe, if the interface of pipes are jointed together, and the other segment of pipe deviates from the pipe way, one target can be used, if the angle that the manipulator rotates around the holding pipe's axes is 0°, two targets can be used, three targets can be used at any site. In the paper, according to each locating way, the theory analysis is done. And the mathematical models of the manipulator moving from original position to goal position are obtained by different locating way. And the locating experiment was done. According to the experiment result, the work principle and mathematical models of different locating way was turned out to be well adopted for requirement, the mathematical model of different locating way supplies the basic control theory for the manipulator to lay and joint concrete pipe automatically.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1990-01-01

New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

Beam rider for an Articulated Robot Manipulator (ARM) accurate positioning of long flexible manipulators

NASA Technical Reports Server (NTRS)

Malachowski, M. J.

1990-01-01

Laser beam positioning and beam rider modules were incorporated into the long hollow flexible segment of an articulated robot manipulator (ARM). Using a single laser beam, the system determined the position of the distal ARM endtip, with millimetric precision, in six degrees of freedom, at distances of up to 10 meters. Preliminary designs, using space rated technology for the critical systems, of a two segmented physical ARM, with a single and a dual degree of freedom articulation, were developed, prototyped, and tested. To control the positioning of the physical ARM, an indirect adaptive controller, which used the mismatch between the position of the laser beam under static and dynamic conditions, was devised. To predict the behavior of the system and test the concept, a computer simulation model was constructed. A hierarchical artificially intelligent real time ADA operating system program structure was created. The software was designed for implementation on a dedicated VME bus based Intel 80386 administered parallel processing multi-tasking computer system.

Retrospective revaluation in sequential decision making: a tale of two systems.

PubMed

Gershman, Samuel J; Markman, Arthur B; Otto, A Ross

2014-02-01

Recent computational theories of decision making in humans and animals have portrayed 2 systems locked in a battle for control of behavior. One system--variously termed model-free or habitual--favors actions that have previously led to reward, whereas a second--called the model-based or goal-directed system--favors actions that causally lead to reward according to the agent's internal model of the environment. Some evidence suggests that control can be shifted between these systems using neural or behavioral manipulations, but other evidence suggests that the systems are more intertwined than a competitive account would imply. In 4 behavioral experiments, using a retrospective revaluation design and a cognitive load manipulation, we show that human decisions are more consistent with a cooperative architecture in which the model-free system controls behavior, whereas the model-based system trains the model-free system by replaying and simulating experience.

Reflexive obstacle avoidance for kinematically-redundant manipulators

NASA Technical Reports Server (NTRS)

Karlen, James P.; Thompson, Jack M., Jr.; Farrell, James D.; Vold, Havard I.

1989-01-01

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration.

A motion sensing-based framework for robotic manipulation.

PubMed

Deng, Hao; Xia, Zeyang; Weng, Shaokui; Gan, Yangzhou; Fang, Peng; Xiong, Jing

2016-01-01

To data, outside of the controlled environments, robots normally perform manipulation tasks operating with human. This pattern requires the robot operators with high technical skills training for varied teach-pendant operating system. Motion sensing technology, which enables human-machine interaction in a novel and natural interface using gestures, has crucially inspired us to adopt this user-friendly and straightforward operation mode on robotic manipulation. Thus, in this paper, we presented a motion sensing-based framework for robotic manipulation, which recognizes gesture commands captured from motion sensing input device and drives the action of robots. For compatibility, a general hardware interface layer was also developed in the framework. Simulation and physical experiments have been conducted for preliminary validation. The results have shown that the proposed framework is an effective approach for general robotic manipulation with motion sensing control.

Manipulators with flexible links: A simple model and experiments

NASA Technical Reports Server (NTRS)

Shimoyama, Isao; Oppenheim, Irving J.

1989-01-01

A simple dynamic model proposed for flexible links is briefly reviewed and experimental control results are presented for different flexible systems. A simple dynamic model is useful for rapid prototyping of manipulators and their control systems, for possible application to manipulator design decisions, and for real time computation as might be applied in model based or feedforward control. Such a model is proposed, with the further advantage that clear physical arguments and explanations can be associated with its simplifying features and with its resulting analytical properties. The model is mathematically equivalent to Rayleigh's method. Taking the example of planar bending, the approach originates in its choice of two amplitude variables, typically chosen as the link end rotations referenced to the chord (or the tangent) motion of the link. This particular choice is key in establishing the advantageous features of the model, and it was used to support the series of experiments reported.

Modal analysis and control of flexible manipulator arms. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Neto, O. M.

1974-01-01

The possibility of modeling and controlling flexible manipulator arms was examined. A modal approach was used for obtaining the mathematical model and control techniques. The arm model was represented mathematically by a state space description defined in terms of joint angles and mode amplitudes obtained from truncation on the distributed systems, and included the motion of a two link two joint arm. Three basic techniques were used for controlling the system: pole allocation with gains obtained from the rigid system with interjoint feedbacks, Simon-Mitter algorithm for pole allocation, and sensitivity analysis with respect to parameter variations. An improvement in arm bandwidth was obtained. Optimization of some geometric parameters was undertaken to maximize bandwidth for various payload sizes and programmed tasks. The controlled system is examined under constant gains and using the nonlinear model for simulations following a time varying state trajectory.

Control of Advanced Reactor-Coupled Heat Exchanger System: Incorporation of Reactor Dynamics in System Response to Load Disturbances

DOE PAGES

Skavdahl, Isaac; Utgikar, Vivek; Christensen, Richard; ...

2016-05-24

We present an alternative control schemes for an Advanced High Temperature Reactor system consisting of a reactor, an intermediate heat exchanger, and a secondary heat exchanger (SHX) in this paper. One scheme is designed to control the cold outlet temperature of the SHX (T co) and the hot outlet temperature of the intermediate heat exchanger (T ho2) by manipulating the hot-side flow rates of the heat exchangers (F h/F h2) responding to the flow rate and temperature disturbances. The flow rate disturbances typically require a larger manipulation of the flow rates than temperature disturbances. An alternate strategy examines the controlmore » of the cold outlet temperature of the SHX (T co) only, since this temperature provides the driving force for energy production in the power conversion unit or the process application. The control can be achieved by three options: (1) flow rate manipulation; (2) reactor power manipulation; or (3) a combination of the two. The first option has a quicker response but requires a large flow rate change. The second option is the slowest but does not involve any change in the flow rates of streams. The final option appears preferable as it has an intermediate response time and requires only a minimal flow rate change.« less

IECON '87: Industrial applications of control and simulation; Proceedings of the 1987 International Conference on Industrial Electronics, Control, and Instrumentation, Cambridge, MA, Nov. 3, 4, 1987

NASA Technical Reports Server (NTRS)

Hartley, Tom T. (Editor)

1987-01-01

Recent advances in control-system design and simulation are discussed in reviews and reports. Among the topics considered are fast algorithms for generating near-optimal binary decision programs, trajectory control of robot manipulators with compensation of load effects via a six-axis force sensor, matrix integrators for real-time simulation, a high-level control language for an autonomous land vehicle, and a practical engineering design method for stable model-reference adaptive systems. Also addressed are the identification and control of flexible-limb robots with unknown loads, adaptive control and robust adaptive control for manipulators with feedforward compensation, adaptive pole-placement controllers with predictive action, variable-structure strategies for motion control, and digital signal-processor-based variable-structure controls.

A hazard control system for robot manipulators

NASA Technical Reports Server (NTRS)

Carter, Ruth Chiang; Rad, Adrian

1991-01-01

A robot for space applications will be required to complete a variety of tasks in an uncertain, harsh environment. This fact presents unusual and highly difficult challenges to ensuring the safety of astronauts and keeping the equipment they depend on from becoming damaged. The systematic approach being taken to control hazards that could result from introducing robotics technology in the space environment is described. First, system safety management and engineering principles, techniques, and requirements are discussed as they relate to Shuttle payload design and operation in general. The concepts of hazard, hazard category, and hazard control, as defined by the Shuttle payload safety requirements, is explained. Next, it is shown how these general safety management and engineering principles are being implemented on an actual project. An example is presented of a hazard control system for controlling one of the hazards identified for the Development Test Flight (DTF-1) of NASA's Flight Telerobotic Servicer, a teleoperated space robot. How these schemes can be applied to terrestrial robots is discussed as well. The same software monitoring and control approach will insure the safe operation of a slave manipulator under teleoperated or autonomous control in undersea, nuclear, or manufacturing applications where the manipulator is working in the vicinity of humans or critical hardware.

A Mechanical Coil Insertion System for Endovascular Coil Embolization of Intracranial Aneurysms

PubMed Central

Haraguchi, K.; Miyachi, S.; Matsubara, N.; Nagano, Y.; Yamada, H.; Marui, N.; Sano, A.; Fujimoto, H.; Izumi, T.; Yamanouchi, T.; Asai, T.; Wakabayashi, T.

2013-01-01

Summary Like other fields of medicine, robotics and mechanization might be introduced into endovascular coil embolization of intracranial aneurysms for effective treatment. We have already reported that coil insertion force could be smaller and more stable when the coil delivery wire is driven mechanically at a constant speed. Another background is the difficulty in synchronizing operators' minds and hands when two operators control the microcatheter and the coil respectively. We have therefore developed a mechanical coil insertion system enabling a single operator to insert coils at a fixed speed while controlling the microcatheter. Using our new system, the operator manipulated the microcatheter with both hands and drove the coil using foot switches simultaneously. A delivery wire force sensor previously reported was used concurrently, allowing the operator to detect excessive stress on the wire. In vitro coil embolization was performed using three methods: simple mechanical advance of the coil; simple mechanical advance of the coil with microcatheter control; and driving (forward and backward) of the coil using foot switches in addition to microcatheter control. The system worked without any problems, and did not interfere with any procedures. In experimental coil embolization, delivery wire control using the foot switches as well as microcatheter manipulation helped to achieve successful insertion of coils. This system could offer the possibility of developing safer and more efficient coil embolization. Although we aim at total mechanization and automation of procedures in the future, microcatheter manipulation and synchronized delivery wire control are still indispensable using this system. PMID:23693038

Reducing model uncertainty effects in flexible manipulators through the addition of passive damping

NASA Technical Reports Server (NTRS)

Alberts, T. E.

1987-01-01

An important issue in the control of practical systems is the effect of model uncertainty on closed loop performance. This is of particular concern when flexible structures are to be controlled, due to the fact that states associated with higher frequency vibration modes are truncated in order to make the control problem tractable. Digital simulations of a single-link manipulator system are employed to demonstrate that passive damping added to the flexible member reduces adverse effects associated with model uncertainty. A controller was designed based on a model including only one flexible mode. This controller was applied to larger order systems to evaluate the effects of modal truncation. Simulations using a Linear Quadratic Regulator (LQR) design assuming full state feedback illustrate the effect of control spillover. Simulations of a system using output feedback illustrate the destabilizing effect of observation spillover. The simulations reveal that the system with passive damping is less susceptible to these effects than the untreated case.

Advanced Nanostructures for Two-Phase Fluid and Thermal Transport

DTIC Science & Technology

2014-08-07

commercial applications. Pumped phase-change based microfluidic systems promise compact solutions with high heat removal capability. However...materials for liquid transport in microfluidics , cell manipulation in biological systems, and light tuning in optical applications via their...and 3c) with precise control for real- time fluid and optical manipulation. Inspired by hair and motile cilia on animal skin and plant leaves for

The role of the real-time simulation facility, SIMFAC, in the design, development and performance verification of the Shuttle Remote Manipulator System (SRMS) with man-in-the-loop

NASA Technical Reports Server (NTRS)

Mccllough, J. R.; Sharpe, A.; Doetsch, K. H.

1980-01-01

The SIMFAC has played a vital role in the design, development, and performance verification of the shuttle remote manipulator system (SRMS) to be installed in the space shuttle orbiter. The facility provides for realistic man-in-the-loop operation of the SRMS by an operator in the operator complex, a flightlike crew station patterned after the orbiter aft flight deck with all necessary man machine interface elements, including SRMS displays and controls and simulated out-of-the-window and CCTV scenes. The characteristics of the manipulator system, including arm and joint servo dynamics and control algorithms, are simulated by a comprehensive mathematical model within the simulation subsystem of the facility. Major studies carried out using SIMFAC include: SRMS parameter sensitivity evaluations; the development, evaluation, and verification of operating procedures; and malfunction simulation and analysis of malfunction performance. Among the most important and comprehensive man-in-the-loop simulations carried out to date on SIMFAC are those which support SRMS performance verification and certification when the SRMS is part of the integrated orbiter-manipulator system.

Checkout activity on the Remote Manipulator System (RMS) arm

NASA Image and Video Library

1997-02-12

S82-E-5016 (12 Feb. 1997) --- Astronaut Steven A. Hawley, STS-82 mission specialist, controls Discovery's Remote Manipulation System (RMS), from the aft flight deck. Hawley and his crew mates are preparing for a scheduled Extravehicular Activity (EVA) with the Hubble Space Telescope (HST), which will be pulled into the Space Shuttle Discovery's cargo bay with the aid of the Remote Manipulator System (RMS). A series of EVA's will be required to properly service the giant telescope. Hawley served as a mission specialist on NASA's 1990 mission which was responsible for placing HST in Earth-orbit. This view was taken with an Electronic Still Camera (ESC).

A system for intelligent teleoperation research

NASA Technical Reports Server (NTRS)

Orlando, N. E.

1983-01-01

The Automation Technology Branch of NASA Langley Research Center is developing a research capability in the field of artificial intelligence, particularly as applicable in teleoperator/robotics development for remote space operations. As a testbed for experimentation in these areas, a system concept has been developed and is being implemented. This system termed DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), interfaces the key processes of perception, reasoning, and manipulation by linking hardware sensors and manipulators to a modular artificial intelligence (AI) software system in a hierarchical control structure. Verification experiments have been performed: one experiment used a blocksworld database and planner embedded in the DAISIE system to intelligently manipulate a simple physical environment; the other experiment implemented a joint-space collision avoidance algorithm. Continued system development is planned.

HoloHands: games console interface for controlling holographic optical manipulation

NASA Astrophysics Data System (ADS)

McDonald, C.; McPherson, M.; McDougall, C.; McGloin, D.

2012-10-01

The increased application of holographic optical manipulation techniques within the life sciences has sparked the development of accessible interfaces for control of holographic optical tweezers. Of particular interest are those that employ familiar, commercially available technologies. Here we present the use of a low cost games console interface, the Microsoft Kinect for the control of holographic optical tweezers and a study into the effect of using such a system upon the quality of trap generated.

Issues, concerns, and initial implementation results for space based telerobotic control

NASA Technical Reports Server (NTRS)

Lawrence, D. A.; Chapel, J. D.; Depkovich, T. M.

1987-01-01

Telerobotic control for space based assembly and servicing tasks presents many problems in system design. Traditional force reflection teleoperation schemes are not well suited to this application, and the approaches to compliance control via computer algorithms have yet to see significant testing and comparison. These observations are discussed in detail, as well as the concerns they raise for imminent design and testing of space robotic systems. As an example of the detailed technical work yet to be done before such systems can be specified, a particular approach to providing manipulator compliance is examined experimentally and through modeling and analysis. This yields some initial insight into the limitations and design trade-offs for this class of manipulator control schemes. Implications of this investigation for space based telerobots are discussed in detail.

Intelligent Robotic Systems Study (IRSS), phase 2

NASA Technical Reports Server (NTRS)

1990-01-01

Under the Intelligent Robotics System Study (IRSS) contract, a generalized robotic control architecture was developed for use with the ProtoFlight Manipulator Arm (PFMA). The controller built for the PFMA provides localized position based force control, teleoperation and advanced path recording and playback capabilities. Various hand controllers can be used with the system in conjunction with a synthetic time delay capability to provide a realistic test bed for typical satellite servicing tasks. The configuration of the IRSS system is illustrated and discussed. The PFMA has six computer controllable degrees of freedom (DOF) plus a seventh manually indexable DOF, making the manipulator a pseudo 7 DOF mechanism. Because the PFMA was not developed to operate in a gravity field, but rather in space, it is counter balanced at the shoulder, elbow and wrist and a spring counterbalance has been added near the wrist to provide additional support. Built with long slender intra-joint linkages, the PFMA has a workspace nearly 2 meters deep and possesses sufficient dexterity to perform numerous satellite servicing tasks. The manipulator is arranged in a shoulder-yaw, pitch, elbow-pitch, and wrist-pitch, yaw, roll configuration, with an indexable shoulder roll joint. Digital control of the PFMA is implemented using a variety of single board computers developed by Heurikon Corporation and other manufacturers. The IRSS controller is designed to be a multi-rate, multi-tasking system. Independent joint servos run at a 134 Hz rate and position based impedance control functions at 67 Hz. Autonomous path generation and hand controller inputs are processed at a 33 Hz.

Optofluidics incorporating actively controlled micro- and nano-particles

PubMed Central

Kayani, Aminuddin A.; Khoshmanesh, Khashayar; Ward, Stephanie A.; Mitchell, Arnan; Kalantar-zadeh, Kourosh

2012-01-01

The advent of optofluidic systems incorporating suspended particles has resulted in the emergence of novel applications. Such systems operate based on the fact that suspended particles can be manipulated using well-appointed active forces, and their motions, locations and local concentrations can be controlled. These forces can be exerted on both individual and clusters of particles. Having the capability to manipulate suspended particles gives users the ability for tuning the physical and, to some extent, the chemical properties of the suspension media, which addresses the needs of various advanced optofluidic systems. Additionally, the incorporation of particles results in the realization of novel optofluidic solutions used for creating optical components and sensing platforms. In this review, we present different types of active forces that are used for particle manipulations and the resulting optofluidic systems incorporating them. These systems include optical components, optofluidic detection and analysis platforms, plasmonics and Raman systems, thermal and energy related systems, and platforms specifically incorporating biological particles. We conclude the review with a discussion of future perspectives, which are expected to further advance this rapidly growing field. PMID:23864925

Vision-based real-time position control of a semi-automated system for robot-assisted joint fracture surgery.

PubMed

Dagnino, Giulio; Georgilas, Ioannis; Tarassoli, Payam; Atkins, Roger; Dogramadzi, Sanja

2016-03-01

Joint fracture surgery quality can be improved by robotic system with high-accuracy and high-repeatability fracture fragment manipulation. A new real-time vision-based system for fragment manipulation during robot-assisted fracture surgery was developed and tested. The control strategy was accomplished by merging fast open-loop control with vision-based control. This two-phase process is designed to eliminate the open-loop positioning errors by closing the control loop using visual feedback provided by an optical tracking system. Evaluation of the control system accuracy was performed using robot positioning trials, and fracture reduction accuracy was tested in trials on ex vivo porcine model. The system resulted in high fracture reduction reliability with a reduction accuracy of 0.09 mm (translations) and of [Formula: see text] (rotations), maximum observed errors in the order of 0.12 mm (translations) and of [Formula: see text] (rotations), and a reduction repeatability of 0.02 mm and [Formula: see text]. The proposed vision-based system was shown to be effective and suitable for real joint fracture surgical procedures, contributing a potential improvement of their quality.

Telerobotic on-orbit remote fluid resupply system

NASA Technical Reports Server (NTRS)

1990-01-01

The development of a telerobotic on-orbit fluid resupply demonstration system is described. A fluid transfer demonstration system was developed which functionally simulates operations required to remotely transfer fluids (liquids or gases) from a servicing spacecraft to a receiving spacecraft through the use of telerobotic manipulations. The fluid system is representative of systems used by current or planned spacecraft and propulsion stages requiring on-orbit remote resupply. The system was integrated with an existing MSFC remotely controlled manipulator arm to mate/demate couplings for demonstration and evaluation of a complete remotely operated fluid transfer system.

Design of a force reflecting hand controller for space telemanipulation studies

NASA Technical Reports Server (NTRS)

Paines, J. D. B.

1987-01-01

The potential importance of space telemanipulator systems is reviewed, along with past studies of master-slave manipulation using a generalized force reflecting master arm. Problems concerning their dynamic interaction with the human operator have been revealed in the use of these systems, with marked differences between 1-g and simulated weightless conditions. A study is outlined to investigate the optimization of the man machine dynamics of master-slave manipulation, and a set of specifications is determined for the apparatus necessary to perform this investigation. This apparatus is a one degree of freedom force reflecting hand controller with closed loop servo control which enables it to simulate arbitrary dynamic properties to high bandwidth. Design of the complete system and its performance is discussed. Finally, the experimental adjustment of the hand controller dynamics for smooth manual control performance with good operator force perception is described, resulting in low inertia, viscously damped hand controller dynamics.

Remote Manipulator System (RMS)-based Controls-Structures Interaction (CSI) flight experiment feasibility study

NASA Technical Reports Server (NTRS)

Demeo, Martha E.

1990-01-01

The feasibility of an experiment which will provide an on-orbit validation of Controls-Structures Interaction (CSI) technology, was investigated. The experiment will demonstrate the on-orbit characterization and flexible-body control of large flexible structure dynamics using the shuttle Remote Manipulator System (RMS) with an attached payload as a test article. By utilizing existing hardware as well as establishing integration, operation and safety algorithms, techniques and procedures, the experiment will minimize the costs and risks of implementing a flight experiment. The experiment will also offer spin-off enhancement to both the Shuttle RMS (SRMS) and the Space Station RMS (SSRMS).

Design of a telerobotic controller with joint torque sensors

NASA Technical Reports Server (NTRS)

Jansen, J. F.; Herndon, J. N.

1990-01-01

The purpose was to analytically show how to design a joint controller for a telerobotic system when joint torque sensors are available. Other sensors such as actuator position, actuator velocity, joint position, and joint velocity are assumed to be accessible; however, the results will also be useful when only partial measurements are available. The controller presented can be applied to either mode of operation of a manipulator (i.e., teleoperation or robotic). Mechanical manipulators with high levels of friction are assumed. The results are applied to a telerobotic system built for NASA. Very high levels of friction have been reduced using high-gain feedback while avoiding limit cycles.

Cooperative Control of Multiple Space Manipulators

DTIC Science & Technology

1993-09-01

are configured to grasp the payload once the vehicle moves within range. After the manipulators are in position, their joints are locked while the...spacecraft maneuvers to a location and attitude near the payload. Next, the vehicle approaches the payload in a straight line until the end effectors can...grasp the payload. While the manipulator joints remain locked, the vehicle repositions the entire rigid body system to the desired payload destination

Dynamic Analysis and Control of Lightweight Manipulators with Flexible Parallel Link Mechanisms. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Lee, Jeh Won

1990-01-01

The objective is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equation of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to higher order. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. Elastic motion is expressed by the assumed mode method. Mode shape functions of each link are chosen using the load interfaced component mode synthesis. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model.

Simulation of cooperating robot manipulators on a mobile platform

NASA Technical Reports Server (NTRS)

Murphy, Stephen H.; Wen, John Ting-Yung; Saridis, George N.

1991-01-01

The dynamic equations of motion are presented for two or more cooperating manipulators on a freely moving mobile platform. The system of cooperating robot manipulators forms a closed kinematic chain where the force of interaction must be included in the formulation of robot and platform dynamics. The formulation includes the full dynamic interactions from arms to platform and arm tip to arm tip, and the possible translation and rotation of the platform. The equations of motion are shown to be identical in structure to the fixed-platform cooperative manipulator dynamics. The number of DOFs of the system is sufficiently large to make recursive dynamic calculation methods potentially more efficient than closed-form solutions. A complete simulation with two 6-DOF manipulators of a free-floating platform is presented along a with a multiple-arm controller to position the common load.

Telescience testbed experiments for biomedical studies: fertilization potential recording of amphibian eggs using tele-manipulation under stereoscopic vision.

PubMed

Watanabe, S; Tanaka, M; Wada, Y; Suzuki, H; Takagi, S; Mori, S; Fukai, K; Kanazawa, Y; Takagi, M; Hirakawa, K; Ogasawara, K; Tsumura, K; Ogawa, K; Matsumoto, K; Nagaoka, S; Suzuki, T; Shimura, D; Yamashita, M; Nishio, S

1994-07-01

The telescience testbed experiments were carried out to test and investigate the tele-manipulation techniques in the intracellular potential recording of amphibian eggs. Implementation of telescience testbed was set up in the two separated laboratories of the Tsukuba Space center of NASDA, which were connected by tele-communication links. Manipulators respective for a microelectrode and a sample stage of microscope were moved by computers, of which command signals were transmitted from a computer in a remote control room. The computer in the control room was operated by an investigator (PI) who controlled the movement of each manipulator remotely. A stereoscopic vision of the microscope image were prepared by using a head mounted display (HMD) and were indispensable to the intracellular single cell recording. The fertilization potential of amphibian eggs was successfully obtained through the remote operating system.

Chamber for the optical manipulation of microscopic particles

DOEpatents

Buican, Tudor N.; Upham, Bryan D.

1992-01-01

A particle control chamber enables experiments to be carried out on biological cells and the like using a laser system to trap and manipulate the particles. A manipulation chamber provides a plurality of inlet and outlet ports for the particles and for fluids used to control or to contact the particles. A central manipulation area is optically accessible by the laser and includes first enlarged volumes for containing a selected number of particles for experimentation. A number of first enlarged volumes are connected by flow channels through second enlarged volumes. The second enlarged volumes act as bubble valves for controlling the interconnections between the first enlarged volumes. Electrode surfaces may be applied above the first enlarged volumes to enable experimentation using the application of electric fields within the first enlarged volumes. A variety of chemical and environmental conditions may be established within individual first enlarged volumes to enable experimental conditions for small scale cellular interactions.

Integration of a computerized two-finger gripper for robot workstation safety

NASA Technical Reports Server (NTRS)

Sneckenberger, John E.; Yoshikata, Kazuki

1988-01-01

A microprocessor-based controller has been developed that continuously monitors and adjusts the gripping force applied by a special two-finger gripper. This computerized force sensing gripper system enables the endeffector gripping action to be independently detected and corrected. The gripping force applied to a manipulated object is real-time monitored for problem situations, situations which can occur during both planned and errant robot arm manipulation. When unspecified force conditions occur at the gripper, the gripping force controller initiates specific reactions to cause dynamic corrections to the continuously variable gripping action. The force controller for this intelligent gripper has been interfaced to the controller of an industrial robot. The gripper and robot controllers communicate to accomplish the successful completion of normal gripper operations as well as unexpected hazardous situations. An example of an unexpected gripping condition would be the sudden deformation of the object being manipulated by the robot. The capabilities of the interfaced gripper-robot system to apply workstation safety measures (e.g., stop the robot) when these unexpected gripping effects occur have been assessed.

PC/AT-based architecture for shared telerobotic control

NASA Astrophysics Data System (ADS)

Schinstock, Dale E.; Faddis, Terry N.; Barr, Bill G.

1993-03-01

A telerobotic control system must include teleoperational, shared, and autonomous modes of control in order to provide a robot platform for incorporating the rapid advances that are occurring in telerobotics and associated technologies. These modes along with the ability to modify the control algorithms are especially beneficial for telerobotic control systems used for research purposes. The paper describes an application of the PC/AT platform to the control system of a telerobotic test cell. The paper provides a discussion of the suitability of the PC/AT as a platform for a telerobotic control system. The discussion is based on the many factors affecting the choice of a computer platform for a real time control system. The factors include I/O capabilities, simplicity, popularity, computational performance, and communication with external systems. The paper also includes a description of the actuation, measurement, and sensor hardware of both the master manipulator and the slave robot. It also includes a description of the PC-Bus interface cards. These cards were developed by the researchers in the KAT Laboratory, specifically for interfacing to the master manipulator and slave robot. Finally, a few different versions of the low level telerobotic control software are presented. This software incorporates shared control by supervisory systems and the human operator and traded control between supervisory systems and the human operator.

Inertial-space disturbance rejection for robotic manipulators

NASA Technical Reports Server (NTRS)

Holt, Kevin

1992-01-01

The disturbance rejection control problem for a 6-DOF (degree of freedom) PUMA manipulator mounted on a 3-DOF platform is investigated. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Conditions for the stability of the closed-loop system are derived. The performance of the controller is compared for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities.

Dynamical modelling of coordinated multiple robot systems

NASA Technical Reports Server (NTRS)

Hayati, Samad

1987-01-01

The state of the art in the modeling of the dynamics of coordinated multiple robot manipulators is summarized and various problems related to this subject are discussed. It is recognized that dynamics modeling is a component used in the design of controllers for multiple cooperating robots. As such, the discussion addresses some problems related to the control of multiple robots. The techniques used to date in the modeling of closed kinematic chains are summarized. Various efforts made to date for the control of coordinated multiple manipulators is summarized.

[Research and application of microcontroller system for target controlled infusion].

PubMed

Cheng, Yuke; Dou, Jianhong; Zhang, Xingan; Wang, Ruosong

2005-08-01

This paper presents a microcontroller system for target controlled infusion according to pharmacodynamic parameters of intravenous anesthetics. It can control the depth of anesthesia by adjusting the level of plasma concentrations. The system has the advantages of high precision, extending power and easy manipulation. It has been used in the clinical anesthesia.

HYDRAULIC REDISTRIBUTION IN A DOUGLAS-FIR FOREST: LESSONS FROM SYSTEM MANIPULATIONS

EPA Science Inventory

Hydraulic redistribution (HR) has been shown to slow drying of surface soils during drought in Pacific Northwest forests, but the controls governing this process and its importance to shallow-rooted species are poorly understood. Our objective in this study was to manipulate the...

Regular physical activity reduces the effects of Achilles tendon vibration on postural control for older women.

PubMed

Maitre, J; Serres, I; Lhuisset, L; Bois, J; Gasnier, Y; Paillard, T

2015-02-01

The aim was to determine in what extent physical activity influences postural control when visual, vestibular, and/or proprioceptive systems are disrupted. Two groups of healthy older women: an active group (74.0 ± 3.8 years) who practiced physical activities and a sedentary group (74.7 ± 6.3 years) who did not, underwent 12 postural conditions consisted in altering information emanating from sensory systems by means of sensory manipulations (i.e., eyes closed, cervical collar, tendon vibration, electromyostimulation, galvanic vestibular stimulation, foam surface). The center of foot pressure velocity was recorded on a force platform. Results indicate that the sensory manipulations altered postural control. The sedentary group was more disturbed than the active group by the use of tendon vibration. There was no clear difference between the two groups in the other conditions. This study suggests that the practice of physical activities is beneficial as a means of limiting the effects of tendon vibration on postural control through a better use of the not manipulated sensory systems and/or a more efficient reweighting to proprioceptive information from regions unaffected by the tendon vibration. © 2014 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

A manipulative instrument with simultaneous gesture and end-effector trajectory planning and controlling

NASA Astrophysics Data System (ADS)

Lin, Hsien-I.; Nguyen, Xuan-Anh

2017-05-01

To operate a redundant manipulator to accomplish the end-effector trajectory planning and simultaneously control its gesture in online programming, incorporating the human motion is a useful and flexible option. This paper focuses on a manipulative instrument that can simultaneously control its arm gesture and end-effector trajectory via human teleoperation. The instrument can be classified by two parts; first, for the human motion capture and data processing, marker systems are proposed to capture human gesture. Second, the manipulator kinematics control is implemented by an augmented multi-tasking method, and forward and backward reaching inverse kinematics, respectively. Especially, the local-solution and divergence problems of a multi-tasking method are resolved by the proposed augmented multi-tasking method. Computer simulations and experiments with a 7-DOF (degree of freedom) redundant manipulator were used to validate the proposed method. Comparison among the single-tasking, original multi-tasking, and augmented multi-tasking algorithms were performed and the result showed that the proposed augmented method had a good end-effector position accuracy and the most similar gesture to the human gesture. Additionally, the experimental results showed that the proposed instrument was realized online.

Memory and cognitive control circuits in mathematical cognition and learning.

PubMed

Menon, V

2016-01-01

Numerical cognition relies on interactions within and between multiple functional brain systems, including those subserving quantity processing, working memory, declarative memory, and cognitive control. This chapter describes recent advances in our understanding of memory and control circuits in mathematical cognition and learning. The working memory system involves multiple parietal-frontal circuits which create short-term representations that allow manipulation of discrete quantities over several seconds. In contrast, hippocampal-frontal circuits underlying the declarative memory system play an important role in formation of associative memories and binding of new and old information, leading to the formation of long-term memories that allow generalization beyond individual problem attributes. The flow of information across these systems is regulated by flexible cognitive control systems which facilitate the integration and manipulation of quantity and mnemonic information. The implications of recent research for formulating a more comprehensive systems neuroscience view of the neural basis of mathematical learning and knowledge acquisition in both children and adults are discussed. © 2016 Elsevier B.V. All rights reserved.

Memory and cognitive control circuits in mathematical cognition and learning

PubMed Central

Menon, V.

2018-01-01

Numerical cognition relies on interactions within and between multiple functional brain systems, including those subserving quantity processing, working memory, declarative memory, and cognitive control. This chapter describes recent advances in our understanding of memory and control circuits in mathematical cognition and learning. The working memory system involves multiple parietal–frontal circuits which create short-term representations that allow manipulation of discrete quantities over several seconds. In contrast, hippocampal–frontal circuits underlying the declarative memory system play an important role in formation of associative memories and binding of new and old information, leading to the formation of long-term memories that allow generalization beyond individual problem attributes. The flow of information across these systems is regulated by flexible cognitive control systems which facilitate the integration and manipulation of quantity and mnemonic information. The implications of recent research for formulating a more comprehensive systems neuroscience view of the neural basis of mathematical learning and knowledge acquisition in both children and adults are discussed. PMID:27339012

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, volume 2, part 1. Appendix A: Software documentation

NASA Technical Reports Server (NTRS)

Lowrie, J. W.; Fermelia, A. J.; Haley, D. C.; Gremban, K. D.; Vanbaalen, J.; Walsh, R. W.

1982-01-01

Documentation of the preliminary software developed as a framework for a generalized integrated robotic system simulation is presented. The program structure is composed of three major functions controlled by a program executive. The three major functions are: system definition, analysis tools, and post processing. The system definition function handles user input of system parameters and definition of the manipulator configuration. The analysis tools function handles the computational requirements of the program. The post processing function allows for more detailed study of the results of analysis tool function executions. Also documented is the manipulator joint model software to be used as the basis of the manipulator simulation which will be part of the analysis tools capability.

An electronic flow control system for a variable-rate tree sprayer

USDA-ARS?s Scientific Manuscript database

Precise modulation of nozzle flow rates is a critical measure to achieve variable-rate spray applications. An electronic flow rate control system accommodating with microprocessors and pulse width modulation (PWM) controlled solenoid valves was designed to manipulate the output of spray nozzles inde...

Dynamic control modification techniques in teleoperation of a flexible manipulator. M.S. Thesis

NASA Technical Reports Server (NTRS)

Magee, David Patrick

1991-01-01

The objective of this research is to reduce the end-point vibration of a large, teleoperated manipulator while preserving the usefulness of the system motion. A master arm is designed to measure desired joint angles as the user specifies a desired tip motion. The desired joint angles from the master arm are the inputs to an adaptive PD control algorithm that positions the end-point of the manipulator. As the user moves the tip of the master, the robot will vibrate at its natural frequencies which makes it difficult to position the end-point. To eliminate the tip vibration during teleoperated motions, an input shaping method is presented. The input shaping method transforms each sample of the desired input into a new set of impulses that do not excite the system resonances. The method is explained using the equation of motion for a simple, second-order system. The impulse response of such a system is derived and the constraint equations for vibrationless motion are presented. To evaluate the robustness of the method, a different residual vibration equation from Singer's is derived that more accurately represents the input shaping technique. The input shaping method is shown to actually increase the residual vibration in certain situations when the system parameters are not accurately specified. Finally, the implementation of the input shaping method to a system with varying parameters is shown to induce a vibration into the system. To eliminate this vibration, a modified command shaping technique is developed. The ability of the modified command shaping method to reduce vibration at the system resonances is tested by varying input perturbations to trajectories in a range of possible user inputs. By comparing the frequency responses of the transverse acceleration at the end-point of the manipulator, the modified method is compared to the original PD routine. The control scheme that produces the smaller magnitude of resonant vibration at the first natural frequency is considered the more effective control method.

A new RISE-based adaptive control of PKMs: design, stability analysis and experiments

NASA Astrophysics Data System (ADS)

Bennehar, M.; Chemori, A.; Bouri, M.; Jenni, L. F.; Pierrot, F.

2018-03-01

This paper deals with the development of a new adaptive control scheme for parallel kinematic manipulators (PKMs) based on Rrbust integral of the sign of the error (RISE) control theory. Original RISE control law is only based on state feedback and does not take advantage of the modelled dynamics of the manipulator. Consequently, the overall performance of the resulting closed-loop system may be poor compared to modern advanced model-based control strategies. We propose in this work to extend RISE by including the nonlinear dynamics of the PKM in the control loop to improve its overall performance. More precisely, we augment original RISE control scheme with a model-based adaptive control term to account for the inherent nonlinearities in the closed-loop system. To demonstrate the relevance of the proposed controller, real-time experiments are conducted on the Delta robot, a three-degree-of-freedom (3-DOF) PKM.

An Integrated Framework for Human-Robot Collaborative Manipulation.

PubMed

Sheng, Weihua; Thobbi, Anand; Gu, Ye

2015-10-01

This paper presents an integrated learning framework that enables humanoid robots to perform human-robot collaborative manipulation tasks. Specifically, a table-lifting task performed jointly by a human and a humanoid robot is chosen for validation purpose. The proposed framework is split into two phases: 1) phase I-learning to grasp the table and 2) phase II-learning to perform the manipulation task. An imitation learning approach is proposed for phase I. In phase II, the behavior of the robot is controlled by a combination of two types of controllers: 1) reactive and 2) proactive. The reactive controller lets the robot take a reactive control action to make the table horizontal. The proactive controller lets the robot take proactive actions based on human motion prediction. A measure of confidence of the prediction is also generated by the motion predictor. This confidence measure determines the leader/follower behavior of the robot. Hence, the robot can autonomously switch between the behaviors during the task. Finally, the performance of the human-robot team carrying out the collaborative manipulation task is experimentally evaluated on a platform consisting of a Nao humanoid robot and a Vicon motion capture system. Results show that the proposed framework can enable the robot to carry out the collaborative manipulation task successfully.

A Framework for a Supervisory Expert System for Robotic Manipulators with Joint-Position Limits and Joint-Rate Limits

NASA Technical Reports Server (NTRS)

Mutambara, Arthur G. O.; Litt, Jonathan

1998-01-01

This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.

Precise control of flexible manipulators

NASA Technical Reports Server (NTRS)

Cannon, R. H., Jr.; Bindford, T. O.; Schmitz, E.

1984-01-01

The design and experimental testing of end point position controllers for a very flexible one link lightweight manipulator are summarized. The latest upgraded version of the experimental set up, and the basic differences between conventional joint angle feedback and end point position feedback are described. A general procedure for application of modern control methods to the problem is outlined. The relationship between weighting parameters and the bandwidth and control stiffness of the resulting end point position closed loop system is shown. It is found that joint rate angle feedback in addition to the primary end point position sensor is essential for adequate disturbance rejection capability of the closed loop system. The use of a low order multivariable compensator design computer code; called Sandy is documented. A solution to the problem of control mode switching between position sensor sets is outlined. The proof of concept for endpoint position feedback for a one link flexible manipulator was demonstrated. The bandwidth obtained with the experimental end point position controller is about twice as fast as the beam's first natural cantilevered frequency, and comes within a factor of four of the absolute physical speed limit imposed by the wave propagation time of the beam.

An adaptive PID like controller using mix locally recurrent neural network for robotic manipulator with variable payload.

PubMed

Sharma, Richa; Kumar, Vikas; Gaur, Prerna; Mittal, A P

2016-05-01

Being complex, non-linear and coupled system, the robotic manipulator cannot be effectively controlled using classical proportional-integral-derivative (PID) controller. To enhance the effectiveness of the conventional PID controller for the nonlinear and uncertain systems, gains of the PID controller should be conservatively tuned and should adapt to the process parameter variations. In this work, a mix locally recurrent neural network (MLRNN) architecture is investigated to mimic a conventional PID controller which consists of at most three hidden nodes which act as proportional, integral and derivative node. The gains of the mix locally recurrent neural network based PID (MLRNNPID) controller scheme are initialized with a newly developed cuckoo search algorithm (CSA) based optimization method rather than assuming randomly. A sequential learning based least square algorithm is then investigated for the on-line adaptation of the gains of MLRNNPID controller. The performance of the proposed controller scheme is tested against the plant parameters uncertainties and external disturbances for both links of the two link robotic manipulator with variable payload (TL-RMWVP). The stability of the proposed controller is analyzed using Lyapunov stability criteria. A performance comparison is carried out among MLRNNPID controller, CSA optimized NNPID (OPTNNPID) controller and CSA optimized conventional PID (OPTPID) controller in order to establish the effectiveness of the MLRNNPID controller. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Human factors requirements for telerobotic command and control: The European Space Agency experimental programme

NASA Technical Reports Server (NTRS)

Stone, Robert J.

1991-01-01

Space Telerobotics research, performed under contract to the European Space Agency (ESA), concerning the execution of human factors experiments, and ultimately leading to the development of a telerobotics test bed, has been carried out since 1985 by a British Consortium consisting of British Aerospace, the United Kingdom Atomic Energy Authority and, more recently, the UK National Advanced Robotics Research Centre. The principal aim of the first study of the series was to derive preliminary requirements for a teleoperation servicing system, with reference to two mission model scenarios. The first scenario introduced the problem of communications time delays, and their likely effect on the ground-based operator in control of a manipulator system on board an unmanned servicing vehicle in Low Earth Orbit. In the second scenario, the operator was located on the NASA Orbiter aft flight deck, supervising the control of a prototype manipulator in the 'servicing' of an experimental payload in the cargo bay area. Human factors analyses centered on defining the requirements for the teleoperator workstation, such as identifying basic ergonomic requirements for workstation and panel layouts, defining teleoperation strategies, developing alphanumeric and graphic screen formats for the supervision or direct control of the manipulator, and the potential applications of expert system technology. The second study for ESA involved an experimental appraisal of some of the important issues highlighted in the first study, for which relevant human factors data did not exist. Of central importance during the second study was the issue of communications time delays and their effect on the manual control of a teleoperated manipulator from a ground-based command and control station.

Active vibration damping of the Space Shuttle remote manipulator system

NASA Technical Reports Server (NTRS)

Scott, Michael A.; Gilbert, Michael G.; Demeo, Martha E.

1991-01-01

The feasibility of providing active damping augmentation of the Space Shuttle Remote Manipulator System (RMS) following normal payload handling operations is investigated. The approach used in the analysis is described, and the results for both linear and nonlinear performance analysis of candidate laws are presented, demonstrating that significant improvement in the RMS dynamic response can be achieved through active control using measured RMS tip acceleration data for feedback.

Nonholonomic camera-space manipulation using cameras mounted on a mobile base

NASA Astrophysics Data System (ADS)

Goodwine, Bill; Seelinger, Michael J.; Skaar, Steven B.; Ma, Qun

1998-10-01

The body of work called `Camera Space Manipulation' is an effective and proven method of robotic control. Essentially, this technique identifies and refines the input-output relationship of the plant using estimation methods and drives the plant open-loop to its target state. 3D `success' of the desired motion, i.e., the end effector of the manipulator engages a target at a particular location with a particular orientation, is guaranteed when there is camera space success in two cameras which are adequately separated. Very accurate, sub-pixel positioning of a robotic end effector is possible using this method. To date, however, most efforts in this area have primarily considered holonomic systems. This work addresses the problem of nonholonomic camera space manipulation by considering the problem of a nonholonomic robot with two cameras and a holonomic manipulator on board the nonholonomic platform. While perhaps not as common in robotics, such a combination of holonomic and nonholonomic degrees of freedom are ubiquitous in industry: fork lifts and earth moving equipment are common examples of a nonholonomic system with an on-board holonomic actuator. The nonholonomic nature of the system makes the automation problem more difficult due to a variety of reasons; in particular, the target location is not fixed in the image planes, as it is for holonomic systems (since the cameras are attached to a moving platform), and there is a fundamental `path dependent' nature of nonholonomic kinematics. This work focuses on the sensor space or camera-space-based control laws necessary for effectively implementing an autonomous system of this type.

A case study in nonlinear dynamics and control of articulated spacecraft: The Space Station Freedom with a mobile remote manipulator system

NASA Technical Reports Server (NTRS)

Bennett, William H.; Kwatny, Harry G.; Lavigna, Chris; Blankenship, Gilmer

1994-01-01

The following topics are discussed: (1) modeling of articulated spacecraft as multi-flex-body systems; (2) nonlinear attitude control by adaptive partial feedback linearizing (PFL) control; (3) attitude dynamics and control for SSF/MRMS; and (4) performance analysis results for attitude control of SSF/MRMS.

Proceedings of the NASA Conference on Space Telerobotics, volume 5

NASA Technical Reports Server (NTRS)

Rodriguez, Guillermo (Editor); Seraji, Homayoun (Editor)

1989-01-01

Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotics technology to the space systems planned for the 1990's and beyond. Volume 5 contains papers related to the following subject areas: robot arm modeling and control, special topics in telerobotics, telerobotic space operations, manipulator control, flight experiment concepts, manipulator coordination, issues in artificial intelligence systems, and research activities at the Johnson Space Center.

Towards Automated Nanomanipulation under Scanning Electron Microscopy

NASA Astrophysics Data System (ADS)

Ye, Xutao

Robotic Nanomaterial Manipulation inside scanning electron microscopes (SEM) is useful for prototyping functional devices and characterizing one-dimensional nanomaterial's properties. Conventionally, manipulation of nanowires has been performed via teleoperation, which is time-consuming and highly skill-dependent. Manual manipulation also has the limitation of low success rates and poor reproducibility. This research focuses on a robotic system capable of automated pick-place of single nanowires. Through SEM visual detection and vision-based motion control, the system transferred individual silicon nanowires from their growth substrate to a microelectromechanical systems (MEMS) device that characterized the nanowires' electromechanical properties. The performances of the nanorobotic pick-up and placement procedures were quantified by experiments. The system demonstrated automated nanowire pick-up and placement with high reliability. A software system for a load-lock-compatible nanomanipulation system is also designed and developed in this research.

Prevalence of Neck and Back Pain amongst Aircrew at the Extremes of Anthropometric Measurements

DTIC Science & Technology

2012-09-06

of these safety systems, with potential to exceed the designed upper load limits. Current ergonomics assessments use the 1988 National Health and...position in UH-60 Long goggle flights NVG weight- neck sore. Long hours in poorly designed seats ; helmet/ NVGs and hours of manipulating control...landing Long hours in poorly designed seats ; helmet/ NVGs and hours of manipulating control display units in glass cockpits Repetitive use Poor ramp

EDITORIAL: Nonlinear optical manipulation, patterning and control in nano- and micro-scale systems Nonlinear optical manipulation, patterning and control in nano- and micro-scale systems

NASA Astrophysics Data System (ADS)

Denz, Cornelia; Simoni, Francesco

2009-03-01

Nonlinearities are becoming more and more important for a variety of applications in nanosciences, bio-medical sciences, information processing and photonics. For applications at the crossings of these fields, especially microscopic and nanoscopic imaging and manipulation, nonlinearities play a key role. They may range from simple nonlinear parameter changes up to applications in manipulating, controlling and structuring material by light, or the manipulation of light by light itself. It is this area between basic nonlinear optics and photonic applications that includes `hot' topics such as ultra-resolution optical microscopy, micro- and nanomanipulation and -structuring, or nanophotonics. This special issue contains contributions in this field, many of them from the International Conference on Nonlinear Microscopy and Optical Control held in conjunction with a network meeting of the ESF COST action MP0604 `Optical Micromanipulation by Nonlinear Nanophotonics', 19-22 February 2008, Münster, Germany. Throughout this special issue, basic investigations of material structuring by nonlinear light--matter interaction, light-induced control of nanoparticles, and novel nonlinear material investigation techniques, are presented, covering the basic field of optical manipulation and control. These papers are followed by impressive developments of optical tweezers. Nowadays, optical phase contrast tweezers, twin and especially multiple beam traps, develop particle control in a new dimension: particles can be arranged, sorted and identified with high throughput. One of the most prominent forthcoming applications of optical tweezers is in the field of microfluidics. The action of light on fluids will open new horizons in microfluidic manipulation and control. The field of optical manipulation and control is a very broad field that has developed in an impressive way, in a short time, in Europe with the installation of the MP0604 network. Top researchers from 19 countries are collaborating in this network. The editors are grateful for the active participation of all colleagues in this network, in the network meeting, and in making this special issue a success. We also extend our thanks to a great Journal of Optics A staff that have supported the editing of this special issue, especially the Publishing Editor, Julia Dickinson. Among the active colleagues in our network was also Associate Professor Erik Fällman, Umea University, Sweden. It was with great sadness that we learnt of the death of our colleague and friend in June 2008. We dedicate this special issue to his memory, and the active and always engaged contribution he made both to our conference and to the field of optical micromanipulation and optical control. Erik will be particularly remembered for his applications of optical force measurements on bacterial pili adhesion, which has stimulated a worldwide experimental and theoretical interest in this field.

Neural network-based position synchronised internal force control scheme for cooperative manipulator system

NASA Astrophysics Data System (ADS)

Wang, Jin; Xu, Fan; Lu, GuoDong

2017-09-01

More complex problems of simultaneous position and internal force control occur with cooperative manipulator systems than that of a single one. In the presence of unwanted parametric and modelling uncertainties as well as external disturbances, a decentralised position synchronised force control scheme is proposed. With a feedforward neural network estimating engine, a precise model of the system dynamics is not required. Unlike conventional cooperative or synchronised controllers, virtual position and virtual synchronisation errors are introduced for internal force tracking control and task space position synchronisation. Meanwhile joint space synchronisation and force measurement are unnecessary. Together with simulation studies and analysis, the position and the internal force errors are shown to asymptotically converge to zero. Moreover, the controller exhibits different characteristics with selected synchronisation factors. Under certain settings, it can deal with temporary cooperation by an intelligent retreat mechanism, where less internal force would occur and rigid collision can be avoided. Using a Lyapunov stability approach, the controller is proven to be robust in face of the aforementioned uncertainties.

Interferometry with non-classical motional states of a Bose-Einstein condensate.

PubMed

van Frank, S; Negretti, A; Berrada, T; Bücker, R; Montangero, S; Schaff, J-F; Schumm, T; Calarco, T; Schmiedmayer, J

2014-05-30

The Ramsey interferometer is a prime example of precise control at the quantum level. It is usually implemented using internal states of atoms, molecules or ions, for which powerful manipulation procedures are now available. Whether it is possible to control external degrees of freedom of more complex, interacting many-body systems at this level remained an open question. Here we demonstrate a two-pulse Ramsey-type interferometer for non-classical motional states of a Bose-Einstein condensate in an anharmonic trap. The control sequences used to manipulate the condensate wavefunction are obtained from optimal control theory and are directly optimized to maximize the interferometric contrast. They permit a fast manipulation of the atomic ensemble compared to the intrinsic decay processes and many-body dephasing effects. This allows us to reach an interferometric contrast of 92% in the experimental implementation.

A Saturation Balancing Control Method for Enhancing Dynamic Vehicle Stability (PREPRINT)

DTIC Science & Technology

2011-03-01

force estimation; axle saturation level; independent drive; torque biasing; 1. Introduction Vehicle stability control ( VSC ) systems have widely been...shown to reduce accidents by minimizing driver’s loss of control during aggressive emergency maneuvers. VSC systems manipulate one or more of the... VSC (also referred to as vehicle dynamics control (VDC)) systems available on the market today are brake-based systems which extend the functionality

Optimal control of complex atomic quantum systems

PubMed Central

van Frank, S.; Bonneau, M.; Schmiedmayer, J.; Hild, S.; Gross, C.; Cheneau, M.; Bloch, I.; Pichler, T.; Negretti, A.; Calarco, T.; Montangero, S.

2016-01-01

Quantum technologies will ultimately require manipulating many-body quantum systems with high precision. Cold atom experiments represent a stepping stone in that direction: a high degree of control has been achieved on systems of increasing complexity. However, this control is still sub-optimal. In many scenarios, achieving a fast transformation is crucial to fight against decoherence and imperfection effects. Optimal control theory is believed to be the ideal candidate to bridge the gap between early stage proof-of-principle demonstrations and experimental protocols suitable for practical applications. Indeed, it can engineer protocols at the quantum speed limit – the fastest achievable timescale of the transformation. Here, we demonstrate such potential by computing theoretically and verifying experimentally the optimal transformations in two very different interacting systems: the coherent manipulation of motional states of an atomic Bose-Einstein condensate and the crossing of a quantum phase transition in small systems of cold atoms in optical lattices. We also show that such processes are robust with respect to perturbations, including temperature and atom number fluctuations. PMID:27725688

Optimal control of complex atomic quantum systems.

PubMed

van Frank, S; Bonneau, M; Schmiedmayer, J; Hild, S; Gross, C; Cheneau, M; Bloch, I; Pichler, T; Negretti, A; Calarco, T; Montangero, S

2016-10-11

Quantum technologies will ultimately require manipulating many-body quantum systems with high precision. Cold atom experiments represent a stepping stone in that direction: a high degree of control has been achieved on systems of increasing complexity. However, this control is still sub-optimal. In many scenarios, achieving a fast transformation is crucial to fight against decoherence and imperfection effects. Optimal control theory is believed to be the ideal candidate to bridge the gap between early stage proof-of-principle demonstrations and experimental protocols suitable for practical applications. Indeed, it can engineer protocols at the quantum speed limit - the fastest achievable timescale of the transformation. Here, we demonstrate such potential by computing theoretically and verifying experimentally the optimal transformations in two very different interacting systems: the coherent manipulation of motional states of an atomic Bose-Einstein condensate and the crossing of a quantum phase transition in small systems of cold atoms in optical lattices. We also show that such processes are robust with respect to perturbations, including temperature and atom number fluctuations.

Simple robust control laws for robot manipulators. Part 2: Adaptive case

NASA Technical Reports Server (NTRS)

Bayard, D. S.; Wen, J. T.

1987-01-01

A new class of asymptotically stable adaptive control laws is introduced for application to the robotic manipulator. Unlike most applications of adaptive control theory to robotic manipulators, this analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and utilizes a parameterization based on physical (time-invariant) quantities. This approach is made possible by using energy-like Lyapunov functions which retain the nonlinear character and structure of the dynamics, rather than simple quadratic forms which are ubiquitous to the adaptive control literature, and which have bound the theory tightly to linear systems with unknown parameters. It is a unique feature of these results that the adaptive forms arise by straightforward certainty equivalence adaptation of their nonadaptive counterparts found in the companion to this paper (i.e., by replacing unknown quantities by their estimates) and that this simple approach leads to asymptotically stable closed-loop adaptive systems. Furthermore, it is emphasized that this approach does not require convergence of the parameter estimates (i.e., via persistent excitation), invertibility of the mass matrix estimate, or measurement of the joint accelerations.

Method and system for spatial data input, manipulation and distribution via an adaptive wireless transceiver

NASA Technical Reports Server (NTRS)

Wang, Ray (Inventor)

2009-01-01

A method and system for spatial data manipulation input and distribution via an adaptive wireless transceiver. The method and system include a wireless transceiver for automatically and adaptively controlling wireless transmissions using a Waveform-DNA method. The wireless transceiver can operate simultaneously over both the short and long distances. The wireless transceiver is automatically adaptive and wireless devices can send and receive wireless digital and analog data from various sources rapidly in real-time via available networks and network services.

Apparatus and methods for manipulation and optimization of biological systems

NASA Technical Reports Server (NTRS)

Sun, Ren (Inventor); Ho, Chih-Ming (Inventor); Wong, Pak Kin (Inventor); Yu, Fuqu (Inventor)

2012-01-01

The invention provides systems and methods for manipulating, e.g., optimizing and controlling, biological systems, e.g., for eliciting a more desired biological response of biological sample, such as a tissue, organ, and/or a cell. In one aspect, systems and methods of the invention operate by efficiently searching through a large parametric space of stimuli and system parameters to manipulate, control, and optimize the response of biological samples sustained in the system, e.g., a bioreactor. In alternative aspects, systems include a device for sustaining cells or tissue samples, one or more actuators for stimulating the samples via biochemical, electromagnetic, thermal, mechanical, and/or optical stimulation, one or more sensors for measuring a biological response signal of the samples resulting from the stimulation of the sample. In one aspect, the systems and methods of the invention use at least one optimization algorithm to modify the actuator's control inputs for stimulation, responsive to the sensor's output of response signals. The compositions and methods of the invention can be used, e.g., to for systems optimization of any biological manufacturing or experimental system, e.g., bioreactors for proteins, e.g., therapeutic proteins, polypeptides or peptides for vaccines, and the like, small molecules (e.g., antibiotics), polysaccharides, lipids, and the like. Another use of the apparatus and methods includes combination drug therapy, e.g. optimal drug cocktail, directed cell proliferations and differentiations, e.g. in tissue engineering, e.g. neural progenitor cells differentiation, and discovery of key parameters in complex biological systems.

Control of a flexible bracing manipulator: Integration of current research work to realize the bracing manipulator

NASA Technical Reports Server (NTRS)

Kwon, Dong-Soo

1991-01-01

All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator.

Modelling and simulation of Space Station Freedom berthing dynamics and control

NASA Technical Reports Server (NTRS)

Cooper, Paul A.; Garrison, James L., Jr.; Montgomery, Raymond C.; Wu, Shih-Chin; Stockwell, Alan E.; Demeo, Martha E.

1994-01-01

A large-angle, flexible, multibody, dynamic modeling capability has been developed to help validate numerical simulations of the dynamic motion and control forces which occur during berthing of Space Station Freedom to the Shuttle Orbiter in the early assembly flights. This paper outlines the dynamics and control of the station, the attached Shuttle Remote Manipulator System, and the orbiter. The simulation tool developed for the analysis is described and the results of two simulations are presented. The first is a simulated maneuver from a gravity-gradient attitude to a torque equilibrium attitude using the station reaction control jets. The second simulation is the berthing of the station to the orbiter with the station control moment gyros actively maintaining an estimated torque equilibrium attitude. The influence of the elastic dynamic behavior of the station and of the Remote Manipulator System on the attitude control of the station/orbiter system during each maneuver was investigated. The flexibility of the station and the arm were found to have only a minor influence on the attitude control of the system during the maneuvers.

Basic Operational Robotics Instructional System

NASA Technical Reports Server (NTRS)

Todd, Brian Keith; Fischer, James; Falgout, Jane; Schweers, John

2013-01-01

The Basic Operational Robotics Instructional System (BORIS) is a six-degree-of-freedom rotational robotic manipulator system simulation used for training of fundamental robotics concepts, with in-line shoulder, offset elbow, and offset wrist. BORIS is used to provide generic robotics training to aerospace professionals including flight crews, flight controllers, and robotics instructors. It uses forward kinematic and inverse kinematic algorithms to simulate joint and end-effector motion, combined with a multibody dynamics model, moving-object contact model, and X-Windows based graphical user interfaces, coordinated in the Trick Simulation modeling environment. The motivation for development of BORIS was the need for a generic system for basic robotics training. Before BORIS, introductory robotics training was done with either the SRMS (Shuttle Remote Manipulator System) or SSRMS (Space Station Remote Manipulator System) simulations. The unique construction of each of these systems required some specialized training that distracted students from the ideas and goals of the basic robotics instruction.

Sled Control and Safety System

NASA Technical Reports Server (NTRS)

Forrest, L. J.

1982-01-01

Computerized system for controlling motion of linear-track accelerator applied to other automated equipment, such as numerically-controlled machine tools and robot manipulators on assembly lines. System controls motions of sled with sine-wave signal created digitally by microprocessor. Dynamic parameters of sled motion are monitored so sled may be stopped safely if malfunction occurs. Sled is capable of sinusoidal accelerations up to 0.5 g with 125-kg load.

Development of a model of machine hand eye coordination and program specifications for a topological machine vision system

NASA Technical Reports Server (NTRS)

1972-01-01

A unified approach to computer vision and manipulation is developed which is called choreographic vision. In the model, objects to be viewed by a projected robot in the Viking missions to Mars are seen as objects to be manipulated within choreographic contexts controlled by a multimoded remote, supervisory control system on Earth. A new theory of context relations is introduced as a basis for choreographic programming languages. A topological vision model is developed for recognizing objects by shape and contour. This model is integrated with a projected vision system consisting of a multiaperture image dissector TV camera and a ranging laser system. System program specifications integrate eye-hand coordination and topological vision functions and an aerospace multiprocessor implementation is described.

Primary reaction control system/remote manipulator system interaction with loaded arm. Space shuttle engineering and operations support

NASA Technical Reports Server (NTRS)

Taylor, E. C.; Davis, J. D.

1978-01-01

A study of the interaction between the orbiter primary reaction control system (PRCS) and the remote manipulator system (RMS) with a loaded arm is documented. This analysis was performed with the Payload Deployment and Retrieval Systems Simulation (PDRSS) program with the passive arm bending option. The passive-arm model simulates the arm as massless elastic links with locked joints. The study was divided into two parts. The first part was the evaluation of the response of the arm to step inputs (i.e. constant jet torques) about each of the orbiter body axes. The second part of the study was the evaluation of the response of the arm to minimum impulse primary RCS jet firings with both single pulse and pulse train inputs.

Manipulators inspired by the tongue of the chameleon.

PubMed

Debray, Alexis

2011-06-01

Chameleons have developed a specialized ballistic tongue which elongates more than six times its rest length at speeds higher than 3.5 m s(-1) and accelerations 350 m s(-2), with a highly flexible mobile part, and which applies no continuous force during forward motion. These characteristics are possible because this tongue consists of two highly specialized systems, an ejection system for the forward motion and an accordion-like system for the retraction. Four manipulators inspired by the tongue of the chameleon and based on this design have been developed, resulting in three characteristics similar to the tongue of the chameleon: extensibility of the manipulator, flexibility of the mobile part, and absence of continuous force during the forward motion. The first manipulator mimics the basic mechanism of the tongue of the chameleon and reproduced its basic performances. A second manipulator performs a catching function at a speed of 3.5 m s(-1) with an acceleration of 573 m s(-2) while elongating seven times its rest length. The design of this manipulator is such that the dc motor used for retraction applies a torque 25 times its rated torque. Moreover, during the retraction, the mobile part of the manipulator moves due to its own inertia, allowing the dc motor to rotate at full velocity. In another manipulator, the addition of an elastomer in the mobile part allows for control of the retraction velocity. A model for these two manipulators compares well with the experimental data. Finally, the addition of wings on the mobile part allows us to take the advantage of aerodynamic effects, which is unusual for manipulators.

Electric and Magnetic Manipulation of Biological Systems

NASA Astrophysics Data System (ADS)

Lee, H.; Hunt, T. P.; Liu, Y.; Ham, D.; Westervelt, R. M.

2005-06-01

New types of biological cell manipulation systems, a micropost matrix, a microelectromagnet matrix, and a microcoil array, were developed. The micropost matrix consists of post-shaped electrodes embedded in an insulating layer. With a separate ac voltage applied to each electrode, the micropost matrix generates dielectrophoretic force to trap and move individual biological cells. The microelectromagnet matrix consists of two arrays of straight wires aligned perpendicular to each other, that are covered with insulating layers. By independently controlling the current in each wire, the microelectromagnet matrix creates versatile magnetic fields to manipulate individual biological cells attached to magnetic beads. The microcoil array is a set of coils implemented in a foundry using a standard silicon fabrication technology. Current sources to the coils, and control circuits are integrated on a single chip, making the device self-contained. Versatile manipulation of biological cells was demonstrated using these devices by generating optimized electric or magnetic field patterns. A single yeast cell was trapped and positioned with microscopic resolution, and multiple yeast cells were trapped and independently moved along the separate paths for cell-sorting.

Manipulation strategies for massive space payloads

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1991-01-01

Motion planning and control for the joints of flexible manipulators are discussed. Specific topics covered include control of a flexible braced manipulator, control of a small working robot on a large flexible manipulator to suppress vibrations, control strategies for ensuring cooperation among disparate manipulators, and motion planning for robots in free-fall.

Six axis force feedback input device

NASA Technical Reports Server (NTRS)

Ohm, Timothy (Inventor)

1998-01-01

The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.

High precision tracking of a piezoelectric nano-manipulator with parameterized hysteresis compensation

NASA Astrophysics Data System (ADS)

Yan, Peng; Zhang, Yangming

2018-06-01

High performance scanning of nano-manipulators is widely deployed in various precision engineering applications such as SPM (scanning probe microscope), where trajectory tracking of sophisticated reference signals is an challenging control problem. The situation is further complicated when rate dependent hysteresis of the piezoelectric actuators and the stress-stiffening induced nonlinear stiffness of the flexure mechanism are considered. In this paper, a novel control framework is proposed to achieve high precision tracking of a piezoelectric nano-manipulator subjected to hysteresis and stiffness nonlinearities. An adaptive parameterized rate-dependent Prandtl-Ishlinskii model is constructed and the corresponding adaptive inverse model based online compensation is derived. Meanwhile a robust adaptive control architecture is further introduced to improve the tracking accuracy and robustness of the compensated system, where the parametric uncertainties of the nonlinear dynamics can be well eliminated by on-line estimations. Comparative experimental studies of the proposed control algorithm are conducted on a PZT actuated nano-manipulating stage, where hysteresis modeling accuracy and excellent tracking performance are demonstrated in real-time implementations, with significant improvement over existing results.

Intelligent control of neurosurgical robot MM-3 using dynamic motion scaling.

PubMed

Ko, Sunho; Nakazawa, Atsushi; Kurose, Yusuke; Harada, Kanako; Mitsuishi, Mamoru; Sora, Shigeo; Shono, Naoyuki; Nakatomi, Hirofumi; Saito, Nobuhito; Morita, Akio

2017-05-01

OBJECTIVE Advanced and intelligent robotic control is necessary for neurosurgical robots, which require great accuracy and precision. In this article, the authors propose methods for dynamically and automatically controlling the motion-scaling ratio of a master-slave neurosurgical robotic system to reduce the task completion time. METHODS Three dynamic motion-scaling modes were proposed and compared with the conventional fixed motion-scaling mode. These 3 modes were defined as follows: 1) the distance between a target point and the tip of the slave manipulator, 2) the distance between the tips of the slave manipulators, and 3) the velocity of the master manipulator. Five test subjects, 2 of whom were neurosurgeons, sutured 0.3-mm artificial blood vessels using the MM-3 neurosurgical robot in each mode. RESULTS The task time, total path length, and helpfulness score were evaluated. Although no statistically significant differences were observed, the mode using the distance between the tips of the slave manipulators improves the suturing performance. CONCLUSIONS Dynamic motion scaling has great potential for the intelligent and accurate control of neurosurgical robots.

Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.

PubMed

Isaac-Lowry, Oran Jacob; Okamoto, Steele; Pedram, Sahba Aghajani; Woo, Russell; Berkelman, Peter

2017-12-01

To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures. This system builds upon previous work done at the University of Hawaii at Manoa and includes instrument and endoscope manipulators as well as compact articulated instruments designed to overcome single incision geometry complications. A robotic endoscope holder was used for the base, with an added support frame for teleoperated manipulators and instruments fabricated mostly from 3D printed parts. Kinematics and control methods were formulated for the novel manipulator configuration. Trajectory following results from an optical motion tracker and sample task performance results are presented. Results indicate that the system has successfully met the goal of basic surgical functionality while minimizing physical size, complexity, and cost. Copyright © 2017 John Wiley & Sons, Ltd.

Distribution of man-machine controls in space teleoperation

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1982-01-01

The distribution of control between man and machine is dependent on the tasks, available technology, human performance characteristics and control goals. This dependency has very specific projections on systems designed for teleoperation in space. This paper gives a brief outline of the space-related issues and presents the results of advanced teleoperator research and development at the Jet Propulsion Laboratory (JPL). The research and development work includes smart sensors, flexible computer controls and intelligent man-machine interface devices in the area of visual displays and kinesthetic man-machine coupling in remote control of manipulators. Some of the development results have been tested at the Johnson Space Center (JSC) using the simulated full-scale Shuttle Remote Manipulator System (RMS). The research and development work for advanced space teleoperation is far from complete and poses many interdisciplinary challenges.

Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

NASA Astrophysics Data System (ADS)

Dong, Gangqi; Zhu, Z. H.

2016-04-01

This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

A surgical parallel continuum manipulator with a cable-driven grasper.

PubMed

Orekhov, Andrew L; Bryson, Caroline E; Till, John; Chung, Scotty; Rucker, D Caleb

2015-01-01

In this paper, we present the design, construction, and control of a six-degree-of-freedom (DOF), 12 mm diameter, parallel continuum manipulator with a 2-DOF, cable-driven grasper. This work is a proof-of-concept first step towards miniaturization of this type of manipulator design to provide increased dexterity and stability in confined-space surgical applications, particularly for endoscopic procedures. Our robotic system consists of six superelastic NiTi (Nitinol) tubes in a standard Stewart-Gough configuration and an end effector with 180 degree motion of its two jaws. Two Kevlar cables pass through the centers of the tube legs to actuate the end effector. A computationally efficient inverse kinematics model provides low-level control inputs to ten independent linear actuators, which drive the Stewart-Gough platform and end-effector actuation cables. We demonstrate the performance and feasibility of this design by conducting open-loop range-of-motion tests for our system.

Aircraft Instrument, Fire Protection, Warning, Communication, Navigation and Cabin Atmosphere Control System (Course Outline), Aviation Mechanics 3 (Air Frame): 9067.04.

ERIC Educational Resources Information Center

Dade County Public Schools, Miami, FL.

This document presents an outline for a 135-hour course designed to familiarize the student with manipulative skills and theoretical knowledge concerning aircraft instrument systems like major flight and engine instruments; fire protection and fire fighting systems; warning systems and navigation systems; aircraft cabin control systems, such as…

Telerobotic controller development

NASA Technical Reports Server (NTRS)

Otaguro, W. S.; Kesler, L. O.; Land, Ken; Rhoades, Don

1987-01-01

To meet NASA's space station's needs and growth, a modular and generic approach to robotic control which provides near-term implementation with low development cost and capability for growth into more autonomous systems was developed. The method uses a vision based robotic controller and compliant hand integrated with the Remote Manipulator System arm on the Orbiter. A description of the hardware and its system integration is presented.

Reaction control system/remote manipulator system automation

NASA Technical Reports Server (NTRS)

Hiers, Harry K.

1990-01-01

The objectives of this project is to evaluate the capability of the Procedural Reasoning System (PRS) in a typical real-time space shuttle application and to assess its potential for use in the Space Station Freedom. PRS, developed by SRI International, is a result of research in automating the monitoring and control of spacecraft systems. The particular application selected for the present work is the automation of malfunction handling procedures for the Shuttle Remote Manipulator System (SRMS). The SRMS malfunction procedures will be encoded within the PRS framework, a crew interface appropriate to the RMS application will be developed, and the real-time data interface software developed. The resulting PRS will then be integrated with the high-fidelity On-orbit Simulation of the NASA Johnson Space Center's System Engineering Simulator, and tests under various SRMS fault scenarios will be conducted.

Cognitive Control of Saccadic Eye Movements

ERIC Educational Resources Information Center

Hutton, S. B.

2008-01-01

The saccadic eye movement system provides researchers with a powerful tool with which to explore the cognitive control of behaviour. It is a behavioural system whose limited output can be measured with exceptional precision, and whose input can be controlled and manipulated in subtle ways. A range of cognitive processes (notably those involved in…

Dual-body magnetic helical robot for drilling and cargo delivery in human blood vessels

NASA Astrophysics Data System (ADS)

Lee, Wonseo; Jeon, Seungmun; Nam, Jaekwang; Jang, Gunhee

2015-05-01

We propose a novel dual-body magnetic helical robot (DMHR) manipulated by a magnetic navigation system. The proposed DMHR can generate helical motions to navigate in human blood vessels and to drill blood clots by an external rotating magnetic field. It can also generate release motions which are relative rotational motions between dual-bodies to release the carrying cargos to a target region by controlling the magnitude of an external magnetic field. Constraint equations were derived to selectively manipulate helical and release motions by controlling external magnetic fields. The DMHR was prototyped and various experiments were conducted to demonstrate its motions and verify its manipulation methods.

Application of programmable logic controllers to space simulation

NASA Technical Reports Server (NTRS)

Sushon, Janet

1992-01-01

Incorporating a state-of-the-art process control and instrumentation system into a complex system for thermal vacuum testing is discussed. The challenge was to connect several independent control systems provided by various vendors to a supervisory computer. This combination will sequentially control and monitor the process, collect the data, and transmit it to color a graphic system for subsequent manipulation. The vacuum system upgrade included: replacement of seventeen diffusion pumps with eight cryogenic pumps and one turbomolecular pump, replacing a relay based control system, replacing vacuum instrumentation, and upgrading the data acquisition system.

PyMOL mControl: Manipulating molecular visualization with mobile devices.

PubMed

Lam, Wendy W T; Siu, Shirley W I

2017-01-02

Viewing and manipulating three-dimensional (3D) structures in molecular graphics software are essential tasks for researchers and students to understand the functions of molecules. Currently, the way to manipulate a 3D molecular object is mainly based on mouse-and-keyboard control that is usually difficult and tedious to learn. While gesture-based and touch-based interactions are increasingly popular in interactive software systems, their suitability in handling molecular graphics has not yet been sufficiently explored. Here, we designed the gesture-based and touch-based interaction methods to manipulate virtual objects in PyMOL utilizing the motion and touch sensors in a mobile device. Three fundamental viewing controls-zooming, translation and rotation-and frequently used functions were implemented. Results from a pilot user study reveal that task performances on viewing controls using a mobile device are slightly reduced as compared to mouse-and-keyboard method. However, it is considered to be more suitable for oral presentations and equally suitable for education scenarios such as school classes. Overall, PyMOL mControl provides an alternative way to manipulate objects in molecular graphic software with new user experiences. The software is freely available at http://cbbio.cis.umac.mo/mcontrol.html. © 2016 by The International Union of Biochemistry and Molecular Biology, 45(1):76-83, 2017. © 2016 The International Union of Biochemistry and Molecular Biology.

Open Source Tools for Temporally Controlled Rodent Behavior Suitable for Electrophysiology and Optogenetic Manipulations.

PubMed

Solari, Nicola; Sviatkó, Katalin; Laszlovszky, Tamás; Hegedüs, Panna; Hangya, Balázs

2018-01-01

Understanding how the brain controls behavior requires observing and manipulating neural activity in awake behaving animals. Neuronal firing is timed at millisecond precision. Therefore, to decipher temporal coding, it is necessary to monitor and control animal behavior at the same level of temporal accuracy. However, it is technically challenging to deliver sensory stimuli and reinforcers as well as to read the behavioral responses they elicit with millisecond precision. Presently available commercial systems often excel in specific aspects of behavior control, but they do not provide a customizable environment allowing flexible experimental design while maintaining high standards for temporal control necessary for interpreting neuronal activity. Moreover, delay measurements of stimulus and reinforcement delivery are largely unavailable. We combined microcontroller-based behavior control with a sound delivery system for playing complex acoustic stimuli, fast solenoid valves for precisely timed reinforcement delivery and a custom-built sound attenuated chamber using high-end industrial insulation materials. Together this setup provides a physical environment to train head-fixed animals, enables calibrated sound stimuli and precisely timed fluid and air puff presentation as reinforcers. We provide latency measurements for stimulus and reinforcement delivery and an algorithm to perform such measurements on other behavior control systems. Combined with electrophysiology and optogenetic manipulations, the millisecond timing accuracy will help interpret temporally precise neural signals and behavioral changes. Additionally, since software and hardware provided here can be readily customized to achieve a large variety of paradigms, these solutions enable an unusually flexible design of rodent behavioral experiments.

Modeling human tracking error in several different anti-tank systems

NASA Technical Reports Server (NTRS)

Kleinman, D. L.

1981-01-01

An optimal control model for generating time histories of human tracking errors in antitank systems is outlined. Monte Carlo simulations of human operator responses for three Army antitank systems are compared. System/manipulator dependent data comparisons reflecting human operator limitations in perceiving displayed quantities and executing intended control motions are presented. Motor noise parameters are also discussed.

Task-level testing of the JPL-OMV smart end effector

NASA Technical Reports Server (NTRS)

Hannaford, B.

1987-01-01

An intelligent end effector previously developed at JPL has been tested in over 21 hours of experimental teleoperation. The end effector provides local control of gripper clamping force and a 6-degree-of-freedom, wrist mounted force torque sensor. Resolved forces and torques were displayed to the test subjects, and the effect of this information on their performance of simulated satellite servicing tasks was assessed. The experienced subjects accomplished the tasks with lower levels of Remote Manipulator System (RMS) forces than intermediate and naive subjects, but the force levels were apparently uncorrelated with the presence or absence of the display. This negative finding was attributed to the lack of a suitable control mode in the manipulator control system.

Computational Control of Flexible Aerospace Systems

NASA Technical Reports Server (NTRS)

Sharpe, Lonnie, Jr.; Shen, Ji Yao

1994-01-01

The main objective of this project is to establish a distributed parameter modeling technique for structural analysis, parameter estimation, vibration suppression and control synthesis of large flexible aerospace structures. This report concentrates on the research outputs produced in the last two years of the project. The main accomplishments can be summarized as follows. A new version of the PDEMOD Code had been completed. A theoretical investigation of the NASA MSFC two-dimensional ground-based manipulator facility by using distributed parameter modelling technique has been conducted. A new mathematical treatment for dynamic analysis and control of large flexible manipulator systems has been conceived, which may provide a embryonic form of a more sophisticated mathematical model for future modified versions of the PDEMOD Codes.

Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine

PubMed Central

King, H. Hawkeye; Hannaford, Blake; Kwok, Ka-Wai; Yang, Guang-Zhong; Griffiths, Paul; Okamura, Allison; Farkhatdinov, Ildar; Ryu, Jee-Hwan; Sankaranarayanan, Ganesh; Arikatla, Venkata; Tadano, Kotaro; Kawashima, Kenji; Peer, Angelika; Schauß, Thomas; Buss, Martin; Miller, Levi; Glozman, Daniel; Rosen, Jacob; Low, Thomas

2014-01-01

Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable inter-operability between heterogeneous systems. We have developed a network data specification, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a wide range of teleoperators. In this work we test interoperable telerobotics on the global Internet, focusing on the telesurgery application domain. Fourteen globally dispersed telerobotic master and slave systems were connected in thirty trials in one twenty four hour period. Users performed common manipulation tasks to demonstrate effective master-slave operation. With twenty eight (93%) successful, unique connections the results show a high potential for standardizing telerobotic operation. Furthermore, new paradigms for telesurgical operation and training are presented, including a networked surgery trainer and upper-limb exoskeleton control of micro-manipulators. PMID:24748993

Two measures of performance in a peg-in-hole manipulation task with force feedback

NASA Technical Reports Server (NTRS)

Hill, J. W.

1977-01-01

The results are described from two manipulators on a peg-in-hole task, which is part of a continued effort to develop models for human performance with remote manipulators. Task difficulty is varied by changing the diameter of the peg to be inserted in a 50 mm diameter hole. An automatic measuring system records the distance between the tool being held by the manipulator and the receptacle into which it is to be inserted. The data from repeated insertions are processed by computer to determine task times, accumulated distances, and trajectories. Experiments with both the MA-11 cable-connected master-slave manipulator common to hot cell work and the MA-23 servo-controlled manipulator (with and without force feedback) are described. Comparison of these results with previous results of the Ames Manipulator shows that force feedback provides a consistent advantage.

Integrative systems control approach for reactivating Kaposi's sarcoma-associated herpesvirus (KSHV) with combinatory drugs

PubMed Central

Sun, Chien-Pin; Usui, Takane; Yu, Fuqu; Al-Shyoukh, Ibrahim; Shamma, Jeff; Sun, Ren; Ho, Chih-Ming

2009-01-01

Cells serve as basic units of life and represent intricate biological molecular systems. The vast number of cellular molecules with their signaling and regulatory circuitries forms an intertwined network. In this network, each pathway interacts non-linearly with others through different intermediates. Thus, the challenge of manipulating cellular functions for desired outcomes, such as cancer eradication and controlling viral infection lies within the integrative system of regulatory circuitries. By using a closed-loop system control scheme, we can efficiently analyze biological signaling networks and manipulate their behavior through multiple stimulations on a collection of pathways. Specifically, we aimed to maximize the reactivation of Kaposi's Sarcoma-associated Herpesvirus (KSHV) in a Primary Effusion Lymphoma cell line. The advantage of this approach is that it is well-suited to study complex integrated systems; it circumvents the need for detailed information of individual signaling components; and it investigates the network as a whole by utilizing key systemic outputs as indicators. PMID:19851479

Integrative systems control approach for reactivating Kaposi's sarcoma-associated herpesvirus (KSHV) with combinatory drugs.

PubMed

Sun, Chien-Pin; Usui, Takane; Yu, Fuqu; Al-Shyoukh, Ibrahim; Shamma, Jeff; Sun, Ren; Ho, Chih-Ming

2009-01-01

Cells serve as basic units of life and represent intricate biological molecular systems. The vast number of cellular molecules with their signaling and regulatory circuitries forms an intertwined network. In this network, each pathway interacts non-linearly with others through different intermediates. Thus, the challenge of manipulating cellular functions for desired outcomes, such as cancer eradication and controlling viral infection lies within the integrative system of regulatory circuitries. By using a closed-loop system control scheme, we can efficiently analyze biological signaling networks and manipulate their behavior through multiple stimulations on a collection of pathways. Specifically, we aimed to maximize the reactivation of Kaposi's Sarcoma-associated Herpesvirus (KSHV) in a Primary Effusion Lymphoma cell line. The advantage of this approach is that it is well-suited to study complex integrated systems; it circumvents the need for detailed information of individual signaling components; and it investigates the network as a whole by utilizing key systemic outputs as indicators.

A software architecture for hard real-time execution of automatically synthesized plans or control laws

NASA Technical Reports Server (NTRS)

Schoppers, Marcel

1994-01-01

The design of a flexible, real-time software architecture for trajectory planning and automatic control of redundant manipulators is described. Emphasis is placed on a technique of designing control systems that are both flexible and robust yet have good real-time performance. The solution presented involves an artificial intelligence algorithm that dynamically reprograms the real-time control system while planning system behavior.

Acoustic devices for particle and cell manipulation and sensing.

PubMed

Qiu, Yongqiang; Wang, Han; Demore, Christine E M; Hughes, David A; Glynne-Jones, Peter; Gebhardt, Sylvia; Bolhovitins, Aleksandrs; Poltarjonoks, Romans; Weijer, Kees; Schönecker, Andreas; Hill, Martyn; Cochran, Sandy

2014-08-13

An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz) ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed.

Acoustic Devices for Particle and Cell Manipulation and Sensing

PubMed Central

Qiu, Yongqiang; Wang, Han; Demore, Christine E. M.; Hughes, David A.; Glynne-Jones, Peter; Gebhardt, Sylvia; Bolhovitins, Aleksandrs; Poltarjonoks, Romans; Weijer, Kees; Schönecker, Andreas; Hill, Martyn; Cochran, Sandy

2014-01-01

An emerging demand for the precise manipulation of cells and particles for applications in cell biology and analytical chemistry has driven rapid development of ultrasonic manipulation technology. Compared to the other manipulation technologies, such as magnetic tweezing, dielectrophoresis and optical tweezing, ultrasonic manipulation has shown potential in a variety of applications, with its advantages of versatile, inexpensive and easy integration into microfluidic systems, maintenance of cell viability, and generation of sufficient forces to handle particles, cells and their agglomerates. This article briefly reviews current practice and reports our development of various ultrasonic standing wave manipulation devices, including simple devices integrated with high frequency (>20 MHz) ultrasonic transducers for the investigation of biological cells and complex ultrasonic transducer array systems to explore the feasibility of electronically controlled 2-D and 3-D manipulation. Piezoelectric and passive materials, fabrication techniques, characterization methods and possible applications are discussed. The behavior and performance of the devices have been investigated and predicted with computer simulations, and verified experimentally. Issues met during development are highlighted and discussed. To assist long term practical adoption, approaches to low-cost, wafer level batch-production and commercialization potential are also addressed. PMID:25123465

Direct manipulation of metallic nanosheets by shear force microscopy.

PubMed

Bi, Z; Cai, W; Wang, Y; Shang, G

2018-05-15

Micro/nanomanipulation is a rapidly growing technology and holds promising applications in various fields, including photonic/electronic devices, chemical/biosensors etc. In this work, we present that shear force microscopy (ShFM) can be exploited to manipulate metallic nanosheets besides imaging. The manipulation is realized via controlling the shear force sensor probe position and shear force magnitude based on our homemade ShFM system under an optical microscopy for in situ observation. The main feature of the ShFM system is usage of a piezoelectric bimorph sensor, which has the ability of self-excitation and detection. Moreover, the shear force magnitude as a function of the spring constant of the sensor and setpoint is obtained, which indicates that operation modes can be switched between imaging and manipulation through designing the spring constant before experiment and changing the setpoint during manipulation process, respectively. We believe that this alternative manipulation technique could be used to assemble other nanostructures with different shapes, sizes and compositions for new properties and wider applications. © 2018 The Authors Journal of Microscopy © 2018 Royal Microscopical Society.

Development of a piezo-actuated micro-teleoperation system for cell manipulation.

PubMed

Zareinejad, M; Rezaei, S M; Abdullah, A; Shiry Ghidary, S

2009-03-01

Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feedforward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation. The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration. The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment.

Modeling and control for micro and nano manipulation

NASA Astrophysics Data System (ADS)

Wejinya, Uchechukwu C.

Manipulation of micro and nano entities implies the movement of micro and nano entities from an initial position (location) to the desire position (location). This operation is not only necessary, but a required task with great precision. The tools needed for the manipulation needs to be chosen properly because the capabilities of the human hand are very restricted. Smart micro and nano manipulation are becoming of great interest in many applications including medicine and industry. In industry, high precision manipulation systems are especially needed for mass production of both micro and nano systems which consist of different component in respective scales. The transition from assembling and manipulating micro and nano entities manually to mass products with high quality is only attainable by automated assembly and manipulation systems. An example is the testing of integrated circuits which can be carried out by exchanging the manipulation tool by an electric probe. Furthermore, in medical research it is customary to pick up a single cell (human, plant, or animal), and carry it to another device which is used to further analyze the cell. Consequently, the cell of interest has to be separated from the other cells and picked up using the appropriate micro/nano tool. Hence it becomes absolutely necessary that the appropriate tool be used for specific micro or nano entity manipulation and assembly. In this research, we focus on developing micro tool for manipulating micro and nano entities in liquid environment using a micro fluidic end effector system with in-situ Polyvinylidene Fluoride (PVDF) sensing. The microfluidic end effector system consists of a DC micro-diaphragm pump and compressor, one region of flexible latex tube, a Polyvinylidene Fluoride (PVDF) sensor for in-situ measurement of micro drag force, and a micro pipette. The micro pipette of the novel microfluidic end effector system has an internal diameter (ID) smaller than 20mum used for microfluidic handling and deposition of micro and nano entities such as carbon nanotubes (CNT), DNA, and for droplet control. The novel microfluidic end effector system with force sensing can significantly improve the success rate for handling/depositing micro/nano entities in the case of carbon nanotubes between micro electrodes. The design, calibration, and experimental implementation of the novel microfluidic end effector is carried out in this research. The experimental results show the success rate for carbon nanotube(s) deposition between micro electrodes can reach close to 80%. Furthermore, carbon nanotubes are of particular interest because they are good candidates for many electronics and sensing applications. The interests in using carbon nanotubes to manufacture electronics and sensors have increased in recent years because of the increase need for making electronics smaller, and their excellent electrical and mechanical properties. These potentials can be achieved if CNTs with semiconducting and metallic band structure can be successfully deposited and separated. The use of dielectrophoresis (DEP) has been established as a course towards the efficient deposition and separation of metallic carbon nanotubes from semiconducting carbon nanotubes. For this reason, this research presents a new mathematical model for dielectrophoresis and electrorotation of carbon nanotubes. Simulation results are presented in this research to validate the developed model. The combination of both the micro robotic manipulation system and the atomic force microscopy (AFM) based nano-robotic system will provide a powerful tool for micro and nano manipulation. Additional applications of this research are endless considering the rapid development of micro and nano technologies.

Multi-level manual and autonomous control superposition for intelligent telerobot

NASA Technical Reports Server (NTRS)

Hirai, Shigeoki; Sato, T.

1989-01-01

Space telerobots are recognized to require cooperation with human operators in various ways. Multi-level manual and autonomous control superposition in telerobot task execution is described. The object model, the structured master-slave manipulation system, and the motion understanding system are proposed to realize the concept. The object model offers interfaces for task level and object level human intervention. The structured master-slave manipulation system offers interfaces for motion level human intervention. The motion understanding system maintains the consistency of the knowledge through all the levels which supports the robot autonomy while accepting the human intervention. The superposing execution of the teleoperational task at multi-levels realizes intuitive and robust task execution for wide variety of objects and in changeful environment. The performance of several examples of operating chemical apparatuses is shown.

Development and characterization of hollow microprobe array as a potential tool for versatile and massively parallel manipulation of single cells.

PubMed

Nagai, Moeto; Oohara, Kiyotaka; Kato, Keita; Kawashima, Takahiro; Shibata, Takayuki

2015-04-01

Parallel manipulation of single cells is important for reconstructing in vivo cellular microenvironments and studying cell functions. To manipulate single cells and reconstruct their environments, development of a versatile manipulation tool is necessary. In this study, we developed an array of hollow probes using microelectromechanical systems fabrication technology and demonstrated the manipulation of single cells. We conducted a cell aspiration experiment with a glass pipette and modeled a cell using a standard linear solid model, which provided information for designing hollow stepped probes for minimally invasive single-cell manipulation. We etched a silicon wafer on both sides and formed through holes with stepped structures. The inner diameters of the holes were reduced by SiO2 deposition of plasma-enhanced chemical vapor deposition to trap cells on the tips. This fabrication process makes it possible to control the wall thickness, inner diameter, and outer diameter of the probes. With the fabricated probes, single cells were manipulated and placed in microwells at a single-cell level in a parallel manner. We studied the capture, release, and survival rates of cells at different suction and release pressures and found that the cell trapping rate was directly proportional to the suction pressure, whereas the release rate and viability decreased with increasing the suction pressure. The proposed manipulation system makes it possible to place cells in a well array and observe the adherence, spreading, culture, and death of the cells. This system has potential as a tool for massively parallel manipulation and for three-dimensional hetero cellular assays.

Determination of eigenvalues of dynamical systems by symbolic computation

NASA Technical Reports Server (NTRS)

Howard, J. C.

1982-01-01

A symbolic computation technique for determining the eigenvalues of dynamical systems is described wherein algebraic operations, symbolic differentiation, matrix formulation and inversion, etc., can be performed on a digital computer equipped with a formula-manipulation compiler. An example is included that demonstrates the facility with which the system dynamics matrix and the control distribution matrix from the state space formulation of the equations of motion can be processed to obtain eigenvalue loci as a function of a system parameter. The example chosen to demonstrate the technique is a fourth-order system representing the longitudinal response of a DC 8 aircraft to elevator inputs. This simplified system has two dominant modes, one of which is lightly damped and the other well damped. The loci may be used to determine the value of the controlling parameter that satisfied design requirements. The results were obtained using the MACSYMA symbolic manipulation system.

ATAD control goals through the analysis of process variables and evaluation of quality, production and cost.

PubMed

Nájera, S; Gil-Martínez, M; Zambrano, J A

2015-01-01

The aim of this paper is to establish and quantify different operational goals and control strategies in autothermal thermophilic aerobic digestion (ATAD). This technology appears as an alternative to conventional sludge digestion systems. During the batch-mode reaction, high temperatures promote sludge stabilization and pasteurization. The digester temperature is usually the only online, robust, measurable variable. The average temperature can be regulated by manipulating both the air injection and the sludge retention time. An improved performance of diverse biochemical variables can be achieved through proper manipulation of these inputs. However, a better quality of treated sludge usually implies major operating costs or a lower production rate. Thus, quality, production and cost indices are defined to quantify the outcomes of the treatment. Based on these, tradeoff control strategies are proposed and illustrated through some examples. This paper's results are relevant to guide plant operators, to design automatic control systems and to compare or evaluate the control performance on ATAD systems.

Tele-Manipulation with Two Asymmetric Slaves: Two Operators Perform Better Than One.

PubMed

van Oosterhout, Jeroen; Heemskerk, Cock J M; de Baar, Marco R; van der Helm, Frans C T; Abbink, David A

2018-01-01

Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example, a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bi-manual control over the two subtasks, and a uni-manual control approach. In a human factors experiment, participants performed a heavy load maneuvering and mounting task using a vertical crane and a robotic arm. We hypothesize that bi-manual control yields worse task performance and control activity compared to co-operation, because of conflicting spatial and temporal constraints. Literature suggests that uni-manual operators should perform better than co-operation, as co-operators critically depend on each other's actions. However, other literature provides evidence that individual operators have limited capabilities in controlling asymmetric axes of two dynamic systems. The results show that the two co-operators perform the maneuvering and mounting task faster than either bi- or uni-manual operators. Compared to co-operators, uni-manual operators required more control activity for the vertical crane and less for the robotic arm. In conclusion, this study suggests that when controlling two asymmetric slaves, a co-operating pair of operators performs better than a single operator.

Habitat manipulation in lowland rice-coconut cropping systems of the Philippines--an effective rodent pest management strategy?

PubMed

Stuart, Alexander M; Prescott, Colin V; Singleton, Grant R

2014-06-01

Reduction of vegetation height is recommended as a management strategy for controlling rodent pests of rice in South-east Asia, but there are limited field data to assess its effectiveness. The breeding biology of the main pest species of rodent in the Philippines, Rattus tanezumi, suggests that habitat manipulation in irrigated rice-coconut cropping systems may be an effective strategy to limit the quality and availability of their nesting habitat. The authors imposed a replicated manipulation of vegetation cover in adjacent coconut groves during a single rice-cropping season, and added artificial nest sites to facilitate capture and culling of young. Three trapping sessions in four rice fields (two treatments, two controls) adjacent to coconut groves led to the capture of 176 R. tanezumi, 12 Rattus exulans and seven Chrotomys mindorensis individuals. There was no significant difference in overall abundance between crop stages or between treatments, and there was no treatment effect on damage to tillers or rice yield. Only two R. tanezumi were caught at the artificial nest sites. Habitat manipulation to reduce the quality of R. tanezumi nesting habitat adjacent to rice fields is not effective as a lone rodent management tool in rice-coconut cropping systems. © 2013 Society of Chemical Industry.

Three-dimensional digital microfluidic manipulation of droplets in oil medium

PubMed Central

Hong, Jiwoo; Kim, Young Kwon; Won, Dong-Joon; Kim, Joonwon; Lee, Sang Joon

2015-01-01

We here develop a three-dimensional DMF (3D DMF) platform with patterned electrodes submerged in an oil medium to provide fundamental solutions to the technical limitations of 2D DMF platforms and water–air systems. 3D droplet manipulation on patterned electrodes is demonstrated by programmably controlling electrical signals. We also demonstrate the formation of precipitates on the 3D DMF platform through the reaction of different chemical samples. A droplet containing precipitates, hanging on the top electrode, can be manipulated without adhesion of precipitates to the solid surface. This method could be a good alternative strategy to alleviate the existing problems of 2D DMF systems such as cross-contamination and solute adsorption. In addition, we ascertain the feasibility of temperature-controlled chemical reaction on the 3D DMF platform by introducing a simple heating process. To demonstrate applicability of the 3D DMF system to 3D biological process, we examine the 3D manipulation of droplets containing mouse fibroblasts in the 3D DMF platform. Finally, we show detachment of droplets wrapped by a flexible thin film by adopting the electro-elasto-capillarity (EEC). The employment of the EEC may offer a strong potential in the development of 3D DMF platforms for drug encapsulation and actuation of microelectromechanical devices. PMID:26033440

Precise computer controlled positioning of robot end effectors using force sensors

NASA Technical Reports Server (NTRS)

Shieh, L. S.; Mcinnis, B. C.; Wang, J. C.

1988-01-01

A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided.

A parametric analysis of a controlled deployable space manipulator for capturing a non-cooperative flexible satellite

NASA Astrophysics Data System (ADS)

Stolfi, A.; Gasbarri, P.; Sabatini, M.

2018-07-01

In the near future robotic systems will be playing an increasingly important role in space applications such as repairing, refueling, re-orbiting spacecraft and cleaning up the increasing amount of space debris. Space Manipulator Systems (SMSs) are robotic systems made of a bus (which has its own actuators such as thrusters and reaction wheels) equipped with one or more deployable arms. The present paper focuses on the issue of maintaining a stable first contact between the arms terminal parts (i.e. the end-effectors) and a non-cooperative target satellite, before the actual grasp is performed. The selected approach is a modified version of the Impedance Control algorithm in which the end-effector is controlled in order to make it behave like a mass-spring-damper system regardless of the reaction motion of the base, so to absorb the impact energy. The effects of non-modeled dynamics in control determination such as the structural flexibility of the manipulator and the target satellite are considered as well, and their impact on control effectiveness is analyzed. The performance of the proposed control architecture and a parametric analysis are studied by means of a co-simulation involving the MSC Adams multibody code (for describing the dynamics of the space robot and target) together with Simulink (for the determination of the control actions). The results show that the first contact phase of the grasping operation of a large satellite requires careful tuning of the control gains and a proper selection of the end-effector dimensions; otherwise, the large geometric and inertia characteristics of the target could lead to a failure with serious consequences. Both successful and underperforming cases are presented and commented in the paper.

Task planning and control synthesis for robotic manipulation in space applications

NASA Technical Reports Server (NTRS)

Sanderson, A. C.; Peshkin, M. A.; Homem-De-mello, L. S.

1987-01-01

Space-based robotic systems for diagnosis, repair and assembly of systems will require new techniques of planning and manipulation to accomplish these complex tasks. Results of work in assembly task representation, discrete task planning, and control synthesis which provide a design environment for flexible assembly systems in manufacturing applications, and which extend to planning of manipulatiuon operations in unstructured environments are summarized. Assembly planning is carried out using the AND/OR graph representation which encompasses all possible partial orders of operations and may be used to plan assembly sequences. Discrete task planning uses the configuration map which facilitates search over a space of discrete operations parameters in sequential operations in order to achieve required goals in the space of bounded configuration sets.

A universal sample manipulator with 50 kV negative bias

NASA Astrophysics Data System (ADS)

Kenny, M. J.; Wielunski, L. S.; Scott, M. D.; Clissold, R. A.; Stevenson, D.; Baxter, G.

1991-04-01

A manipulator incorporating a number of novel features has been built for a research ion implanter. The system is designed to enable uniform dose implantation of both planar and nonplanar surfaces by incorporating one translational and two rotational degrees of freedom. Negative target bias of up to 50 kV may be applied to the target, thus increasing the ion energy by this amount. The target chamber and all external manipulator controls are grounded. With the exception of the high voltage power supply, cable and feedthrough, all high voltage components are within the vacuum system. A secondary electron suppression cage which can be held at a negative bias of up to 60 kV relative to the chamber (i.e. 10 kV relative to the manipulator) surrounds the manipulator. Performance has been evaluated using 15N ions and nuclear reaction analysis through 15N(p,α) 12C to profile ion concentrations for dose uniformity and for ion depth at elevated target potentials.

Coherent manipulation of a solid-state artificial atom with few photons.

PubMed

Giesz, V; Somaschi, N; Hornecker, G; Grange, T; Reznychenko, B; De Santis, L; Demory, J; Gomez, C; Sagnes, I; Lemaître, A; Krebs, O; Lanzillotti-Kimura, N D; Lanco, L; Auffeves, A; Senellart, P

2016-06-17

In a quantum network based on atoms and photons, a single atom should control the photon state and, reciprocally, a single photon should allow the coherent manipulation of the atom. Both operations require controlling the atom environment and developing efficient atom-photon interfaces, for instance by coupling the natural or artificial atom to cavities. So far, much attention has been drown on manipulating the light field with atomic transitions, recently at the few-photon limit. Here we report on the reciprocal operation and demonstrate the coherent manipulation of an artificial atom by few photons. We study a quantum dot-cavity system with a record cooperativity of 13. Incident photons interact with the atom with probability 0.95, which radiates back in the cavity mode with probability 0.96. Inversion of the atomic transition is achieved for 3.8 photons on average, showing that our artificial atom performs as if fully isolated from the solid-state environment.

Attitude control for on-orbit servicing spacecraft using hybrid actuator

NASA Astrophysics Data System (ADS)

Wu, Yunhua; Han, Feng; Zheng, Mohong; He, Mengjie; Chen, Zhiming; Hua, Bing; Wang, Feng

2018-03-01

On-orbit servicing is one of the research hotspots of space missions. A small satellite equipped with multiple robotic manipulators is expected to carry out device replacement task for target large spacecraft. Attitude hyperstable control of a small satellite platform under rotations of the manipulators is a challenging problem. A hybrid momentum exchanging actuator consists of Control Moment Gyro (CMG) and Reaction Wheel (RW) is proposed to tackle the above issue, due to its huge amount of momentum storage capacity of the CMG and high control accuracy of the RW, in which the CMG produces large command torque while the RW offers additional control degrees. The constructed dynamic model of the servicing satellite advises that it's feasible for attitude hyperstable control of the platform with arbitrary manipulators through compensating the disturbance generated by rapid rotation of the manipulators. Then, null motion between the CMG and RW is exploited to drive the system to the expected target with favorable performance, and to overcome the CMG inherent geometric singularity and RW saturation. Simulations with different initial situations, including CMG hyperbolic and elliptic singularities and RW saturation, are executed. Compared to the scenarios where the CMG or RW fails stabilizing the platform, large control torque, precise control effect and escape of singularity are guaranteed by the introduced hybrid actuator, CMGRW (CMGRW refers to the hybrid momentum exchanging devices in this paper, consisting of 4 CMGs in classical pyramid cluster and 3 RWs in an orthogonal group (specific description can been found in Section 4)). The feasible performance of the satellite, CMG and RW under large disturbance demonstrates that the control architecture proposed is capable of attitude control for on-orbit servicing satellite with multiple robotic manipulators.

Basics of robotics and manipulators in endoscopic surgery.

PubMed

Rininsland, H H

1993-06-01

The experience with sophisticated remote handling systems for nuclear operations in inaccessible rooms can to a large extent be transferred to the development of robotics and telemanipulators for endoscopic surgery. A telemanipulator system is described consisting of manipulator, endeffector and tools, 3-D video-endoscope, sensors, intelligent control system, modeling and graphic simulation and man-machine interfaces as the main components or subsystems. Such a telemanipulator seems to be medically worthwhile and technically feasible, but needs a lot of effort from different scientific disciplines to become a safe and reliable instrument for future endoscopic surgery.

Bilevel Shared Control Of A Remote Robotic Manipulator

NASA Technical Reports Server (NTRS)

Hayati, Samad A.; Venkataraman, Subramanian T.

1992-01-01

Proposed concept blends autonomous and teleoperator control modes, each overcoming deficiencies of the other. Both task-level and execution-level functions performed at local and remote sites. Applicable to systems with long communication delay between local and remote sites or systems intended to function partly autonomously.

(abstract) An Ada Language Modular Telerobot Task Execution System

NASA Technical Reports Server (NTRS)

Backes, Paul; Long, Mark; Steele, Robert

1993-01-01

A telerobotic task execution system is described which has been developed for space flight applications. The Modular Telerobot Task Execution System (MOTES) provides the remote site task execution capability in a local-remote telerobotic system. The system provides supervised autonomous control, shared control, and teleoperation for a redundant manipulator. The system is capable of nominal task execution as well as monitoring and reflex motion.

Hybrid PD and effective multi-mode positive position feedback control for slewing and vibration suppression of a smart flexible manipulator

NASA Astrophysics Data System (ADS)

Lou, Jun-qiang; Wei, Yan-ding; Yang, Yi-ling; Xie, Feng-ran

2015-03-01

A hybrid control strategy for slewing and vibration suppression of a smart flexible manipulator is presented in this paper. It consists of a proportional derivative controller to realize motion control, and an effective multi-mode positive position feedback (EMPPF) controller to suppress the multi-mode vibration. Rather than treat each mode equally as the standard multi-mode PPF, the essence of the EMPPF is that control forces of different modes are applied according to the mode parameters of the respective modes, so the vibration modes with less vibration energy receive fewer control forces. Stability conditions for the close loop system are established through stability analysis. Optimal parameters of the EMPPF controller are obtained using the method of root locus analysis. The performance of the proposed strategy is demonstrated by simulation and experiments. Experimental results show that the first two vibration modes of the manipulator are effectively suppressed. The setting time of the setup descends approximately 55%, reaching 3.12 s from 5.67 s.

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

NASA Technical Reports Server (NTRS)

Mann, R. C.; Fujimura, K.; Unseren, M. A.

1992-01-01

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.

Quantitative model validation of manipulative robot systems

NASA Astrophysics Data System (ADS)

Kartowisastro, Iman Herwidiana

This thesis is concerned with applying the distortion quantitative validation technique to a robot manipulative system with revolute joints. Using the distortion technique to validate a model quantitatively, the model parameter uncertainties are taken into account in assessing the faithfulness of the model and this approach is relatively more objective than the commonly visual comparison method. The industrial robot is represented by the TQ MA2000 robot arm. Details of the mathematical derivation of the distortion technique are given which explains the required distortion of the constant parameters within the model and the assessment of model adequacy. Due to the complexity of a robot model, only the first three degrees of freedom are considered where all links are assumed rigid. The modelling involves the Newton-Euler approach to obtain the dynamics model, and the Denavit-Hartenberg convention is used throughout the work. The conventional feedback control system is used in developing the model. The system behavior to parameter changes is investigated as some parameters are redundant. This work is important so that the most important parameters to be distorted can be selected and this leads to a new term called the fundamental parameters. The transfer function approach has been chosen to validate an industrial robot quantitatively against the measured data due to its practicality. Initially, the assessment of the model fidelity criterion indicated that the model was not capable of explaining the transient record in term of the model parameter uncertainties. Further investigations led to significant improvements of the model and better understanding of the model properties. After several improvements in the model, the fidelity criterion obtained was almost satisfied. Although the fidelity criterion is slightly less than unity, it has been shown that the distortion technique can be applied in a robot manipulative system. Using the validated model, the importance of friction terms in the model was highlighted with the aid of the partition control technique. It was also shown that the conventional feedback control scheme was insufficient for a robot manipulative system due to high nonlinearity which was inherent in the robot manipulator.

Telerobot control system

NASA Technical Reports Server (NTRS)

Backes, Paul G. (Inventor); Tso, Kam S. (Inventor)

1993-01-01

This invention relates to an operator interface for controlling a telerobot to perform tasks in a poorly modeled environment and/or within unplanned scenarios. The telerobot control system includes a remote robot manipulator linked to an operator interface. The operator interface includes a setup terminal, simulation terminal, and execution terminal for the control of the graphics simulator and local robot actuator as well as the remote robot actuator. These terminals may be combined in a single terminal. Complex tasks are developed from sequential combinations of parameterized task primitives and recorded teleoperations, and are tested by execution on a graphics simulator and/or local robot actuator, together with adjustable time delays. The novel features of this invention include the shared and supervisory control of the remote robot manipulator via operator interface by pretested complex tasks sequences based on sequences of parameterized task primitives combined with further teleoperation and run-time binding of parameters based on task context.

Design and control of a macro-micro robot for precise force applications

NASA Technical Reports Server (NTRS)

Wang, Yulun; Mangaser, Amante; Laby, Keith; Jordan, Steve; Wilson, Jeff

1993-01-01

Creating a robot which can delicately interact with its environment has been the goal of much research. Primarily two difficulties have made this goal hard to attain. The execution of control strategies which enable precise force manipulations are difficult to implement in real time because such algorithms have been too computationally complex for available controllers. Also, a robot mechanism which can quickly and precisely execute a force command is difficult to design. Actuation joints must be sufficiently stiff, frictionless, and lightweight so that desired torques can be accurately applied. This paper describes a robotic system which is capable of delicate manipulations. A modular high-performance multiprocessor control system was designed to provide sufficient compute power for executing advanced control methods. An 8 degree of freedom macro-micro mechanism was constructed to enable accurate tip forces. Control algorithms based on the impedance control method were derived, coded, and load balanced for maximum execution speed on the multiprocessor system. Delicate force tasks such as polishing, finishing, cleaning, and deburring, are the target applications of the robot.

Learning-based controller for biotechnology processing, and method of using

DOEpatents

Johnson, John A.; Stoner, Daphne L.; Larsen, Eric D.; Miller, Karen S.; Tolle, Charles R.

2004-09-14

The present invention relates to process control where some of the controllable parameters are difficult or impossible to characterize. The present invention relates to process control in biotechnology of such systems, but not limited to. Additionally, the present invention relates to process control in biotechnology minerals processing. In the inventive method, an application of the present invention manipulates a minerals bioprocess to find local exterma (maxima or minima) for selected output variables/process goals by using a learning-based controller for bioprocess oxidation of minerals during hydrometallurgical processing. The learning-based controller operates with or without human supervision and works to find processor optima without previously defined optima due to the non-characterized nature of the process being manipulated.

Proving the Space Transportation System: the Orbital Flight Test Program

NASA Technical Reports Server (NTRS)

Reichhardt, T.

1982-01-01

The main propulsion system, solid rocket boosters, external tank, orbital maneuvering system, spacecraft orbital operations (thermal tests, attitude control and remote manipulator), and return to Earth are outlined for the first four STS missions.

Evaluation of SMART sensor displays for multidimensional precision control of Space Shuttle remote manipulator

NASA Technical Reports Server (NTRS)

Bejczy, A. K.; Brown, J. W.; Lewis, J. L.

1982-01-01

An enhanced proximity sensor and display system was developed at the Jet Propulsion Laboratory (JPL) and tested on the full scale Space Shuttle Remote Manipulator at the Johnson Space Center (JSC) Manipulator Development Facility (MDF). The sensor system, integrated with a four-claw end effector, measures range error up to 6 inches, and pitch and yaw alignment errors within + or 15 deg., and displays error data on both graphic and numeric displays. The errors are referenced to the end effector control axes through appropriate data processing by a dedicated microcomputer acting on the sensor data in real time. Both display boxes contain a green lamp which indicates whether the combination of range, pitch and yaw errors will assure a successful grapple. More than 200 test runs were completed in early 1980 by three operators at JSC for grasping static and capturing slowly moving targets. The tests have indicated that the use of graphic/numeric displays of proximity sensor information improves precision control of grasp/capture range by more than a factor of two for both static and dynamic grapple conditions.

Adaptive control of robotic manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.

Comparison of tongue interface with keyboard for control of an assistive robotic arm.

PubMed

Struijk, Lotte N S Andreasen; Lontis, Romulus

2017-07-01

This paper demonstrates how an assistive 6 DoF robotic arm with a gripper can be controlled manually using a tongue interface. The proposed method suggests that it possible for a user to manipulate the surroundings with his or her tongue using the inductive tongue control system as deployed in this study. The sensors of an inductive tongue-computer interface were mapped to the Cartesian control of an assistive robotic arm. The resulting control system was tested manually in order to compare manual control of the robot using a standard keyboard and using the tongue interface. Two healthy subjects controlled the robotic arm to precisely move a bottle of water from one location to another. The results shows that the tongue interface was able to fully control the robotic arm in a similar manner as the standard keyboard resulting in the same number of successful manipulations and an average increase in task duration of up to 30% as compared with the standard keyboard.

Adaptive Strategies for Controls of Flexible Arms. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Yuan, Bau-San

1989-01-01

An adaptive controller for a modern manipulator has been designed based on asymptotical stability via the Lyapunov criterion with the output error between the system and a reference model used as the actuating control signal. Computer simulations were carried out to test the design. The combination of the adaptive controller and a system vibration and mode shape estimator show that the flexible arm should move along a pre-defined trajectory with high-speed motion and fast vibration setting time. An existing computer-controlled prototype two link manipulator, RALF (Robotic Arm, Large Flexible), with a parallel mechanism driven by hydraulic actuators was used to verify the mathematical analysis. The experimental results illustrate that assumed modes found from finite element techniques can be used to derive the equations of motion with acceptable accuracy. The robust adaptive (modal) control is implemented to compensate for unmodelled modes and nonlinearities and is compared with the joint feedback control in additional experiments. Preliminary results show promise for the experimental control algorithm.

A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals.

PubMed

Wang, Hesheng; Zhang, Runxi; Chen, Weidong; Wang, Xiaozhou; Pfeifer, Rolf

2017-08-01

Minimally invasive surgery attracts more and more attention because of the advantages of minimal trauma, less bleeding and pain and low complication rate. However, minimally invasive surgery for beating hearts is still a challenge. Our goal is to develop a soft robot surgical system for single-port minimally invasive surgery on a beating heart. The soft robot described in this paper is inspired by the octopus arm. Although the octopus arm is soft and has more degrees of freedom (DOFs), it can be controlled flexibly. The soft robot is driven by cables that are embedded into the soft robot manipulator and can control the direction of the end and middle of the soft robot manipulator. The forward, backward and rotation movement of the soft robot is driven by a propulsion plant. The soft robot can move freely by properly controlling the cables and the propulsion plant. The soft surgical robot system can perform different thoracic operations by changing surgical instruments. To evaluate the flexibility, controllability and reachability of the designed soft robot surgical system, some testing experiments have been conducted in vivo on a swine. Through the subxiphoid, the soft robot manipulator could enter into the thoracic cavity and pericardial cavity smoothly and perform some operations such as biopsy, ligation and ablation. The operations were performed successfully and did not cause any damage to the surrounding soft tissues. From the experiments, the flexibility, controllability and reachability of the soft robot surgical system have been verified. Also, it has been shown that this system can be used in the thoracic and pericardial cavity for different operations. Compared with other endoscopy robots, the soft robot surgical system is safer, has more DOFs and is more flexible for control. When performing operations in a beating heart, this system maybe more suitable than traditional endoscopy robots.

A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 2: Concept development and selection

NASA Technical Reports Server (NTRS)

1972-01-01

The overall program background, the various system concepts considered, and the rationale for the selected design are described. The concepts for each subsystem are also described and compared. Details are given for the requirements, boom configuration and dynamics, actuators, man/machine interface and control, visual system, control system, environmental control and life support, data processing, and materials.

Model of rotary-actuated flexible beam with notch filter vibration suppression controller and torque feedforward load compensation controller

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bills, K.C.; Kress, R.L.; Kwon, D.S.

1994-12-31

This paper describes ORNL`s development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratory`s Flexible Beam Test Bed (PNL FBTB), which is a 1-Degree-of-Freedom, flexible arm with a hydraulic base actuator. ORNLmore » transferred control algorithms developed for the PNL FBTB to controlling IGRIP models. A robust notch filter is running in IGRIP controlling a full dynamics model of the PNL test bed. Model results provide a reasonable match to the experimental results (quantitative results are being determined) and can run on ORNL`s Onyx machine in approximately realtime. The flexible beam is modeled as six rigid sections with torsional springs between each segment. The spring constants were adjusted to match the physical response of the flexible beam model to the experimental results. The controller is able to improve performance on the model similar to the improvement seen on the experimental system. Some differences are apparent, most notably because the IGRIP model presently uses a different trajectory planner than the one used by ORNL on the PNL test bed. In the future, the trajectory planner will be modified so that the experiments and models are the same. The successful completion of this work provides the ability to link C code with IGRIP, thus allowing controllers to be developed, tested, and tuned in simulation and then ported directly to hardware systems using the C language.« less

Design of mechanical arm for an automatic sorting system of recyclable cans

NASA Astrophysics Data System (ADS)

Resti, Y.; Mohruni, A. S.; Burlian, F.; Yani, I.; Amran, A.

2018-04-01

The use of a mechanical arm for an automatic sorting system of used cans should be designed carefully. The right design will result in a high precision sorting rate and a short sorting time. The design includes first; design manipulator,second; determine link and joint specifications, and third; build mechanical systems and control systems. This study aims to design the mechanical arm as a hardware system for automatic cans sorting system. The material used for the manipulator is the aluminum plate. The manipulator is designed using 6 links and 6 join where the 6th link is the end effectorand the 6th join is the gripper. As a driving motor used servo motor, while as a microcontroller used Arduino Uno which is connected with Matlab programming language. Based on testing, a mechanical arm designed for this recyclable canned recycling system has a precision sorting rate at 93%, where the average total time required for sorting is 10.82 seconds.

Accurate positioning of long, flexible ARM's (Articulated Robotic Manipulator)

NASA Technical Reports Server (NTRS)

Malachowski, Michael J.

1988-01-01

An articulated robotic manipulator (ARM) system is being designed for space applications. Work being done on a concept utilizing an infinitely stiff laser beam for position reference is summarized. The laser beam is projected along the segments of the ARM, and the position is sensed by the beam rider modules (BRM) mounted on the distal ends of the segments. The BRM concept is the heart of the system. It utilizes a combination of lateral displacements and rotational and distance measurement sensors. These determine the relative position of the two ends of the segments with respect to each other in six degrees of freedom. The BRM measurement devices contain microprocessor controlled data acquisition and active positioning components. An indirect adaptive controller is used to accurately control the position of the ARM.

Independent Orbiter Assessment (IOA): Analysis of the remote manipulator system

NASA Technical Reports Server (NTRS)

Tangorra, F.; Grasmeder, R. F.; Montgomery, A. D.

1987-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA approach features a top-down analysis of the hardware to determine failure modes, criticality, and potential critical items (PCIs). To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The independent analysis results for the Orbiter Remote Manipulator System (RMS) are documented. The RMS hardware and software are primarily required for deploying and/or retrieving up to five payloads during a single mission, capture and retrieve free-flying payloads, and for performing Manipulator Foot Restraint operations. Specifically, the RMS hardware consists of the following components: end effector; displays and controls; manipulator controller interface unit; arm based electronics; and the arm. The IOA analysis process utilized available RMS hardware drawings, schematics and documents for defining hardware assemblies, components and hardware items. Each level of hardware was evaluated and analyzed for possible failure modes and effects. Criticality was assigned based upon the severity of the effect for each failure mode. Of the 574 failure modes analyzed, 413 were determined to be PCIs.

Control strategies for a telerobot

NASA Technical Reports Server (NTRS)

Ohara, John; Stasi, Bill

1989-01-01

One of the major issues impacting the utility of telerobotic systems for space is the development of effective control strategies. For near-term applications, telerobot control is likely to utilize teleoperation methodologies with integrated supervisory control capabilities to assist the operator. Two different approaches to telerobotic control are evaluated: bilateral force reflecting master controllers and proportional rate six degrees-of-freedom hand controllers. The controllers' performance of single manipulator arm tasks is compared. Simultaneous operation of both manipulator arms and complex multiaxis slave arm movements is investigated. Task times are significantly longer and fewer errors are committed with the hand controllers. The hand controllers are also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers are rated significantly higher in physical workload. The implications of these findings for space teleoperations and higher levels of control are discussed.

A comparison of the Shuttle remote manipulator system and the Space Station Freedom mobile servicing center

NASA Technical Reports Server (NTRS)

Taylor, Edith C.; Ross, Michael

1989-01-01

The Shuttle Remote Manipulator System is a mature system which has successfully completed 18 flights. Its primary functional design driver was the capability to deploy and retrieve payloads from the Orbiter cargo bay. The Space Station Freedom Mobile Servicing Center is still in the requirements definition and early design stage. Its primary function design drivers are the capabilities: to support Space Station construction and assembly tasks; to provide external transportation about the Space Station; to provide handling capabilities for the Orbiter, free flyers, and payloads; to support attached payload servicing in the extravehicular environment; and to perform scheduled and un-scheduled maintenance on the Space Station. The differences between the two systems in the area of geometric configuration, mobility, sensor capabilities, control stations, control algorithms, handling performance, end effector dexterity, and fault tolerance are discussed.

A three degree of freedom manipulator used for store separation wind tunnel test

NASA Astrophysics Data System (ADS)

Wei, R.; Che, B.-H.; Sun, C.-B.; Zhang, J.; Lu, Y.-Q.

2018-06-01

A three degree of freedom manipulator is presented, which is used for store separation wind tunnel test. It is a kind of mechatronics product, have small volume and large moment of torque. The paper researched the design principle of wind tunnel test equipment, also introduced the transmission principle design, physical design, control system design, drive element selection calculation and verification, dynamics computation and static structural computation of the manipulator. To satisfy the design principle of wind tunnel test equipment, some optimization design are made include optimizes the structure of drive element and cable, fairing configuration, overall dimension so that to make the device more suitable for the wind tunnel test. Some tests are made to verify the parameters of the manipulator. The results show that the device improves the load from 100 Nm to 250 Nm, control accuracy from 0.1°to 0.05°in pitch and yaw, also improves load from 10 Nm to 20 Nm, control accuracy from 0.1°to 0.05°in roll.

Control Valve Trajectories for SOFC Hybrid System Startup

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gorrell, Megan; Banta, Larry; Rosen, William

2012-07-01

Control and management of cathode airflow in a solid oxide fuel cell gas turbine hybrid power system was analyzed using the Hybrid Performance (HyPer) hardware simulation at the National Energy Technology (NETL), U.S. Department of Energy. This work delves into previously unexplored operating practices for HyPer, via simultaneous manipulation of bypass valves and the electric load on the generator. The work is preparatory to the development of a Multi-Input, Multi-Output (MIMO) controller for HyPer. A factorial design of experiments was conducted to acquire data for 81 different combinations of the manipulated variables, which consisted of three air flow control valvesmore » and the electric load on the turbine generator. From this data the response surface for the cathode airflow with respect to bypass valve positions was analyzed. Of particular interest is the control of airflow through the cathode during system startup and during large load swings. This paper presents an algorithm for controlling air mass flow through the cathode based on a modification of the steepest ascent method.« less

Space station definitions, design, and development. Task 5: Multiple arm telerobot coordination and control: Manipulator design methodology

NASA Technical Reports Server (NTRS)

Stoughton, R. M.

1990-01-01

A proposed methodology applicable to the design of manipulator systems is described. The current design process is especially weak in the preliminary design phase, since there is no accepted measure to be used in trading off different options available for the various subsystems. The design process described uses Cartesian End-Effector Impedance as a measure of performance for the system. Having this measure of performance, it is shown how it may be used to determine the trade-offs necessary to the preliminary design phase. The design process involves three main parts: (1) determination of desired system performance in terms of End-Effector Impedance; (2) trade-off design options to achieve this desired performance; and (3) verification of system performance through laboratory testing. The design process is developed using numerous examples and experiments to demonstrate the feasability of this approach to manipulator design.

Open Source Tools for Temporally Controlled Rodent Behavior Suitable for Electrophysiology and Optogenetic Manipulations

PubMed Central

Solari, Nicola; Sviatkó, Katalin; Laszlovszky, Tamás; Hegedüs, Panna; Hangya, Balázs

2018-01-01

Understanding how the brain controls behavior requires observing and manipulating neural activity in awake behaving animals. Neuronal firing is timed at millisecond precision. Therefore, to decipher temporal coding, it is necessary to monitor and control animal behavior at the same level of temporal accuracy. However, it is technically challenging to deliver sensory stimuli and reinforcers as well as to read the behavioral responses they elicit with millisecond precision. Presently available commercial systems often excel in specific aspects of behavior control, but they do not provide a customizable environment allowing flexible experimental design while maintaining high standards for temporal control necessary for interpreting neuronal activity. Moreover, delay measurements of stimulus and reinforcement delivery are largely unavailable. We combined microcontroller-based behavior control with a sound delivery system for playing complex acoustic stimuli, fast solenoid valves for precisely timed reinforcement delivery and a custom-built sound attenuated chamber using high-end industrial insulation materials. Together this setup provides a physical environment to train head-fixed animals, enables calibrated sound stimuli and precisely timed fluid and air puff presentation as reinforcers. We provide latency measurements for stimulus and reinforcement delivery and an algorithm to perform such measurements on other behavior control systems. Combined with electrophysiology and optogenetic manipulations, the millisecond timing accuracy will help interpret temporally precise neural signals and behavioral changes. Additionally, since software and hardware provided here can be readily customized to achieve a large variety of paradigms, these solutions enable an unusually flexible design of rodent behavioral experiments. PMID:29867383

Enhanced operator perception through 3D vision and haptic feedback

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Light, Kenneth; Bodenhamer, Andrew; Bosscher, Paul; Wilkinson, Loren

2012-06-01

Polaris Sensor Technologies (PST) has developed a stereo vision upgrade kit for TALON® robot systems comprised of a replacement gripper camera and a replacement mast zoom camera on the robot, and a replacement display in the Operator Control Unit (OCU). Harris Corporation has developed a haptic manipulation upgrade for TALON® robot systems comprised of a replacement arm and gripper and an OCU that provides haptic (force) feedback. PST and Harris have recently collaborated to integrate the 3D vision system with the haptic manipulation system. In multiple studies done at Fort Leonard Wood, Missouri it has been shown that 3D vision and haptics provide more intuitive perception of complicated scenery and improved robot arm control, allowing for improved mission performance and the potential for reduced time on target. This paper discusses the potential benefits of these enhancements to robotic systems used for the domestic homeland security mission.

A portable and integrated instrument for cell manipulation by dielectrophoresis.

PubMed

Burgarella, Sarah; Di Bari, Marco

2015-07-01

The physical manipulation of biological cells is a key point in the development of miniaturized systems for point-of-care analyses. Dielectrophoresis (DEP) has been reported by several laboratories as a promising method in biomedical research for label-free cell manipulation without physical contact, by exploiting the dielectric properties of cells suspended in a microfluidic sample, under the action of high-gradient electric fields. In view of a more extended use of DEP phenomena in lab-on-chip devices for point-of-care settings, we have developed a portable instrument, integrating on the same device the microfluidic biochip for cell manipulation and all the laboratory functions (i.e., DEP electric signal generation, microscopic observation of the biological sample under test and image acquisition) that are normally obtained by combining different nonportable standard laboratory instruments. The nonuniform electric field for cell manipulation on the biochip is generated by microelectrodes, patterned on the silicon substrate of microfluidic channels, using standard microfabrication techniques. Numerical modeling was performed to simulate the electric field distribution, quantify the DEP force, and optimize the geometry of the microelectrodes. The developed instrument includes an electronic board, which allows the control of the electric signal applied to electrodes necessary for DEP, and a miniaturized optical microscope system that allows visual inspection and eventually cell counting, as well as image and video recording. The system also includes the control software. The portable and integrated platform described in this work therefore represents a complete and innovative solution of applied research, suitable for many biological applications. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

System-Level Biochip for Impedance Sensing and Programmable Manipulation of Bladder Cancer Cells

PubMed Central

Chuang, Cheng-Hsin; Huang, Yao-Wei; Wu, Yao-Tung

2011-01-01

This paper develops a dielectrophoretic (DEP) chip with multi-layer electrodes and a micro-cavity array for programmable manipulations of cells and impedance measurement. The DEP chip consists of an ITO top electrode, flow chamber, middle electrode on an SU-8 surface, micro-cavity arrays of SU-8 and distributed electrodes at the bottom of the micro-cavity. Impedance sensing of single cells could be performed as follows: firstly, cells were trapped in a micro-cavity array by negative DEP force provided by top and middle electrodes; then, the impedance measurement for discrimination of different stage of bladder cancer cells was accomplished by the middle and bottom electrodes. After impedance sensing, the individual releasing of trapped cells was achieved by negative DEP force using the top and bottom electrodes in order to collect the identified cells once more. Both cell manipulations and impedance measurement had been integrated within a system controlled by a PC-based LabVIEW program. In the experiments, two different stages of bladder cancer cell lines (grade III: T24 and grade II: TSGH8301) were utilized for the demonstration of programmable manipulation and impedance sensing; as the results show, the lower-grade bladder cancer cells (TSGH8301) possess higher impedance than the higher-grade ones (T24). In general, the multi-step manipulations of cells can be easily programmed by controlling the electrical signal in our design, which provides an excellent platform technology for lab-on-a-chip (LOC) or a micro-total-analysis-system (Micro TAS). PMID:22346685

International Space Station alpha remote manipulator system workstation controls test report

NASA Astrophysics Data System (ADS)

Ehrenstrom, William A.; Swaney, Colin; Forrester, Patrick

1994-05-01

Previous development testing for the space station remote manipulator system workstation controls determined the need for hardware controls for the emergency stop, brakes on/off, and some camera functions. This report documents the results of an evaluation to further determine control implementation requirements, requested by the Canadian Space Agency (CSA), to close outstanding review item discrepancies. This test was conducted at the Johnson Space Center's Space Station Mockup and Trainer Facility in Houston, Texas, with nine NASA astronauts and one CSA astronaut as operators. This test evaluated camera iris and focus, back-up drive, latching end effector release, and autosequence controls using several types of hardware and software implementations. Recommendations resulting from the testing included providing guarded hardware buttons to prevent accidental actuation, providing autosequence controls and back-up drive controls on a dedicated hardware control panel, and that 'latch on/latch off', or on-screen software, controls not be considered. Generally, the operators preferred hardware controls although other control implementations were acceptable. The results of this evaluation will be used along with further testing to define specific requirements for the workstation design.

International Space Station alpha remote manipulator system workstation controls test report

NASA Technical Reports Server (NTRS)

Ehrenstrom, William A.; Swaney, Colin; Forrester, Patrick

1994-01-01

Previous development testing for the space station remote manipulator system workstation controls determined the need for hardware controls for the emergency stop, brakes on/off, and some camera functions. This report documents the results of an evaluation to further determine control implementation requirements, requested by the Canadian Space Agency (CSA), to close outstanding review item discrepancies. This test was conducted at the Johnson Space Center's Space Station Mockup and Trainer Facility in Houston, Texas, with nine NASA astronauts and one CSA astronaut as operators. This test evaluated camera iris and focus, back-up drive, latching end effector release, and autosequence controls using several types of hardware and software implementations. Recommendations resulting from the testing included providing guarded hardware buttons to prevent accidental actuation, providing autosequence controls and back-up drive controls on a dedicated hardware control panel, and that 'latch on/latch off', or on-screen software, controls not be considered. Generally, the operators preferred hardware controls although other control implementations were acceptable. The results of this evaluation will be used along with further testing to define specific requirements for the workstation design.

Telepresence system development for application to the control of remote robotic systems

NASA Technical Reports Server (NTRS)

Crane, Carl D., III; Duffy, Joseph; Vora, Rajul; Chiang, Shih-Chien

1989-01-01

The recent developments of techniques which assist an operator in the control of remote robotic systems are described. In particular, applications are aimed at two specific scenarios: The control of remote robot manipulators; and motion planning for remote transporter vehicles. Common to both applications is the use of realistic computer graphics images which provide the operator with pertinent information. The specific system developments for several recently completed and ongoing telepresence research projects are described.

A smartphone controlled handheld microfluidic liquid handling system.

PubMed

Li, Baichen; Li, Lin; Guan, Allan; Dong, Quan; Ruan, Kangcheng; Hu, Ronggui; Li, Zhenyu

2014-10-21

Microfluidics and lab-on-a-chip technologies have made it possible to manipulate small volume liquids with unprecedented resolution, automation and integration. However, most current microfluidic systems still rely on bulky off-chip infrastructures such as compressed pressure sources, syringe pumps and computers to achieve complex liquid manipulation functions. Here, we present a handheld automated microfluidic liquid handling system controlled by a smartphone, which is enabled by combining elastomeric on-chip valves and a compact pneumatic system. As a demonstration, we show that the system can automatically perform all the liquid handling steps of a bead-based HIV1 p24 sandwich immunoassay on a multi-layer PDMS chip without any human intervention. The footprint of the system is 6 × 10.5 × 16.5 cm, and the total weight is 829 g including battery. Powered by a 12.8 V 1500 mAh Li battery, the system consumed 2.2 W on average during the immunoassay and lasted for 8.7 h. This handheld microfluidic liquid handling platform is generally applicable to many biochemical and cell-based assays requiring complex liquid manipulation and sample preparation steps such as FISH, PCR, flow cytometry and nucleic acid sequencing. In particular, the integration of this technology with read-out biosensors may help enable the realization of the long-sought Tricorder-like handheld in vitro diagnostic (IVD) systems.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mann, R.C.; Fujimura, K.; Unseren, M.A.

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR)at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of positionmore » and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace. 15 refs., 3 figs.« less

Pilot Fullerton reviews checklist on Aft Flight Deck Onorbit Station

NASA Technical Reports Server (NTRS)

1982-01-01

Pilot Fullerton, wearing communication kit assembly (assy) mini headset, reviews checklist and looks at remote manipulator system (RMS) closed circuit television (CCTV) views displayed on CCTV monitors at Aft Flight Deck Onorbit Station. Taken from the aft flight deck starboard side, Fullerton is seen in front of Panels A7 and A8 with remote manipulator syste (RMS) translation hand control (THC) and RMS rotation hand control (RHC) in the foreground and surrounded by University of Michigan (U of M) GO BLUE and United States Air Force - A Great Way of Life Decals.

Modeling and control of a hydraulically actuated flexible-prismatic link robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Love, L.; Kress, R.; Jansen, J.

1996-12-01

Most of the research related to flexible link manipulators to date has focused on single link, fixed length, single plane of vibration test beds. In addition, actuation has been predominantly based upon electromagnetic motors. Ironically, these elements are rarely found in the existing industrial long reach systems. This manuscript describes a new hydraulically actuated, long reach manipulator with a flexible prismatic link at Oak Ridge National Laboratory (ORNL). Focus is directed towards both modeling and control of hydraulic actuators as well as flexible links that have variable natural frequencies.

A discrete-time adaptive control scheme for robot manipulators

NASA Technical Reports Server (NTRS)

Tarokh, M.

1990-01-01

A discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.

Controlled soil warming powered by alternative energy for remote field sites.

PubMed

Johnstone, Jill F; Henkelman, Jonathan; Allen, Kirsten; Helgason, Warren; Bedard-Haughn, Angela

2013-01-01

Experiments using controlled manipulation of climate variables in the field are critical for developing and testing mechanistic models of ecosystem responses to climate change. Despite rapid changes in climate observed in many high latitude and high altitude environments, controlled manipulations in these remote regions have largely been limited to passive experimental methods with variable effects on environmental factors. In this study, we tested a method of controlled soil warming suitable for remote field locations that can be powered using alternative energy sources. The design was tested in high latitude, alpine tundra of southern Yukon Territory, Canada, in 2010 and 2011. Electrical warming probes were inserted vertically in the near-surface soil and powered with photovoltaics attached to a monitoring and control system. The warming manipulation achieved a stable target warming of 1.3 to 2 °C in 1 m(2) plots while minimizing disturbance to soil and vegetation. Active control of power output in the warming plots allowed the treatment to closely match spatial and temporal variations in soil temperature while optimizing system performance during periods of low power supply. Active soil heating with vertical electric probes powered by alternative energy is a viable option for remote sites and presents a low-disturbance option for soil warming experiments. This active heating design provides a valuable tool for examining the impacts of soil warming on ecosystem processes.

Robotic System For Greenhouse Or Nursery

NASA Technical Reports Server (NTRS)

Gill, Paul; Montgomery, Jim; Silver, John; Heffelfinger, Neil; Simonton, Ward; Pease, Jim

1993-01-01

Report presents additional information about robotic system described in "Robotic Gripper With Force Control And Optical Sensors" (MFS-28537). "Flexible Agricultural Robotics Manipulator System" (FARMS) serves as prototype of robotic systems intended to enhance productivities of agricultural assembly-line-type facilities in large commercial greenhouses and nurseries.

Position Control of Tendon-Driven Fingers

NASA Technical Reports Server (NTRS)

Abdallah, Muhammad E.; Platt, Robert, Jr.; Hargrave, B.; Pementer, Frank

2011-01-01

Conventionally, tendon-driven manipulators implement some force control scheme based on tension feedback. This feedback allows the system to ensure that the tendons are maintained taut with proper levels of tensioning at all times. Occasionally, whether it is due to the lack of tension feedback or the inability to implement sufficiently high stiffnesses, a position control scheme is needed. This work compares three position controllers for tendon-driven manipulators. A new controller is introduced that achieves the best overall performance with regards to speed, accuracy, and transient behavior. To compensate for the lack of tension feedback, the controller nominally maintains the internal tension on the tendons by implementing a two-tier architecture with a range-space constraint. These control laws are validated experimentally on the Robonaut-2 humanoid hand. I

Charter for Systems Engineer Working Group

NASA Technical Reports Server (NTRS)

Suffredini, Michael T.; Grissom, Larry

2015-01-01

This charter establishes the International Space Station Program (ISSP) Mobile Servicing System (MSS) Systems Engineering Working Group (SEWG). The MSS SEWG is established to provide a mechanism for Systems Engineering for the end-to-end MSS function. The MSS end-to-end function includes the Space Station Remote Manipulator System (SSRMS), the Mobile Remote Servicer (MRS) Base System (MBS), Robotic Work Station (RWS), Special Purpose Dexterous Manipulator (SPDM), Video Signal Converters (VSC), and Operations Control Software (OCS), the Mobile Transporter (MT), and by interfaces between and among these elements, and United States On-Orbit Segment (USOS) distributed systems, and other International Space Station Elements and Payloads, (including the Power Data Grapple Fixtures (PDGFs), MSS Capture Attach System (MCAS) and the Mobile Transporter Capture Latch (MTCL)). This end-to-end function will be supported by the ISS and MSS ground segment facilities. This charter defines the scope and limits of the program authority and document control that is delegated to the SEWG and it also identifies the panel core membership and specific operating policies.

Robotics technology discipline

NASA Technical Reports Server (NTRS)

Montemerlo, Melvin D.

1990-01-01

Viewgraphs on robotics technology discipline for Space Station Freedom are presented. Topics covered include: mechanisms; sensors; systems engineering processes for integrated robotics; man/machine cooperative control; 3D-real-time machine perception; multiple arm redundancy control; manipulator control from a movable base; multi-agent reasoning; and surfacing evolution technologies.

A time domain inverse dynamic method for the end point tracking control of a flexible manipulator

NASA Technical Reports Server (NTRS)

Kwon, Dong-Soo; Book, Wayne J.

1991-01-01

The inverse dynamic equation of a flexible manipulator was solved in the time domain. By dividing the inverse system equation into the causal part and the anticausal part, we calculated the torque and the trajectories of all state variables for a given end point trajectory. The interpretation of this method in the frequency domain was explained in detail using the two-sided Laplace transform and the convolution integral. The open loop control of the inverse dynamic method shows an excellent result in simulation. For real applications, a practical control strategy is proposed by adding a feedback tracking control loop to the inverse dynamic feedforward control, and its good experimental performance is presented.

Coherent manipulation of an NV center and one carbon nuclear spin

DOE Office of Scientific and Technical Information (OSTI.GOV)

Scharfenberger, Burkhard; Nemoto, Kae; Munro, William J.

2014-12-04

We study a three-qubit system formed by the NV center’s electronic and nuclear spin plus an adjacent spin 1/2 carbon {sup 13}C. Specifically, we propose a manipulation scheme utilizing the hyperfine coupling of the effective S=1 degree of freedom of the vacancy electrons to the two adjacent nuclear spins to achieve accurate coherent control of all three qubits.

Algorithmic formulation of control problems in manipulation

NASA Technical Reports Server (NTRS)

Bejczy, A. K.

1975-01-01

The basic characteristics of manipulator control algorithms are discussed. The state of the art in the development of manipulator control algorithms is briefly reviewed. Different end-point control techniques are described together with control algorithms which operate on external sensor (imaging, proximity, tactile, and torque/force) signals in realtime. Manipulator control development at JPL is briefly described and illustrated with several figures. The JPL work pays special attention to the front or operator input end of the control algorithms.

A platform for the advanced spatial and temporal control of biomolecules

NASA Astrophysics Data System (ADS)

Hook, Andrew L.; Thissen, Helmut; Hayes, Jason P.; Voelcker, Nicolas H.

2007-01-01

Manipulating biomolecules at solid/liquid interfaces is important for the development of various biodevices including microarrays. Smart materials that enable both spatial and temporal control of biomolecules by combining switchability with patterned surface chemistry offer unprecedented levels of control of biomolecule manipulation. Such a system has been developed for the microscale spatial control over both DNA and cell growth on highly doped p-type silicon. Surface modification, involving plasma polymerisation of allylamine and poly(ethlylene glycol) grafting with subsequent laser ablation, led to the production of a patterned surface with dual biomolecule adsorption and desorption properties. On patterned surfaces, preferential electro-stimulated adsorption of DNA to the allylamine plasma polymer surface and subsequent desorption by the application of a negative bias was observed. The ability of this surface to control both DNA and cell attachment in four dimensions has been demonstrated, exemplifying its capacity to be used for complex biological studies such as gene function analysis. This system has been successfully applied to living microarray applications and is an exciting platform for any system incorporating biomolecules.

Part II: morphological analysis of embryonic development following femtosecond laser manipulation

NASA Astrophysics Data System (ADS)

Kohli, V.; Elezzabi, A. Y.

2008-02-01

The zebrafish (Danio rerio) is an attractive model system that has received wide attention for its usefulness in the study of development and disease. This organism represents a closer analog to humans than the common invetebrates Drosophila melanogaster and Caenorhabditis elegans, making this species an ideal model for human health research. Non-invasive manipulation of the zebrafish has been challenging, owing to the outer proteinaceous membrane and multiple embryonic barriers. A novel tool capable of manipulating early cleavage stage embryonic cells would be important for future advancements in medial research and the aquaculture industry. Herein, we demonstrate the laser surgery of early cleavage stage (2-cell) blastomere cells using a range of average laser powers and beam dwell times. Since the novelty of this manipulation tool depends on its non-invasive application, we examined short- and long-term laser-induced developmental defects following embryonic surgery. Laser-manipulated embryos were reared to 2 and 7 days post-fertilization and compared to control embryos at the same developmental stages. Morphological analysis was performed using light microscopy and scanning electron microscopy. Developmental features that were examined included the antero- and dorsal-lateral whole body views of the larvae, the olfactory pit, dorsal, ventral and pectoral fins, notochord, pectoral fin buds, otic capsule, otic vesicle, neuromast patterning, and kinocilia of the olfactory pit rim and cristae of the lateral wall of the ear. Laser-manipulated embryos developed normally relative to the controls, with developmental patterning and morphology at 2 and 7 days indistinguishable from control larvae.

Dynamics and control of DNA sequence amplification

DOE Office of Scientific and Technical Information (OSTI.GOV)

Marimuthu, Karthikeyan; Chakrabarti, Raj, E-mail: raj@pmc-group.com, E-mail: rajc@andrew.cmu.edu; Division of Fundamental Research, PMC Advanced Technology, Mount Laurel, New Jersey 08054

2014-10-28

DNA amplification is the process of replication of a specified DNA sequence in vitro through time-dependent manipulation of its external environment. A theoretical framework for determination of the optimal dynamic operating conditions of DNA amplification reactions, for any specified amplification objective, is presented based on first-principles biophysical modeling and control theory. Amplification of DNA is formulated as a problem in control theory with optimal solutions that can differ considerably from strategies typically used in practice. Using the Polymerase Chain Reaction as an example, sequence-dependent biophysical models for DNA amplification are cast as control systems, wherein the dynamics of the reactionmore » are controlled by a manipulated input variable. Using these control systems, we demonstrate that there exists an optimal temperature cycling strategy for geometric amplification of any DNA sequence and formulate optimal control problems that can be used to derive the optimal temperature profile. Strategies for the optimal synthesis of the DNA amplification control trajectory are proposed. Analogous methods can be used to formulate control problems for more advanced amplification objectives corresponding to the design of new types of DNA amplification reactions.« less

Mathematical Modeling For Control Of A Flexible Manipulator

NASA Technical Reports Server (NTRS)

Hu, Anren

1996-01-01

Improved method of mathematical modeling of dynamics of flexible robotic manipulators developed for use in controlling motions of manipulators. Involves accounting for effect, upon modes of vibration of manipulator, of changes in configuration of manipulator and manipulated payload(s). Flexible manipulator has one or more long, slender articulated link(s), like those used in outer space, method also applicable to terrestrial industrial robotic manipulators with relatively short, stiff links, or to such terrestrial machines as construction cranes.

Solving a Local Boundary Value Problem for a Nonlinear Nonstationary System in the Class of Feedback Controls

NASA Astrophysics Data System (ADS)

Kvitko, A. N.

2018-01-01

An algorithm convenient for numerical implementation is proposed for constructing differentiable control functions that transfer a wide class of nonlinear nonstationary systems of ordinary differential equations from an initial state to a given point of the phase space. Constructive sufficient conditions imposed on the right-hand side of the controlled system are obtained under which this transfer is possible. The control of a robotic manipulator is considered, and its numerical simulation is performed.

Control technology for future aircraft propulsion systems

NASA Technical Reports Server (NTRS)

Zeller, J. R.; Szuch, J. R.; Merrill, W. C.; Lehtinen, B.; Soeder, J. F.

1984-01-01

The need for a more sophisticated engine control system is discussed. The improvements in better thrust-to-weight ratios demand the manipulation of more control inputs. New technological solutions to the engine control problem are practiced. The digital electronic engine control (DEEC) system is a step in the evolution to digital electronic engine control. Technology issues are addressed to ensure a growth in confidence in sophisticated electronic controls for aircraft turbine engines. The need of a control system architecture which permits propulsion controls to be functionally integrated with other aircraft systems is established. Areas of technology studied include: (1) control design methodology; (2) improved modeling and simulation methods; and (3) implementation technologies. Objectives, results and future thrusts are summarized.

Establishment of a stable transfection system for genetic manipulation of Babesia gibsoni.

PubMed

Liu, Mingming; Adjou Moumouni, Paul Franck; Asada, Masahito; Hakimi, Hassan; Masatani, Tatsunori; Vudriko, Patrick; Lee, Seung-Hun; Kawazu, Shin-Ichiro; Yamagishi, Junya; Xuan, Xuenan

2018-04-23

Genetic manipulation techniques, such as transfection, have been previously reported in many protozoan parasites. In Babesia, stable transfection systems have only been established for bovine Babesia parasites. We recently reported a transient transfection system and the selection of promoter candidates for Babesia gibsoni. The establishment of a stable transfection system for B. gibsoni is considered to be urgent to improve our understanding of the basic biology of canine Babesia parasites for a better control of babesiosis. GFP-expressing parasites were observed by fluorescence microscopy as early as two weeks after drug selection, and consistently expressed GFP for more than 3 months without drug pressure. Genome integration was confirmed by PCR, sequencing and Southern blot analysis. We present the first successful establishment of a stable transfection system for B. gibsoni. This finding will facilitate functional analysis of Babesia genomes using genetic manipulation and will serve as a foundation for the development of tick-Babesia and host-Babesia infection models.

A general framework for the manual teleoperation of kinematically redundant space-based manipulators

NASA Astrophysics Data System (ADS)

Dupuis, Erick

This thesis provides a general framework for the manual teleoperation of kinematically redundant space-based manipulators. It is proposed to break down the task of controlling the motion of a redundant manipulator into a sequence of manageable sub-tasks of lower dimension by imposing constraints on the motion of intermediate bodies of the manipulator. This implies that the manipulator then becomes a non-redundant kinematic chain and the operator only controls a reduced number of degrees of freedom at any time. However, by appropriately changing the imposed constraints, the operator can use the full capability of the manipulator throughout the task. Also, by not restricting the point of teleoperation to the end effector but effectively allowing direct control of intermediate bodies of the robot, it is possible to teleoperate a redundant robot of arbitrary kinematic architecture over its entire configuration space in a predictable and natural fashion. It is rigourously proven that this approach will always work for any kinematically redundant serial manipulator regardless of its topology, geometry and of the number of its excess degrees-of-freedom. Furthermore, a methodology is provided for the selection of task and constraint coordinates to ensure the absence of algorithmic rank-deficiencies. Two novel algorithms are provided for the symbolic determination of the rank-deficiency locus of rectangular Jacobian matrices: the Singular Vector Algorithm and the Recursive Sub-Determinant Algorithm. These algorithms are complementary to each other: the former being more computationally efficient and the latter more robust. The application of the methodology to sample cases of varying complexity has demonstrated its power and limitations: It has been shown to be powerful enough to generate complete sets of task/constraint coordinate pairs for realistic examples such as the Space Station Remote Manipulator System and a simplified version of the Special Purpose Dexterous Manipulator.

The 2nd Conference on Remotely Manned Systems (RMS): Technology and Applications

NASA Technical Reports Server (NTRS)

1975-01-01

Control theory and the design of manipulators, teleoperators, and robots are considered. Applications of remotely manned vehicles to space maintenance and orbital assembly, industry and productivity, undersea operations, and rehabilitation systems are emphasized.

Wirelessly powered, fully internal optogenetics for brain, spinal and peripheral circuits in mice

PubMed Central

Montgomery, Kate L; Yeh, Alexander J; Ho, John S; Tsao, Vivien; Iyer, Shrivats Mohan; Grosenick, Logan; Ferenczi, Emily A; Tanabe, Yuji; Deisseroth, Karl; Delp, Scott L; Poon, Ada S Y

2017-01-01

To enable sophisticated optogenetic manipulation of neural circuits throughout the nervous system with limited disruption of animal behavior, light-delivery systems beyond fiber optic tethering and large, head-mounted wireless receivers are desirable. We report the development of an easy-to-construct, implantable wireless optogenetic device. Our smallest version (20 mg, 10 mm3) is two orders of magnitude smaller than previously reported wireless optogenetic systems, allowing the entire device to be implanted subcutaneously. With a radio-frequency (RF) power source and controller, this implant produces sufficient light power for optogenetic stimulation with minimal tissue heating (<1 °C). We show how three adaptations of the implant allow for untethered optogenetic control throughout the nervous system (brain, spinal cord and peripheral nerve endings) of behaving mice. This technology opens the door for optogenetic experiments in which animals are able to behave naturally with optogenetic manipulation of both central and peripheral targets. PMID:26280330

Natural user interface as a supplement of the holographic Raman tweezers

NASA Astrophysics Data System (ADS)

Tomori, Zoltan; Kanka, Jan; Kesa, Peter; Jakl, Petr; Sery, Mojmir; Bernatova, Silvie; Antalik, Marian; Zemánek, Pavel

2014-09-01

Holographic Raman tweezers (HRT) manipulates with microobjects by controlling the positions of multiple optical traps via the mouse or joystick. Several attempts have appeared recently to exploit touch tablets, 2D cameras or Kinect game console instead. We proposed a multimodal "Natural User Interface" (NUI) approach integrating hands tracking, gestures recognition, eye tracking and speech recognition. For this purpose we exploited "Leap Motion" and "MyGaze" low-cost sensors and a simple speech recognition program "Tazti". We developed own NUI software which processes signals from the sensors and sends the control commands to HRT which subsequently controls the positions of trapping beams, micropositioning stage and the acquisition system of Raman spectra. System allows various modes of operation proper for specific tasks. Virtual tools (called "pin" and "tweezers") serving for the manipulation with particles are displayed on the transparent "overlay" window above the live camera image. Eye tracker identifies the position of the observed particle and uses it for the autofocus. Laser trap manipulation navigated by the dominant hand can be combined with the gestures recognition of the secondary hand. Speech commands recognition is useful if both hands are busy. Proposed methods make manual control of HRT more efficient and they are also a good platform for its future semi-automated and fully automated work.

Dual arm master controller for a bilateral servo-manipulator

DOEpatents

Kuban, Daniel P.; Perkins, Gerald S.

1989-01-01

A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

Acoustic manipulation: Bessel beams and active carriers

NASA Astrophysics Data System (ADS)

Rajabi, Majid; Mojahed, Alireza

2017-10-01

In this paper, we address the interaction of zero-order acoustic Bessel beams as an acoustic manipulation tool, with an active spherical shell, as a carrier in drug, agent, or material delivery systems, in order to investigate the controllability of exerted acoustic radiation force as the driver. The active body is comprised of a spherical elastic shell stimulated in its monopole mode of vibrations with the same frequency as the incident wave field via an internally bonded and spatially uniformly excited piezoelectric actuator. The main aim of this work is to examine the performance of a nondiffracting and self-reconstructing zero-order Bessel beam to obtain the full manipulability condition of active carriers in comparison with the case of a plane wave field. The results unveil some unique potentials of the Bessel beams in the company of active carriers, with emphasis on the consumed power of the actuation system. This paper will widen the path toward the single-beam robust acoustic manipulation techniques and may lead to the prospect of combined tweezers and fields, with applications in delivery systems, microswimmers, and trapper designs.

Subwavelength atom localization via coherent manipulation of the Raman gain process

NASA Astrophysics Data System (ADS)

Qamar, Sajid; Mehmood, Asad; Qamar, Shahid

2009-03-01

We present a simple scheme of atom localization in a subwavelength domain via manipulation of Raman gain process. We consider a four-level system with a pump and a weak probe field. In addition, we apply a coherent field to control the gain process. The system is similar to the one used by Agarwal and Dasgupta [Phys. Rev. A 70, 023802 (2004)] for the superluminal pulse propagation through Raman gain medium. For atom localization, we consider both pump and control fields to be the standing-wave fields of the cavity. We show that a much precise position of an atom passing through the standing-wave fields can be determined by measuring the gain spectrum of the probe field.

A Fully Sensorized Cooperative Robotic System for Surgical Interventions

PubMed Central

Tovar-Arriaga, Saúl; Vargas, José Emilio; Ramos, Juan M.; Aceves, Marco A.; Gorrostieta, Efren; Kalender, Willi A.

2012-01-01

In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. PMID:23012551

Characteristics and requirements of robotic manipulators for space operations

NASA Technical Reports Server (NTRS)

Andary, James F.; Hewitt, Dennis R.; Spidaliere, Peter D.; Lambeck, Robert W.

1992-01-01

A robotic manipulator, DTF-1, developed as part of the Flight Telerobotic Servicer (FTS) project at Goddard Space Flight Center is discussed focusing on the technical, operational, and safety requirements. The DTF-1 system design, which is based on the manipulator, gripper, cameras, computer, and an operator control station incorporates the fundamental building blocks of the original FTS, the end product of which was to have been a light-weight, dexterous telerobotic device. For the first time in the history of NASA, space technology and robotics were combined to find new and unique solutions to the demanding requirements of flying a sophisticated robotic manipulator in space. DTF-1 is considered to be the prototype for all future development in space robotics.

Implementation of RCCL, a robot control C library on a microVAX II

NASA Technical Reports Server (NTRS)

Lee, Jin S.; Hayati, Samad; Hayward, Vincent; Lloyd, John E.

1987-01-01

The robot control C library (RCCL), a high-level robot programing system which enables a progammer to employ a set of system calls to specify robot manipulator tasks, is discussed. The general structure of RCCL is described, and the implementation of RCCL on a microVAX II is examined. Proposed extensions and improvements of RCCL relevant to NASA's telerobotic system are addressed.

Sensor-based fine telemanipulation for space robotics

NASA Technical Reports Server (NTRS)

Andrenucci, M.; Bergamasco, M.; Dario, P.

1989-01-01

The control of a multifingered hand slave in order to accurately exert arbitrary forces and impart small movements to a grasped object is, at present, a knotty problem in teleoperation. Although a number of articulated robotic hands have been proposed in the recent past for dexterous manipulation in autonomous robots, the possible use of such hands as slaves in teleoperated manipulation is hindered by the present lack of sensors in those hands, and (even if those sensors were available) by the inherent difficulty of transmitting to the master operator the complex sensations elicited by such sensors at the slave level. An analysis of different problems related to sensor-based telemanipulation is presented. The general sensory systems requirements for dexterous slave manipulators are pointed out and the description of a practical sensory system set-up for the developed robotic system is presented. The problem of feeding back to the human master operator stimuli that can be interpreted by his central nervous system as originated during real dexterous manipulation is then considered. Finally, some preliminary work aimed at developing an instrumented glove designed purposely for commanding the master operation and incorporating Kevlar tendons and tension sensors, is discussed.

Advanced interactive display formats for terminal area traffic control

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.

1996-01-01

This report describes the basic design considerations for perspective air traffic control displays. A software framework has been developed for manual viewing parameter setting (MVPS) in preparation for continued, ongoing developments on automated viewing parameter setting (AVPS) schemes. Two distinct modes of MVPS operations are considered, both of which utilize manipulation pointers imbedded in the three-dimensional scene: (1) direct manipulation of the viewing parameters -- in this mode the manipulation pointers act like the control-input device, through which the viewing parameter changes are made. Part of the parameters are rate controlled, and part of them position controlled. This mode is intended for making fast, iterative small changes in the parameters. (2) Indirect manipulation of the viewing parameters -- this mode is intended primarily for introducing large, predetermined changes in the parameters. Requests for changes in viewing parameter setting are entered manually by the operator by moving viewing parameter manipulation pointers on the screen. The motion of these pointers, which are an integral part of the 3-D scene, is limited to the boundaries of the screen. This arrangement has been chosen in order to preserve the correspondence between the spatial lay-outs of the new and the old viewing parameter setting, a feature which contributes to preventing spatial disorientation of the operator. For all viewing operations, e.g. rotation, translation and ranging, the actual change is executed automatically by the system, through gradual transitions with an exponentially damped, sinusoidal velocity profile, in this work referred to as 'slewing' motions. The slewing functions, which eliminate discontinuities in the viewing parameter changes, are designed primarily for enhancing the operator's impression that he, or she, is dealing with an actually existing physical system, rather than an abstract computer-generated scene. The proposed, continued research efforts will deal with the development of automated viewing parameter setting schemes. These schemes employ an optimization strategy, aimed at identifying the best possible vantage point, from which the air traffic control scene can be viewed for a given traffic situation. They determine whether a change in viewing parameter setting is required and determine the dynamic path along which the change to the new viewing parameter setting should take place.

Optogenetics: a new enlightenment age for zebrafish neurobiology.

PubMed

Del Bene, Filippo; Wyart, Claire

2012-03-01

Zebrafish became a model of choice for neurobiology because of the transparency of its brain and because of its amenability to genetic manipulation. In particular, at early stages of development the intact larva is an ideal system to apply optical techniques for deep imaging in the nervous system, as well as genetically encoded tools for targeting subsets of neurons and monitoring and manipulating their activity. For these applications,new genetically encoded optical tools, fluorescent sensors, and light-gated channels have been generated,creating the field of "optogenetics." It is now possible to monitor and control neuronal activity with minimal perturbation and unprecedented spatio-temporal resolution.We describe here the main achievements that have occurred in the last decade in imaging and manipulating neuronal activity in intact zebrafish larvae. We provide also examples of functional dissection of neuronal circuits achieved with the applications of these techniques in the visual and locomotor systems.

Informap... a computerized information system for fire planning and fire control

Treesearch

Theodore G. Storey; Ross D. Carder; Ernest T. Tolin

1969-01-01

INFORMAP (Information Necessary for Optimum Resource Management and Protection) is a computerized system under development for storing, manipulating, retrieving, and displaying data for fire planning and fire control. A prototype for planning applications has been developed and tested. It is programed in Fortran IV for the IBM 7040 computer, and displays information in...

A new approach to adaptive control of manipulators

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

An approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.

Schedule-controlled learning and memory in a regulatory context

EPA Science Inventory

Control of behavior by the manipulation of contingencies provides powerful techniques for assessing the hazard of chemical toxicants on the nervous system. When applied to evaluate the consequences of developmental exposure, these techniques are well suited for characterizing per...

An improved adaptive control for repetitive motion of robots

NASA Technical Reports Server (NTRS)

Pourboghrat, F.

1989-01-01

An adaptive control algorithm is proposed for a class of nonlinear systems, such as robotic manipulators, which is capable of improving its performance in repetitive motions. When the task is repeated, the error between the desired trajectory and that of the system is guaranteed to decrease. The design is based on the combination of a direct adaptive control and a learning process. This method does not require any knowledge of the dynamic parameters of the system.

Gene Manipulation Strategies to Identify Molecular Regulators of Axon Regeneration in the Central Nervous System

PubMed Central

Ribas, Vinicius T.; Costa, Marcos R.

2017-01-01

Limited axon regeneration in the injured adult mammalian central nervous system (CNS) usually results in irreversible functional deficits. Both the presence of extrinsic inhibitory molecules at the injury site and the intrinsically low capacity of adult neurons to grow axons are responsible for the diminished capacity of regeneration in the adult CNS. Conversely, in the embryonic CNS, neurons show a high regenerative capacity, mostly due to the expression of genes that positively control axon growth and downregulation of genes that inhibit axon growth. A better understanding of the role of these key genes controlling pro-regenerative mechanisms is pivotal to develop strategies to promote robust axon regeneration following adult CNS injury. Genetic manipulation techniques have been widely used to investigate the role of specific genes or a combination of different genes in axon regrowth. This review summarizes a myriad of studies that used genetic manipulations to promote axon growth in the injured CNS. We also review the roles of some of these genes during CNS development and suggest possible approaches to identify new candidate genes. Finally, we critically address the main advantages and pitfalls of gene-manipulation techniques, and discuss new strategies to promote robust axon regeneration in the mature CNS. PMID:28824380

Stability and performance tradeoffs in bi-lateral telemanipulation

NASA Technical Reports Server (NTRS)

Hannaford, Blake

1989-01-01

Kinesthetic force feedback provides measurable increase in remote manipulation system performance. Intensive computation time requirements or operation under conditions of time delay can cause serious stability problems in control-system design. Here, a simplified linear analysis of this stability problem is presented for the forward-flow generalized architecture, applying the hybrid two-port representation to express the loop gain of the traditional master-slave architecture, which can be subjected to similar analysis. The hybrid two-port representation is also used to express the effects on the fidelity of manipulation or feel of one design approach used to stabilize the forward-flow architecture. The results suggest that, when local force feedback at the slave side is used to reduce manipulator stability problems, a price is paid in terms of telemanipulation fidelity.

Implementation of a stereofluoroscopic system

NASA Technical Reports Server (NTRS)

Rivers, D. B.

1976-01-01

Clinical applications of a 3-D video imaging technique developed by NASA for observation and control of remote manipulators are discussed. Incorporation of this technique in a stereo fluoroscopic system provides reduced radiation dosage and greater vision and mobility of the user.

An improved lateral control wheel steering law for the Transport Systems Research Vehicle (TSRV)

NASA Technical Reports Server (NTRS)

Ragsdale, W. A.

1992-01-01

A lateral control wheel steering law with improved performance was developed for the Transport Systems Research Vehicle (TSRV) simulation and used in the Microwave Landing System research project. The control law converted rotational hand controller inputs into roll rate commands, manipulated ailerons, spoilers, and the rudder to achieve the desired roll rates. The system included automatic turn coordination, track angle hold, and autopilot/autoland modes. The resulting control law produced faster roll rates (15 degrees/sec), quicker response to command reversals, and safer bank angle limits, while using a more concise program code.

Design and implementation of visual-haptic assistive control system for virtual rehabilitation exercise and teleoperation manipulation.

PubMed

Veras, Eduardo J; De Laurentis, Kathryn J; Dubey, Rajiv

2008-01-01

This paper describes the design and implementation of a control system that integrates visual and haptic information to give assistive force feedback through a haptic controller (Omni Phantom) to the user. A sensor-based assistive function and velocity scaling program provides force feedback that helps the user complete trajectory following exercises for rehabilitation purposes. This system also incorporates a PUMA robot for teleoperation, which implements a camera and a laser range finder, controlled in real time by a PC, were implemented into the system to help the user to define the intended path to the selected target. The real-time force feedback from the remote robot to the haptic controller is made possible by using effective multithreading programming strategies in the control system design and by novel sensor integration. The sensor-based assistant function concept applied to teleoperation as well as shared control enhances the motion range and manipulation capabilities of the users executing rehabilitation exercises such as trajectory following along a sensor-based defined path. The system is modularly designed to allow for integration of different master devices and sensors. Furthermore, because this real-time system is versatile the haptic component can be used separately from the telerobotic component; in other words, one can use the haptic device for rehabilitation purposes for cases in which assistance is needed to perform tasks (e.g., stroke rehab) and also for teleoperation with force feedback and sensor assistance in either supervisory or automatic modes.

Design and realization of sort manipulator of crystal-angle sort machine

NASA Astrophysics Data System (ADS)

Wang, Ming-shun; Chen, Shu-ping; Guan, Shou-ping; Zhang, Yao-wei

2005-12-01

It is a current tendency of development in automation technology to replace manpower with manipulators in working places where dangerous, harmful, heavy or repetitive work is involved. The sort manipulator is installed in a crystal-angle sort machine to take the place of manpower, and engaged in unloading and sorting work. It is the outcome of combing together mechanism, electric transmission, and pneumatic element and micro-controller control. The step motor makes the sort manipulator operate precisely. The pneumatic elements make the sort manipulator be cleverer. Micro-controller's software bestows some simple artificial intelligence on the sort manipulator, so that it can precisely repeat its unloading and sorting work. The combination of manipulator's zero position and step motor counting control puts an end to accumulating error in long time operation. A sort manipulator's design in the practice engineering has been proved to be correct and reliable.

Resveratrol and polydatin as modulators of Ca2+ mobilization in the cardiovascular system.

PubMed

Liu, Wenjuan; Chen, Peiya; Deng, Jianxin; Lv, Jingzhang; Liu, Jie

2017-09-01

In the cardiovascular system, Ca 2+ controls cardiac excitation-contraction coupling and vascular contraction and dilation. Disturbances in intracellular Ca 2+ homeostasis induce malfunctions of the cardiovascular system, including cardiac pump dysfunction, arrhythmia, remodeling, and apoptosis, as well as hypertension and impairment of vascular reactivity. Therefore, developing drugs and strategies manipulating Ca 2+ handling are highly valued in the treatment of cardiovascular disease. Resveratrol (Res) and polydatin (PD), a Res glucoside, have been well established to have beneficial effects on improving cardiovascular function. Studies from our laboratory and others have demonstrated that they exhibit inotropic effects on normal heart and therapeutic effects on hypertension, cardiac ischemia/reperfusion injury, hypertrophy, and heart failure by manipulating Ca 2+ mobilization. The actions of Res and PD on Ca 2+ signals delicately manipulated by multiple Ca 2+ -handling proteins are pleiotropic and somewhat controversial, depending on cellular species and intracellular oxidative status. Here, we focus on the effects of Res and PD on controlling Ca 2+ homeostasis in the heart and vasculature under normal and diseased conditions and highlight the key direct and indirect molecules mediating these effects. © 2017 New York Academy of Sciences.

Control and automation of the Pegasus multi-point Thomson scattering system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bodner, G. M., E-mail: gbodner@wisc.edu; Bongard, M. W.; Fonck, R. J.

A new control system for the Pegasus Thomson scattering diagnostic has recently been deployed to automate the laser operation, data collection process, and interface with the system-wide Pegasus control code. Automation has been extended to areas outside of data collection, such as manipulation of beamline cameras and remotely controlled turning mirror actuators to enable intra-shot beam alignment. Additionally, the system has been upgraded with a set of fast (∼1 ms) mechanical shutters to mitigate contamination from background light. Modification and automation of the Thomson system have improved both data quality and diagnostic reliability.

Control and automation of the Pegasus multi-point Thomson scattering system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bodner, Grant M.; Bongard, Michael W.; Fonck, Raymond J.

A new control system for the Pegasus Thomson scattering diagnostic has recently been deployed to automate the laser operation, data collection process, and interface with the system-wide Pegasus control code. Automation has been extended to areas outside of data collection, such as manipulation of beamline cameras and remotely controlled turning mirror actuators to enable intra-shot beam alignment. In addition, the system has been upgraded with a set of fast (~1 ms) mechanical shutters to mitigate contamination from background light. Modification and automation of the Thomson system have improved both data quality and diagnostic reliability.

Control and automation of the Pegasus multi-point Thomson scattering system

DOE PAGES

Bodner, Grant M.; Bongard, Michael W.; Fonck, Raymond J.; ...

2016-08-12

A new control system for the Pegasus Thomson scattering diagnostic has recently been deployed to automate the laser operation, data collection process, and interface with the system-wide Pegasus control code. Automation has been extended to areas outside of data collection, such as manipulation of beamline cameras and remotely controlled turning mirror actuators to enable intra-shot beam alignment. In addition, the system has been upgraded with a set of fast (~1 ms) mechanical shutters to mitigate contamination from background light. Modification and automation of the Thomson system have improved both data quality and diagnostic reliability.

Computed torque control of a free-flying cooperat ing-arm robot

NASA Technical Reports Server (NTRS)

Koningstein, Ross; Ullman, Marc; Cannon, Robert H., Jr.

1989-01-01

The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand.

Thermal Nondestructive Evaluation Report: Inspection of the Refurbished Manipulator Arm System in the Manipulator Development Facility at Johnson Space Center 10-12 January 2001

NASA Technical Reports Server (NTRS)

Cramer, K. Elliott

2002-01-01

On 4 December 2002, a failure of the Refurbished Manipulator Arm System (RMAS) occurred in the Manipulator Development Facility (MDF) at Johnson Space Center. When the Test Director commanded a should pitch maneuver to lift the arm from its payload bay pedestal, the yaw controls failed. This, coupled with a gravitational forces (due to the angle of the shoulder joint with respect to vertical), resulted in uncontrolled arm motion. The shoulder yaw joint moved approximately 20 degrees, causing the extended arm to strike and severely damage the port side MDF catwalk handrails. The arm motion stopped after impact with the handrails. On 10-12 January 2001, inspections were performed on the port face of the lower and upper arms of the RMAS using a infrared thermography developed at Langley Research Center. This paper presents the results of those nondestructive inspections and provides a complete description of the anomalies found and their locations.

The Impact of the Mode of Thought in Complex Decisions: Intuitive Decisions are Better

PubMed Central

Usher, Marius; Russo, Zohar; Weyers, Mark; Brauner, Ran; Zakay, Dan

2011-01-01

A number of recent studies have reported that decision quality is enhanced under conditions of inattention or distraction (unconscious thought; Dijksterhuis, 2004; Dijksterhuis and Nordgren, 2006; Dijksterhuis et al., 2006). These reports have generated considerable controversy, for both experimental (problems of replication) and theoretical reasons (interpretation). Here we report the results of four experiments. The first experiment replicates the unconscious thought effect, under conditions that validate and control the subjective criterion of decision quality. The second and third experiments examine the impact of a mode of thought manipulation (without distraction) on decision quality in immediate decisions. Here we find that intuitive or affective manipulations improve decision quality compared to analytic/deliberation manipulations. The fourth experiment combines the two methods (distraction and mode of thought manipulations) and demonstrates enhanced decision quality, in a situation that attempts to preserve ecological validity. The results are interpreted within a framework that is based on two interacting subsystems of decision-making: an affective/intuition based system and an analytic/deliberation system. PMID:21716605

Can we manipulate root system architecture to control soil erosion?

NASA Astrophysics Data System (ADS)

Ola, A.; Dodd, I. C.; Quinton, J. N.

2015-09-01

Soil erosion is a major threat to soil functioning. The use of vegetation to control erosion has long been a topic for research. Much of this research has focused on the above-ground properties of plants, demonstrating the important role that canopy structure and cover plays in the reduction of water erosion processes. Less attention has been paid to plant roots. Plant roots are a crucial yet under-researched factor for reducing water erosion through their ability to alter soil properties, such as aggregate stability, hydraulic function and shear strength. However, there have been few attempts to specifically manipulate plant root system properties to reduce soil erosion. Therefore, this review aims to explore the effects that plant roots have on soil erosion and hydrological processes, and how plant root architecture might be manipulated to enhance its erosion control properties. We demonstrate the importance of root system architecture for the control of soil erosion. We also show that some plant species respond to nutrient-enriched patches by increasing lateral root proliferation. The erosional response to root proliferation will depend upon its location: at the soil surface dense mats of roots may reduce soil erodibility but block soil pores thereby limiting infiltration, enhancing runoff. Additionally, in nutrient-deprived regions, root hair development may be stimulated and larger amounts of root exudates released, thereby improving aggregate stability and decreasing erodibility. Utilizing nutrient placement at specific depths may represent a potentially new, easily implemented, management strategy on nutrient-poor agricultural land or constructed slopes to control erosion, and further research in this area is needed.

Automated polarization control for the precise alignment of laser-induced self-organized nanostructures

NASA Astrophysics Data System (ADS)

Hermens, Ulrike; Pothen, Mario; Winands, Kai; Arntz, Kristian; Klocke, Fritz

2018-02-01

Laser-induced periodic surface structures (LIPSS) found in particular applications in the fields of surface functionalization have been investigated since many years. The direction of these ripple structures with a periodicity in the nanoscale can be manipulated by changing the laser polarization. For industrial use, it is useful to manipulate the direction of these structures automatically and to obtain smooth changes of their orientation without any visible inhomogeneity. However, currently no system solution exists that is able to control the polarization direction completely automated in one software solution so far. In this paper, a system solution is presented that includes a liquid crystal polarizer to control the polarization direction. It is synchronized with a scanner, a dynamic beam expander and a five axis-system. It provides fast switching times and small step sizes. First results of fabricated structures are also presented. In a systematic study, the conjunction of LIPSS with different orientation in two parallel line scans has been investigated.

Optical micromanipulation of active cells with minimal perturbations: direct and indirect pushing.

PubMed

Wang, Chenlu; Chowdhury, Sagar; Gupta, Satyandra K; Losert, Wolfgang

2013-04-01

The challenge to wide application of optical tweezers in biological micromanipulation is the photodamage caused by high-intensity laser exposure to the manipulated living systems. While direct exposure to infrared lasers is less likely to kill cells, it can affect cell behavior and signaling. Pushing cells with optically trapped objects has been introduced as a less invasive alternative, but the technique includes some exposure of the biological object to parts of the optical tweezer beam. To keep the cells farther away from the laser, we introduce an indirect pushing-based technique for noninvasive manipulation of sensitive cells. We compare how cells respond to three manipulation approaches: direct manipulation, pushing, and indirect pushing. We find that indirect manipulation techniques lessen the impact of manipulation on cell behavior. Cell survival increases, as does the ability of cells to maintain shape and wiggle. Our experiments also demonstrate that indirect pushing allows cell-cell contacts to be formed in a controllable way, while retaining the ability of cells to change shape and move.

Microsurgical robotic system for the deep surgical field: development of a prototype and feasibility studies in animal and cadaveric models.

PubMed

Morita, Akio; Sora, Shigeo; Mitsuishi, Mamoru; Warisawa, Shinichi; Suruman, Katopo; Asai, Daisuke; Arata, Junpei; Baba, Shoichi; Takahashi, Hidechika; Mochizuki, Ryo; Kirino, Takaaki

2005-08-01

To enhance the surgeon's dexterity and maneuverability in the deep surgical field, the authors developed a master-slave microsurgical robotic system. This concept and the results of preliminary experiments are reported in this paper. The system has a master control unit, which conveys motion commands in six degrees of freedom (X, Y, and Z directions; rotation; tip flexion; and grasping) to two arms. The slave manipulator has a hanging base with an additional six degrees of freedom; it holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in both shallow and deep surgical fields was compared with routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery (CA) in the deep operative field were performed in 20 Wistar rats. Three routine surgical procedures were also performed in cadavers. The accuracy of pointing with the nondominant hand in the deep surgical field was significantly improved through the use of robotics. The authors successfully closed the partial arteriotomy and completely anastomosed the rat CAs in the deep surgical field. The time needed for stitching was significantly shortened over the course of the first 10 rat experiments. The robotic instruments also moved satisfactorily in cadavers, but the manipulators still need to be smaller to fit into the narrow intracranial space. Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.

Human machine interaction via the transfer of power and information signals

NASA Technical Reports Server (NTRS)

Kazerooni, H.; Foslien, W. K.; Anderson, B. J.; Hessburg, T. M.

1989-01-01

Robot manipulators are designed to perform tasks which would otherwise be executed by a human operator. No manipulator can even approach the speed and accuracy with which humans execute these tasks. But manipulators have the capability to exceed human ability in one particular area: strength. Through any reasonable observation and experience, the human's ability to perform a variety of physical tasks is limited not by his intelligence, but by his physical strength. If, in the appropriate environment, we can more closely integrate the mechanical power of a machine with intellectually driven human hand under the supervisory control of the human's intellect, we will then have a system which is superior to a loosely-integrated combination of a human and his fully automated robot as in the present day robotic systems. We must therefore develop a fundamental approach to the problem of this extending human mechanical power in certain environments. Extenders will be a class of robots worn by humans to increase human mechanical ability, while the wearer's intellect remains the central intelligent control system for manipulating the extender. The human body, in physical contact with the extender, exchanges information signals and power with the extender. Commands are transferred to the extender via the contact forces between the wearer and the extender as opposed to use of joystick (master arm), push-button or key-board to execute such commands that were used in previous man amplifiers. Instead, the operator becomes an integral part of the extender while executing the task. In this unique configuration the mechanical power transfer between the human and extender occurs in addition to information signal transfer. When the wearer uses the extender to touch and manipulate an object, the extender transfers to the wearer's hand, in feedback fashion, a scaled-down value of the actual external load which the extender is manipulating. This natural feedback force on the wearer's hand allows him to feel the scaled-down value of the external forces in the manipulations. Extenders can be utilized to maneuver very heavy loads in factories, shipyards, airports, and construction sites. In some instances, for example, extenders can replace forklifts. The experimental results for a prototype extender are discussed.

Controlling multiple manipulators using RIPS

NASA Technical Reports Server (NTRS)

Wang, Yulun; Jordan, Steve; Mangaser, Amante; Butner, Steve

1989-01-01

A prototype of the RIPS architecture (Robotic Instruction Processing System) was developed. A two arm robot control experiment is underway to characterize the architecture as well as research multi-arm control. This experiment uses two manipulators to cooperatively position an object. The location of the object is specified by the host computer's mouse. Consequently, real time kinematics and dynamics are necessary. The RIPS architecture is specialized so that it can satisfy these real time constraints. The two arm experimental set-up is discussed. A major part of this work is the continued development of a good programming environment for RIPS. The C++ language is employed and favorable results exist in the targeting of this language to the RIPS hardware.

Kavandi at controls of Canadarm2 in Destiny module

NASA Image and Video Library

2001-07-16

S104-E-5114 (16 July 2001) --- Janet L. Kavandi, STS-104 mission specialist, looks over the Canadarm2, Space Station Remote Manipulator System (SSRMS), control station in the Destiny laboratory during STS-104's visit to the International Space Station (ISS).

Mobility experiments with microrobots for minimally invasive intraocular surgery.

PubMed

Ullrich, Franziska; Bergeles, Christos; Pokki, Juho; Ergeneman, Olgac; Erni, Sandro; Chatzipirpiridis, George; Pané, Salvador; Framme, Carsten; Nelson, Bradley J

2013-04-23

To investigate microrobots as an assistive tool for minimally invasive intraocular surgery and to demonstrate mobility and controllability inside the living rabbit eye. A system for wireless magnetic control of untethered microrobots was developed. Mobility and controllability of a microrobot are examined in different media, specifically vitreous, balanced salt solution (BSS), and silicone oil. This is demonstrated through ex vivo and in vivo animal experiments. The developed electromagnetic system enables precise control of magnetic microrobots over a workspace that covers the posterior eye segment. The system allows for rotation and translation of the microrobot in different media (vitreous, BSS, silicone oil) inside the eye. Intravitreal introduction of untethered mobile microrobots can enable sutureless and precise ophthalmic procedures. Ex vivo and in vivo experiments demonstrate that microrobots can be manipulated inside the eye. Potential applications are targeted drug delivery for maculopathies such as AMD, intravenous deployment of anticoagulation agents for retinal vein occlusion (RVO), and mechanical applications, such as manipulation of epiretinal membrane peeling (ERM). The technology has the potential to reduce the invasiveness of ophthalmic surgery and assist in the treatment of a variety of ophthalmic diseases.

Formation and Control of Fluidic Species

NASA Technical Reports Server (NTRS)

Link, Darren Roy (Inventor); Marquez-Sanchez, Manuel (Inventor); Cheng, Zhengdong (Inventor); Weitz, David A. (Inventor)

2015-01-01

This invention generally relates to systems and methods for the formation and/or control of fluidic species, and articles produced by such systems and methods. In some cases, the invention involves unique fluid channels, systems, controls, and/or restrictions, and combinations thereof. In certain embodiments, the invention allows fluidic streams (which can be continuous or discontinuous, i.e., droplets) to be formed and/or combined, at a variety of scales, including microfluidic scales. In one set of embodiments, a fluidic stream may be produced from a channel, where a cross-sectional dimension of the fluidic stream is smaller than that of the channel, for example, through the use of structural elements, other fluids, and/or applied external fields, etc. In some cases, a Taylor cone may be produced. In another set of embodiments, a fluidic stream may be manipulated in some fashion, for example, to create tubes (which may be hollow or solid), droplets, nested tubes or droplets, arrays of tubes or droplets, meshes of tubes, etc. In some cases, droplets produced using certain embodiments of the invention may be charged or substantially charged, which may allow their further manipulation, for instance, using applied external fields. Non-limiting examples of such manipulations include producing charged droplets, coalescing droplets (especially at the microscale), synchronizing droplet formation, aligning molecules within the droplet, etc. In some cases, the droplets and/or the fluidic streams may include colloids, cells, therapeutic agents, and the like.

Elimination of voltage reversal in multiple membrane electrode assembly installed microbial fuel cells (mMEA-MFCs) stacking system by resistor control.

PubMed

Kim, Bongkyu; Chang, In Seop

2018-08-01

Voltage reversal (VR) in series connection of multiple membrane electrode assembly installed microbial fuel cells (mMEA-MFC) is eliminated by manipulating the resistor control. Discharge test results collected from two mMEA-MFCs initially operated (designated as P1 and P2) confirm that the performance of P2 exceeds that of P1. Thus, driving P1 and P2 as serially stacked MFCs generate the VR in P1. Controlling the inserted resistor adjust the current production of P2 to maintain balance with P1, and the VR in P1 is eliminated in the operation of stacking mode. Thus, manipulating the internal resistance provide an applicable approach to suppress VR in the stacking of mMEA-MFCs system. Copyright © 2018 Elsevier Ltd. All rights reserved.

Social Stress Engages Opioid Regulation of Locus Coeruleus Norepinephrine Neurons and Induces a State of Cellular and Physical Opiate Dependence

PubMed Central

Chaijale, Nayla N; Curtis, Andre L; Wood, Susan K; Zhang, Xiao-Yan; Bhatnagar, Seema; Reyes, Beverly AS; Van Bockstaele, Elisabeth J; Valentino, Rita J

2013-01-01

Stress is implicated in diverse psychiatric disorders including substance abuse. The locus coeruleus–norepinephrine (LC–NE) system is a major stress response system that is also a point of intersection between stress neuromediators and endogenous opioids and so may be a site at which stress can influence drug-taking behaviors. As social stress is a common stressor for humans, this study characterized the enduring impact of repeated social stress on LC neuronal activity. Rats were exposed to five daily consecutive sessions of social stress using the resident-intruder model or control manipulation. LC discharge rate recorded 2 days after the last manipulation was decreased in stressed rats compared with controls. By 10 days after the last manipulation, LC rates were comparable between groups. Systemic administration of the opiate antagonist, naloxone, robustly increased LC discharge rate in a manner suggestive of opiate withdrawal, selectively in stressed rats when administered 2 or 10 days after the last manipulation. This was accompanied by behavioral signs of mild opiate withdrawal. Western blot and electron microscopic studies indicated that repeated social stress decreased corticotropin-releasing factor type 1 receptor and increased μ-opioid receptor levels in the LC. Together, the results suggest that repeated social stress engages endogenous opioid modulation of LC activity and induces signs of cellular and physical opiate dependence that endure after the stress. These cellular effects may predispose individuals with a history of repeated social stress to substance abuse behaviors. PMID:23660707

Social stress engages opioid regulation of locus coeruleus norepinephrine neurons and induces a state of cellular and physical opiate dependence.

PubMed

Chaijale, Nayla N; Curtis, Andre L; Wood, Susan K; Zhang, Xiao-Yan; Bhatnagar, Seema; Reyes, Beverly As; Van Bockstaele, Elisabeth J; Valentino, Rita J

2013-09-01

Stress is implicated in diverse psychiatric disorders including substance abuse. The locus coeruleus-norepinephrine (LC-NE) system is a major stress response system that is also a point of intersection between stress neuromediators and endogenous opioids and so may be a site at which stress can influence drug-taking behaviors. As social stress is a common stressor for humans, this study characterized the enduring impact of repeated social stress on LC neuronal activity. Rats were exposed to five daily consecutive sessions of social stress using the resident-intruder model or control manipulation. LC discharge rate recorded 2 days after the last manipulation was decreased in stressed rats compared with controls. By 10 days after the last manipulation, LC rates were comparable between groups. Systemic administration of the opiate antagonist, naloxone, robustly increased LC discharge rate in a manner suggestive of opiate withdrawal, selectively in stressed rats when administered 2 or 10 days after the last manipulation. This was accompanied by behavioral signs of mild opiate withdrawal. Western blot and electron microscopic studies indicated that repeated social stress decreased corticotropin-releasing factor type 1 receptor and increased μ-opioid receptor levels in the LC. Together, the results suggest that repeated social stress engages endogenous opioid modulation of LC activity and induces signs of cellular and physical opiate dependence that endure after the stress. These cellular effects may predispose individuals with a history of repeated social stress to substance abuse behaviors.

A Novel Method Of Gradient Forming and Fluid Manipulation in Reduced Gravity Environments

NASA Technical Reports Server (NTRS)

Ramachandran N.; Leslie, F.

1999-01-01

The use of magnetic fields to control the motion and position of non-conducting liquids has received growing interest in recent times. The possibility of using the forces exerted by a nonuniform magnetic field on a ferrofluid to not only achieve fluid manipulation but also to actively control fluid motion makes it an attractive candidate for applications such as heat transfer in space systems. Terrestrial heat transfer equipment often relies on the normal gravitational force to hold liquid in a desired position or to provide a buoyant force to enhance the heat transfer rate. The residual gravitational force present in a space environment may no longer serve these useful functions and other forces, such as surface tension, can play a significant role in determining heat transfer rates. Although typically overwhelmed by gravitational forces in terrestrial applications, the body force induced in a ferrofluid by a nonuniform magnetic field can help to achieve these objectives in a microgravity environment. This paper will address the fluid manipulation aspect and will comprise of results from model fluid experiments and numerical modeling of the problem. Results from a novel method of forming concentration gradients that are applicable to low gravity applications will be presented. The ground based experiments are specifically tailored to demonstrate the magnetic manipulation capability of a ferrofluid and show that gravitational effects can be countered in carefully designed systems. The development of governing equations for the system will be presented along with a sampling of numerical results.

Cardiovascular Physiology for First-Year Medical Students: Teaching and Learning through Games.

ERIC Educational Resources Information Center

France, Vanetia M.

1978-01-01

Describes a card game designed to help medical students learn to manipulate concepts fundamental to the functions of the cardiovascular system (CVS) and to understand the interrelationships between different controlled variables in the system. (Author/MA)

Robotics and systems technology for advanced endoscopic procedures: experiences in general surgery.

PubMed

Schurr, M O; Arezzo, A; Buess, G F

1999-11-01

The advent of endoscopic techniques changed surgery in many regards. This paper intends to describe an overview about technologies to facilitate endoscopic surgery. The systems described have been developed for the use in general surgery, but an easy application also in the field of cardiac surgery seems realistic. The introduction of system technology and robotic technology enables today to design a highly ergonomic solo-surgery platform. To relief the surgeon from fatigue we developed a new chair dedicated to the functional needs of endoscopic surgery. The foot pedals for high frequency, suction and irrigation are integrated into the basis of the chair. The chair is driven by electric motors controlled with an additional foot pedal joystick to achieve the desired position in the OR. A major enhancement for endoscopic technology is the introduction of robotic technology to design assisting devices for solo-surgery and manipulators for microsurgical instrumentation. A further step in the employment of robotic technology is the design of 'master-slave manipulators' to provide the surgeon with additional degrees of freedom of instrumentation. In 1996 a first prototype of an endoscopic manipulator system. named ARTEMIS, could be used in experimental applications. The system consists of a user station (master) and an instrument station (slave). The surgeon sits at a console which integrates endoscopic monitors, communication facilities and two master devices to control the two slave arms which are mounted to the operating table. Clinical use of the system, however, will require further development in the area of slave mechanics and the control system. Finally the implementation of telecommunication technology in combination with robotic instruments will open new frontiers, such as teleconsulting, teleassistance and telemanipulation.

Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems.

PubMed

Felt, Wyatt; Chin, Khai Yi; Remy, C David

2017-09-01

This article experimentally investigates the potential of using flexible, inductance-based contraction sensors in the closed-loop motion control of soft robots. Accurate motion control remains a highly challenging task for soft robotic systems. Precise models of the actuation dynamics and environmental interactions are often unavailable. This renders open-loop control impossible, while closed-loop control suffers from a lack of suitable feedback. Conventional motion sensors, such as linear or rotary encoders, are difficult to adapt to robots that lack discrete mechanical joints. The rigid nature of these sensors runs contrary to the aspirational benefits of soft systems. As truly soft sensor solutions are still in their infancy, motion control of soft robots has so far relied on laboratory-based sensing systems such as motion capture, electromagnetic (EM) tracking, or Fiber Bragg Gratings. In this article, we used embedded flexible sensors known as Smart Braids to sense the contraction of McKibben muscles through changes in inductance. We evaluated closed-loop control on two systems: a revolute joint and a planar, one degree of freedom continuum manipulator. In the revolute joint, our proposed controller compensated for elasticity in the actuator connections. The Smart Braid feedback allowed motion control with a steady-state root-mean-square (RMS) error of [1.5]°. In the continuum manipulator, Smart Braid feedback enabled tracking of the desired tip angle with a steady-state RMS error of [1.25]°. This work demonstrates that Smart Braid sensors can provide accurate position feedback in closed-loop motion control suitable for field applications of soft robotic systems.

On Motion Planning and Control of Multi-Link Lightweight Robotic Manipulators

NASA Technical Reports Server (NTRS)

Cetinkunt, Sabri

1987-01-01

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.

[Advanced Development for Space Robotics With Emphasis on Fault Tolerance Technology

NASA Technical Reports Server (NTRS)

Tesar, Delbert

1997-01-01

This report describes work developing fault tolerant redundant robotic architectures and adaptive control strategies for robotic manipulator systems which can dynamically accommodate drastic robot manipulator mechanism, sensor or control failures and maintain stable end-point trajectory control with minimum disturbance. Kinematic designs of redundant, modular, reconfigurable arms for fault tolerance were pursued at a fundamental level. The approach developed robotic testbeds to evaluate disturbance responses of fault tolerant concepts in robotic mechanisms and controllers. The development was implemented in various fault tolerant mechanism testbeds including duality in the joint servo motor modules, parallel and serial structural architectures, and dual arms. All have real-time adaptive controller technologies to react to mechanism or controller disturbances (failures) to perform real-time reconfiguration to continue the task operations. The developments fall into three main areas: hardware, software, and theoretical.

Motion and force control for multiple cooperative manipulators

NASA Technical Reports Server (NTRS)

Wen, John T.; Kreutz, Kenneth

1989-01-01

The motion and force control of multiple robot arms manipulating a commonly held object is addressed. A general control paradigm that decouples the motion and force control problems is introduced. For motion control, there are three natural choices: (1) joint torques, (2) arm-tip force vectors, and (3) the acceleration of a generalized coordinate. Choice (1) allows a class of relatively model-independent control laws by exploiting the Hamiltonian structure of the open-loop system; (2) and (3) require the full model information but produce simpler problems. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, the allocation of the desired end-effector control force to the joint actuators can be optimized; otherwise the internal force can be controlled about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Effective Brownian ratchet separation by a combination of molecular filtering and a self-spreading lipid bilayer system.

PubMed

Motegi, Toshinori; Nabika, Hideki; Fu, Yingqiang; Chen, Lili; Sun, Yinlu; Zhao, Jianwei; Murakoshi, Kei

2014-07-01

A new molecular manipulation method in the self-spreading lipid bilayer membrane by combining Brownian ratchet and molecular filtering effects is reported. The newly designed ratchet obstacle was developed to effectively separate dye-lipid molecules. The self-spreading lipid bilayer acted as both a molecular transport system and a manipulation medium. By controlling the size and shape of ratchet obstacles, we achieved a significant increase in the separation angle for dye-lipid molecules compared to that with the previous ratchet obstacle. A clear difference was observed between the experimental results and the simple random walk simulation that takes into consideration only the geometrical effect of the ratchet obstacles. This difference was explained by considering an obstacle-dependent local decrease in molecular diffusivity near the obstacles, known as the molecular filtering effect at nanospace. Our experimental findings open up a novel controlling factor in the Brownian ratchet manipulation that allow the efficient separation of molecules in the lipid bilayer based on the combination of Brownian ratchet and molecular filtering effects.

Intelligent control of robotic arm/hand systems for the NASA EVA retriever using neural networks

NASA Technical Reports Server (NTRS)

Mclauchlan, Robert A.

1989-01-01

Adaptive/general learning algorithms using varying neural network models are considered for the intelligent control of robotic arm plus dextrous hand/manipulator systems. Results are summarized and discussed for the use of the Barto/Sutton/Anderson neuronlike, unsupervised learning controller as applied to the stabilization of an inverted pendulum on a cart system. Recommendations are made for the application of the controller and a kinematic analysis for trajectory planning to simple object retrieval (chase/approach and capture/grasp) scenarios in two dimensions.

The JPL telerobot operator control station. Part 2: Software

NASA Technical Reports Server (NTRS)

Kan, Edwin P.; Landell, B. Patrick; Oxenberg, Sheldon; Morimoto, Carl

1989-01-01

The Operator Control Station of the Jet Propulsion Laboratory (JPL)/NASA Telerobot Demonstrator System provides the man-machine interface between the operator and the system. It provides all the hardware and software for accepting human input for the direct and indirect (supervised) manipulation of the robot arms and tools for task execution. Hardware and software are also provided for the display and feedback of information and control data for the operator's consumption and interaction with the task being executed. The software design of the operator control system is discussed.

RMS/OBSS inspection of shuttle thermal tile system

NASA Image and Video Library

2011-02-25

S133-E-006073 (25 Feb. 2011) --- Controlled by the STS-133 astronauts inside Discovery's cabin, the Remote Manipulator System/Orbiter Boom Sensor System (RMS/OBSS) equipped with special cameras, begins to conduct thorough inspections of the shuttle’s thermal tile system on flight day 2. Photo credit: NASA or National Aeronautics and Space Administration

Manipulator trajectories during orbital servicing mission: numerical simulations and experiments on microgravity simulator

NASA Astrophysics Data System (ADS)

Rybus, T.; Seweryn, K.

2018-06-01

It is considered to use a manipulator-equipped satellite for performing On-Orbit Servicing (OOS) or Active Debris Removal (ADR) missions. In this paper, several possible approaches are reviewed for end-effector (EE) trajectory planning in the Cartesian space, such as application of the Bézier curves for singularity avoidance and method for trajectory optimization. The results of numerical simulations for a satellite equipped with a 7 degree-of-freedom (DoF) manipulator and results of experiments performed on a planar air-bearing microgravity simulator for a simplified two-dimensional (2D) case with a 2-DoF manipulator are presented. Differences between the free-floating case and the case where Attitude and Orbit Control Systems (AOCS) keep constant position and orientation of the satellite are also shown.

The research on visual industrial robot which adopts fuzzy PID control algorithm

NASA Astrophysics Data System (ADS)

Feng, Yifei; Lu, Guoping; Yue, Lulin; Jiang, Weifeng; Zhang, Ye

2017-03-01

The control system of six degrees of freedom visual industrial robot based on the control mode of multi-axis motion control cards and PC was researched. For the variable, non-linear characteristics of industrial robot`s servo system, adaptive fuzzy PID controller was adopted. It achieved better control effort. In the vision system, a CCD camera was used to acquire signals and send them to video processing card. After processing, PC controls the six joints` motion by motion control cards. By experiment, manipulator can operate with machine tool and vision system to realize the function of grasp, process and verify. It has influence on the manufacturing of the industrial robot.

Space telerobotic systems: Applications and concepts

NASA Technical Reports Server (NTRS)

Jenkins, L.

1987-01-01

The definition of a variety of assembly, servicing, and maintenance missions has led to the generation of a number of space telerobot concepts. The remote operation of a space telerobot is seen as a means to increase astronaut productivity. Dexterous manipulator arms are controlled from the Space Shuttle Orbiter cabin or a Space Station module. Concepts for the telerobotic work system have been developed by the Lyndon B. Johnson Space Center through contracts with the Grumman Aerospace Corporation and Marin Marietta Corporation. These studies defined a concept for a telerobot with extravehicular activity (EVA) astronaut equivalent capability that would be controlled from the Space Shuttle. An evolutionary development of the system is proposed as a means of incorporating technology advances. Early flight testing is seen as needed to address the uncertainties of robotic manipulation in space. Space robotics can be expected to spin off technology to terrestrial robots, particularly in hazardous and unstructured applications.

Currie at RMS controls on the aft flight deck

NASA Image and Video Library

1998-12-05

S88-E-5010 (12-05-98) --- Operating at a control panel on Endeavour's aft flight deck, astronaut Nancy J. Currie works with the robot arm prior to mating the 12.8-ton Unity connecting module to Endeavour's docking system. The mating took place on late afternoon of Dec. 5. A nearby monitor provides a view of the remote manipulator system's (RMS) movements in the cargo bay. The feat marked an important step in assembling the new International Space Station. Manipulating the shuttle's 50-foot-long robot arm, Currie placed Unity just inches above the extended outer ring on Endeavour's docking mechanism, enabling Robert D. Cabana, mission commander to fire downward maneuvering jets, locking the shuttle's docking system to one of two Pressurized Mating Adapters (PMA) attached to Unity. The mating occurred at 5:45 p.m. Central time, as Endeavour sailed over eastern China.

Manipulator interactive design with interconnected flexible elements

NASA Technical Reports Server (NTRS)

Singh, R. P.; Likins, P. W.

1983-01-01

This paper describes the development of an analysis tool for the interactive design of control systems for manipulators and similar electro-mechanical systems amenable to representation as structures in a topological chain. The chain consists of a series of elastic bodies subject to small deformations and arbitrary displacements. The bodies are connected by hinges which permit kinematic constraints, control, or relative motion with six degrees of freedom. The equations of motion for the chain configuration are derived via Kane's method, extended for application to interconnected flexible bodies with time-varying boundary conditions. A corresponding set of modal coordinates has been selected. The motion equations are imbedded within a simulation that transforms the vector-dyadic equations into scalar form for numerical integration. The simulation also includes a linear, time-invariant controler specified in transfer function format and a set of sensors and actuators that interface between the structure and controller. The simulation is driven by an interactive set-up program resulting in an easy-to-use analysis tool.

Shock and Vibration Control of a Golf-Swing Robot at Impacting the Ball

NASA Astrophysics Data System (ADS)

Hoshino, Yohei; Kobayashi, Yukinori

A golf swing robot is a kind of fast motion manipulator with a flexible link. A robot manipulator is greatly affected by Corioli's and centrifugal forces during fast motion. Nonlinearity due to these forces can have an adverse effect on the performance of feedback control. In the same way, ordinary state observers of a linear system cannot accurately estimate the states of nonlinear systems. This paper uses a state observer that considers disturbances to improve the performance of state estimation and feedback control. A mathematical model of the golf robot is derived by Hamilton's principle. A linear quadratic regulator (LQR) that considers the vibration of the club shaft is used to stop the robot during the follow-through action. The state observer that considers disturbances estimates accurate state variables when the disturbances due to Corioli's and centrifugal forces, and impact forces work on the robot. As a result, the performance of the state feedback control is improved. The study compares the results of the numerical simulations with experimental results.

Versatile, low-cost, computer-controlled, sample positioning system for vacuum applications

NASA Technical Reports Server (NTRS)

Vargas-Aburto, Carlos; Liff, Dale R.

1991-01-01

A versatile, low-cost, easy to implement, microprocessor-based motorized positioning system (MPS) suitable for accurate sample manipulation in a Second Ion Mass Spectrometry (SIMS) system, and for other ultra-high vacuum (UHV) applications was designed and built at NASA LeRC. The system can be operated manually or under computer control. In the latter case, local, as well as remote operation is possible via the IEEE-488 bus. The position of the sample can be controlled in three linear orthogonal and one angular coordinates.

Can Dynamic Visualizations with Variable Control Enhance the Acquisition of Intuitive Knowledge?

NASA Astrophysics Data System (ADS)

Wichmann, Astrid; Timpe, Sebastian

2015-10-01

An important feature of inquiry learning is to take part in science practices including exploring variables and testing hypotheses. Computer-based dynamic visualizations have the potential to open up various exploration possibilities depending on the level of learner control. It is assumed that variable control, e.g., by changing parameters of a variable, leads to deeper processing (Chang and Linn 2013; de Jong and Njoo 1992; Nerdel 2003; Trey and Khan 2008). Variable control may be helpful, in particular, for acquiring intuitive knowledge (Swaak and de Jong 2001). However, it bares the risk of mental exhaustion and thus may have detrimental effects on knowledge acquisition (Sweller 1998). Students ( N = 118) from four chemistry classes followed inquiry cycles using the software Molecular Workbench (Xie and Tinker 2006). Variable control was varied across the conditions (1) No-Manipulation group and (2) Manipulation group. By adding a third condition, (3) Manipulation-Plus group, we tested whether adding an active hypothesis phase prepares students before changing parameters of a variable. As expected, students in the Manipulation group and Manipulation-Plus group performed better concerning intuitive knowledge ( d = 1.14) than students in the No-Manipulation group. On a descriptive level, results indicated higher cognitive effort in the Manipulation group and the Manipulation-Plus group than in the No-Manipulation group. Unexpectedly, students in the Manipulation-Plus group did not benefit from the active hypothesis phase (intuitive knowledge: d = .36). Findings show that students benefit from variable control. Furthermore, findings point toward the direction that variable control evokes desirable difficulties (Bjork and Linn 2006).

Infrared-Proximity-Sensor Modules For Robot

NASA Technical Reports Server (NTRS)

Parton, William; Wegerif, Daniel; Rosinski, Douglas

1995-01-01

Collision-avoidance system for articulated robot manipulators uses infrared proximity sensors grouped together in array of sensor modules. Sensor modules, called "sensorCells," distributed processing board-level products for acquiring data from proximity-sensors strategically mounted on robot manipulators. Each sensorCell self-contained and consists of multiple sensing elements, discrete electronics, microcontroller and communications components. Modules connected to central control computer by redundant serial digital communication subsystem including both serial and a multi-drop bus. Detects objects made of various materials at distance of up to 50 cm. For some materials, such as thermal protection system tiles, detection range reduced to approximately 20 cm.

Rotational fluxons of Bose-Einstein condensates in coplanar double-ring traps

DOE Office of Scientific and Technical Information (OSTI.GOV)

Brand, J.; Institute of Natural Sciences, Massey University; Haigh, T. J.

Rotational analogs to magnetic fluxons in conventional Josephson junctions are predicted to emerge in the ground state of rotating tunnel-coupled annular Bose-Einstein condensates (BECs). Such topological condensate-phase structures can be manipulated by external potentials. We determine conditions for observing macroscopic quantum tunneling of a fluxon. Rotational fluxons in double-ring BECs can be created, manipulated, and controlled by external potentials in different ways than is possible in the solid-state system, thus rendering them a promising candidate system for studying and utilizing quantum properties of collective many-particle degrees of freedom.

A computer simulation experiment of supervisory control of remote manipulation. M.S. Thesis

NASA Technical Reports Server (NTRS)

Mccandlish, S. G.

1966-01-01

A computer simulation of a remote manipulation task and a rate-controlled manipulator is described. Some low-level automatic decision making ability which could be used at the operator's discretion to augment his direct continuous control was built into the manipulator. Experiments were made on the effect of transmission delay, dynamic lag, and intermittent vision on human manipulative ability. Delay does not make remote manipulation impossible. Intermittent visual feedback, and the absence of rate information in the display presented to the operator do not seem to impair the operator's performance. A small-capacity visual feedback channel may be sufficient for remote manipulation tasks, or one channel might be time-shared between several operators. In other experiments the operator called in sequence various on-site automatic control programs of the machine, and thereby acted as a supervisor. The supervisory mode of operation has some advantages when the task to be performed is difficult for a human controlling directly.

14 CFR 135.115 - Manipulation of controls.

Code of Federal Regulations, 2013 CFR

2013-01-01

... flight controls of an aircraft during flight conducted under this part, nor may any person manipulate the controls during such flight unless that person is— (a) A pilot employed by the certificate holder and... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Manipulation of controls. 135.115 Section...

14 CFR 135.115 - Manipulation of controls.

Code of Federal Regulations, 2011 CFR

2011-01-01

... flight controls of an aircraft during flight conducted under this part, nor may any person manipulate the controls during such flight unless that person is— (a) A pilot employed by the certificate holder and... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Manipulation of controls. 135.115 Section...

14 CFR 135.115 - Manipulation of controls.

Code of Federal Regulations, 2012 CFR

2012-01-01

... flight controls of an aircraft during flight conducted under this part, nor may any person manipulate the controls during such flight unless that person is— (a) A pilot employed by the certificate holder and... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Manipulation of controls. 135.115 Section...

14 CFR 135.115 - Manipulation of controls.

Code of Federal Regulations, 2014 CFR

2014-01-01

... flight controls of an aircraft during flight conducted under this part, nor may any person manipulate the controls during such flight unless that person is— (a) A pilot employed by the certificate holder and... 14 Aeronautics and Space 3 2014-01-01 2014-01-01 false Manipulation of controls. 135.115 Section...

14 CFR 135.115 - Manipulation of controls.

Code of Federal Regulations, 2010 CFR

2010-01-01

... flight controls of an aircraft during flight conducted under this part, nor may any person manipulate the controls during such flight unless that person is— (a) A pilot employed by the certificate holder and... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Manipulation of controls. 135.115 Section...

HYDRAULIC REDISTRIBUTION IN THE PACIFIC NORTHWEST: TWEAKING THE SYSTEM

EPA Science Inventory

Hydraulic redistribution (HR) has recently been documented in Pacific Northwest forests, but the controls governing this process and its importance to shallow-rooted species are poorly understood. Our objective in this study was to manipulate the soil-root system to tease apart ...

Direct model reference adaptive control of a flexible robotic manipulator

NASA Technical Reports Server (NTRS)

Meldrum, D. R.

1985-01-01

Quick, precise control of a flexible manipulator in a space environment is essential for future Space Station repair and satellite servicing. Numerous control algorithms have proven successful in controlling rigid manipulators wih colocated sensors and actuators; however, few have been tested on a flexible manipulator with noncolocated sensors and actuators. In this thesis, a model reference adaptive control (MRAC) scheme based on command generator tracker theory is designed for a flexible manipulator. Quicker, more precise tracking results are expected over nonadaptive control laws for this MRAC approach. Equations of motion in modal coordinates are derived for a single-link, flexible manipulator with an actuator at the pinned-end and a sensor at the free end. An MRAC is designed with the objective of controlling the torquing actuator so that the tip position follows a trajectory that is prescribed by the reference model. An appealing feature of this direct MRAC law is that it allows the reference model to have fewer states than the plant itself. Direct adaptive control also adjusts the controller parameters directly with knowledge of only the plant output and input signals.

Coherent manipulation of photons and electrons

NASA Astrophysics Data System (ADS)

Zhao, Lu

In modern physics, coherent manipulation of photons and electrons has been intensively studied, and may have important applications in classical and quantum information processing. In this dissertation, we consider some interesting schemes to realize photonic and electronic coherent manipulation. In order to coherently manipulate photons, electromagnetically induced transparency (EIT) systems have been widely adopted because the optical response of EIT systems can be controlled by the laser-induced atomic coherence. In the second chapter, we theoretically investigate image storage in hot-vapor EIT media. A so-called 4f system is adopted for imaging, and an atomic vapor cell is placed over the transform plane. The Fraunhofer diffraction pattern of an object in the object plane can thus be transformed into atomic Raman coherence according to the idea of "light storage". We investigate how the stored diffraction pattern evolves under diffusion and discuss the essence of the stability of its dark spots. Our result indicates under appropriate conditions that an image can be reconstructed with high fidelity. The main reason for this procedure is the fact that diffusion of opposite-phase components of the diffraction pattern interfere destructively. In the third chapter, we show theoretical evidence that EIT systems can function as optically addressed spatial light modulators with megahertz modulation rates. The transverse spatial properties of continuous-wave probe fields can be modulated rapidly using two-dimensional optical patterns. To exemplify our proposal, we study real-time generation and manipulation of Laguerre-Gaussian beams by means of phase or amplitude modulation using flat-top image-bearing pulse trains as coupling fields in low-cost hot-vapor EIT systems. In order to coherently manipulate electrons, we consider graphene systems, including single-layer graphene and bilayer graphene, which have recently attracted considerable attention. Due to the long coherence length and electrically tunable Fermi levels, electrons in graphene systems have some photon-like behaviors, and could be coherently manipulated. Therefore, in the fourth chapter, we theorize that at a sharp electrostatic step potential in graphene massless Dirac fermions can obtain Goos-Hanchen-like shifts under total internal reflection. Also, we study coherent propagation of the quasiparticles along a sharp graphene p-n-p waveguide, and derive novel dispersion relations for the guided modes. Consequently, coherent graphene-based devices, e.g., movable mirrors, buffers and memories, induced only by the electric field effects may be proposed. Finally, we theoretically investigate the coherent propagation of massive chiral fermions along a sharp bilayer graphene p-n-p waveguide, and indicate that the guided quasiparticles can be coherently slowed, stored and retrieved based on tunable electric field effects. Controlling group velocity in the bilayer graphene p-n-p waveguide is accomplished via interband tunneling through the p-n interfaces, and does not depend on the bandgap opening.

Motion planning in velocity affine mechanical systems

NASA Astrophysics Data System (ADS)

Jakubiak, Janusz; Tchoń, Krzysztof; Magiera, Władysław

2010-09-01

We address the motion planning problem in specific mechanical systems whose linear and angular velocities depend affinely on control. The configuration space of these systems encompasses the rotation group, and the motion planning involves the system orientation. Derivation of the motion planning algorithm for velocity affine systems has been inspired by the continuation method. Performance of this algorithm is illustrated with examples of the kinematics of a serial nonholonomic manipulator, the plate-ball kinematics and the attitude control of a rigid body.

Photos taken inside ISS during EVA day

NASA Image and Video Library

2013-07-09

Astronaut Karen Nyberg,Expedition 36 flight engineer,is photographed at the Space Station Remote Manipulator System (SSRMS) controls in the U.S. Laboratory during a session of extravehicular activity (EVA).

Parallel manipulation of individual magnetic microbeads for lab-on-a-chip applications

NASA Astrophysics Data System (ADS)

Peng, Zhengchun

Many scientists and engineers are turning to lab-on-a-chip systems for faster and cheaper analysis of chemical reactions and biomolecular interactions. A common approach that facilitates the handling of reagents and biomolecules in these systems utilizes micro/nano beads as the solid carrier. Physical manipulation, such as assembly, transport, sorting, and tweezing, of beads on a chip represents an essential step for fully utilizing their potentials in a wide spectrum of bead-based analysis. Previous work demonstrated manipulation of either an ensemble of beads without individual control, or single beads but lacks the capability for parallel operation. Parallel manipulation of individual beads is required to meet the demand for high-throughput and location-specific analysis. In this work, we introduced two methods for parallel manipulation of individual magnetic microbeads, which can serve as effective lab-on-a-chip platforms and/or efficient analytic tools. The first method employs arrays of soft ferromagnetic patterns fabricated inside a microfluidic channel and subjected to an external magnetic field. We demonstrated that the system can be used to assemble individual beads (1-3 mum) from a flow of suspended beads into a regular array on the chip, hence improving the integrated electrochemical detection of biomolecules bound to the bead surface. By rotating the external field, the assembled microbeads can be remotely controlled with synchronized, high-speed circular motion around individual soft magnets on the chip. We employed this manipulation mode for efficient sample mixing in continuous microflow. Furthermore, we discovered a simple but effective way of transporting the microbeads on the chip by varying the strength of the local bias field within a revolution of the external field. In addition, selective transport of microbeads with different size was realized, providing a platform for effective on-chip sample separation and offering the potential for multiplexing capability. The second method integrates magnetic and dielectrophoretic manipulations of the same microbeads. The device combines tapered conducting wires and fingered electrodes to generate desirable magnetic and electric fields, respectively. By externally programming the magnetic attraction and dielectrophoretic repulsion forces, out-of-plane oscillation of the microbeads across the channel height was realized. This manipulation mode can facilitate the interaction between the beads with multiple layers of sample fluid inside the channel. We further demonstrated the tweezing of microbeads in liquid with high spatial resolutions, i.e., from submicrometer to nanometer range, by fine-tuning the net force from magnetic attraction and dielectrophoretic repulsion of the beads. The highresolution control of the out-of-plane motion of the microbeads led to the invention of massively parallel biomolecular tweezers. We believe the maturation of bead-based microtweezers will revolutionize the state-of-art tools currently used for single cell and single molecule studies.

Adaptive nonsingular terminal sliding mode controller for micro/nanopositioning systems driven by linear piezoelectric ceramic motors.

PubMed

Safa, Alireza; Abdolmalaki, Reza Yazdanpanah; Shafiee, Saeed; Sadeghi, Behzad

2018-06-01

In the field of nanotechnology, there is a growing demand to provide precision control and manipulation of devices with the ability to interact with complex and unstructured environments at micro/nano-scale. As a result, ultrahigh-precision positioning stages have been turned into a key requirement of nanotechnology. In this paper, linear piezoelectric ceramic motors (LPCMs) are adopted to drive micro/nanopositioning stages since they have the ability to achieve high precision in addition to being versatile to be implemented over a wide range of applications. In the establishment of a control scheme for such manipulation systems, the presence of friction, parameter uncertainties, and external disturbances prevent the systems from providing the desired positioning accuracy. The work in this paper focuses on the development of a control framework that addresses these issues as it uses the nonsingular terminal sliding mode technique for the precise position tracking problem of an LPCM-driven positioning stage with friction, uncertain parameters, and external disturbances. The developed control algorithm exhibits the following two attractive features. First, upper bounds of system uncertainties/perturbations are adaptively estimated in the proposed controller; thus, prior knowledge about uncertainty/disturbance bounds is not necessary. Second, the discontinuous signum function is transferred to the time derivative of the control input and the continuous control signal is obtained after integration; consequently, the chattering phenomenon, which presents a major handicap to the implementation of conventional sliding mode control in real applications, is alleviated without deteriorating the robustness of the system. The stability of the controlled system is analyzed, and the convergence of the position tracking error to zero is analytically proven. The proposed control strategy is experimentally validated and compared to the existing control approaches. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

A unified teleoperated-autonomous dual-arm robotic system

NASA Technical Reports Server (NTRS)

Hayati, Samad; Lee, Thomas S.; Tso, Kam Sing; Backes, Paul G.; Lloyd, John

1991-01-01

A description is given of complete robot control facility built as part of a NASA telerobotics program to develop a state-of-the-art robot control environment for performing experiments in the repair and assembly of spacelike hardware to gain practical knowledge of such work and to improve the associated technology. The basic architecture of the manipulator control subsystem is presented. The multiarm Robot Control C Library (RCCL), a key software component of the system, is described, along with its implementation on a Sun-4 computer. The system's simulation capability is also described, and the teleoperation and shared control features are explained.

Performance improvement in remote manipulation with time delay by means of a learning system.

NASA Technical Reports Server (NTRS)

Freedy, A.; Weltman, G.

1973-01-01

A teleoperating system is presented that involves shared control between a human operator and a general-purpose computer-based learning machine. This setup features a trainable control network termed the autonomous control subsystem (ACS) which is able to observe the operator's control actions, learn the task at hand, and take appropriate control actions. A working ACS system is described that has been put in operation for the purpose of exploring the uses of a remote intelligence of this type. The expansion of the present system into a multifunctional learning machine capable of a greater degree of autonomy is also discussed.

Low-Fatigue Hand Controller For Remote Manipulator

NASA Technical Reports Server (NTRS)

Maclaren, Brice; Mcmurray, Gary; Lipkin, Harvey

1993-01-01

Universal master controller used in brace mode, in which user's forearm rests atop upper (forearm) module. Alternatively, user manipulates hand controller in side mode, which gives greater latitude for motion but requires more muscular effort. Controller provides six degrees of freedom and reflects, back to user, scaled versions of forces experienced by manipulator. Manipulator designed to condense work space into user's natural work volume. Operated by both right-handed and left-handed users. Does not interfere with user's natural movements or obstruct line of sight. Controller compact and portable.

Coordinate control of initiative mating device for autonomous underwater vehicle based on TDES

NASA Astrophysics Data System (ADS)

Yan, Zhe-Ping; Hou, Shu-Ping

2005-06-01

A novel initiative mating device, which has four 2-degree manipulators around the mating skirt, is proposed to mate between a skirt of AUV (autonomons underwater vehicle) and a disabled submarine. The primary function of the device is to keep exact mating between skirt and disabled submarine in a badly sub sea environment. According to the characteristic of rescue, an automaton model is brought foward to describe the mating proceed between AUV and manipulators. The coordinated control is implemented by the TDES (time discrete event system). After taking into account the time problem, it is a useful method to control mating by simulation testing. The result shows that it reduces about 70 seconds after using intelligent co-ordinate control based on TDES through the whole mating procedure.

Force-controlled manipulation of single cells: from AFM to FluidFM.

PubMed

Guillaume-Gentil, Orane; Potthoff, Eva; Ossola, Dario; Franz, Clemens M; Zambelli, Tomaso; Vorholt, Julia A

2014-07-01

The ability to perturb individual cells and to obtain information at the single-cell level is of central importance for addressing numerous biological questions. Atomic force microscopy (AFM) offers great potential for this prospering field. Traditionally used as an imaging tool, more recent developments have extended the variety of cell-manipulation protocols. Fluidic force microscopy (FluidFM) combines AFM with microfluidics via microchanneled cantilevers with nano-sized apertures. The crucial element of the technology is the connection of the hollow cantilevers to a pressure controller, allowing their operation in liquid as force-controlled nanopipettes under optical control. Proof-of-concept studies demonstrated a broad spectrum of single-cell applications including isolation, deposition, adhesion and injection in a range of biological systems. Copyright © 2014 Elsevier Ltd. All rights reserved.

Single step optimization of manipulator maneuvers with variable structure control

NASA Technical Reports Server (NTRS)

Chen, N.; Dwyer, T. A. W., III

1987-01-01

One step ahead optimization has been recently proposed for spacecraft attitude maneuvers as well as for robot manipulator maneuvers. Such a technique yields a discrete time control algorithm implementable as a sequence of state-dependent, quadratic programming problems for acceleration optimization. Its sensitivity to model accuracy, for the required inversion of the system dynamics, is shown in this paper to be alleviated by a fast variable structure control correction, acting between the sampling intervals of the slow one step ahead discrete time acceleration command generation algorithm. The slow and fast looping concept chosen follows that recently proposed for optimal aiming strategies with variable structure control. Accelerations required by the VSC correction are reserved during the slow one step ahead command generation so that the ability to overshoot the sliding surface is guaranteed.

Twelfth Annual Conference on Manual Control

NASA Technical Reports Server (NTRS)

Wempe, T. E.

1976-01-01

Main topics discussed cover multi-task decision making, attention allocation and workload measurement, displays and controls, nonvisual displays, tracking and other psychomotor tasks, automobile driving, handling qualities and pilot ratings, remote manipulation, system identification, control models, and motion and visual cues. Sixty-five papers are included with presentations on results of analytical studies to develop and evaluate human operator models for a range of control task, vehicle dynamics and display situations; results of tests of physiological control systems and applications to medical problems; and on results of simulator and flight tests to determine display, control and dynamics effects on operator performance and workload for aircraft, automobile, and remote control systems.

Augmented reality user interface for mobile ground robots with manipulator arms

NASA Astrophysics Data System (ADS)

Vozar, Steven; Tilbury, Dawn M.

2011-01-01

Augmented Reality (AR) is a technology in which real-world visual data is combined with an overlay of computer graphics, enhancing the original feed. AR is an attractive tool for teleoperated UGV UIs as it can improve communication between robots and users via an intuitive spatial and visual dialogue, thereby increasing operator situational awareness. The successful operation of UGVs often relies upon both chassis navigation and manipulator arm control, and since existing literature usually focuses on one task or the other, there is a gap in mobile robot UIs that take advantage of AR for both applications. This work describes the development and analysis of an AR UI system for a UGV with an attached manipulator arm. The system supplements a video feed shown to an operator with information about geometric relationships within the robot task space to improve the operator's situational awareness. Previous studies on AR systems and preliminary analyses indicate that such an implementation of AR for a mobile robot with a manipulator arm is anticipated to improve operator performance. A full user-study can determine if this hypothesis is supported by performing an analysis of variance on common test metrics associated with UGV teleoperation.

Manipulation of Magnetic Textures in Thin Films and Devices

NASA Astrophysics Data System (ADS)

Tolley, Robert Douglas

Control and manipulation of magnetic textures is promising for the development of next-generation data storage, memory and processing technologies. Towards this goal, domain wall manipulation in two materials systems are presented here and thoroughly evaluated. Domain walls in ferrimagnetic Cobalt-Terbium alloys and multilayers are created, moved and stabilized via thermal gradients and a static magnetic field and exploit the unique properties of the system across the magnetic compensation point. The response of the systems to thermal gradients is observed via Kerr microscopy and used to determine the positioning of domain walls within patterned devices. Magnetic skyrmions are discovered in thin-film multilayered stacks using an Pt/Co/Os/Pt heterostructures where the thin Osmium layer is used to break interfacial symmetry and enhance the Dzyaloshinskii-Moriya interaction. The resulting skyrmions are manipulated using temperature, magnetic field, and electric current, and special attention is paid to their motion and nucleation behavior. Skyrmions are observed to be formed by low applied currents from nucleation sites and by collapse of stripe textures. Patterned wires allow for the observation of skyrmion nucleation behavior in free space, as well as defect sites, and real-time Kerr microscopy imaging is presented of skyrmion and stripe dynamics. These systems are evaluated from a perspective of their growth, patterning, measurement, and the novel behavior of the magnetic textures.

Robust algebraic image enhancement for intelligent control systems

NASA Technical Reports Server (NTRS)

Lerner, Bao-Ting; Morrelli, Michael

1993-01-01

Robust vision capability for intelligent control systems has been an elusive goal in image processing. The computationally intensive techniques a necessary for conventional image processing make real-time applications, such as object tracking and collision avoidance difficult. In order to endow an intelligent control system with the needed vision robustness, an adequate image enhancement subsystem capable of compensating for the wide variety of real-world degradations, must exist between the image capturing and the object recognition subsystems. This enhancement stage must be adaptive and must operate with consistency in the presence of both statistical and shape-based noise. To deal with this problem, we have developed an innovative algebraic approach which provides a sound mathematical framework for image representation and manipulation. Our image model provides a natural platform from which to pursue dynamic scene analysis, and its incorporation into a vision system would serve as the front-end to an intelligent control system. We have developed a unique polynomial representation of gray level imagery and applied this representation to develop polynomial operators on complex gray level scenes. This approach is highly advantageous since polynomials can be manipulated very easily, and are readily understood, thus providing a very convenient environment for image processing. Our model presents a highly structured and compact algebraic representation of grey-level images which can be viewed as fuzzy sets.

Wrist Camera Orientation for Effective Telerobotic Orbital Replaceable Unit (ORU) Changeout

NASA Technical Reports Server (NTRS)

Jones, Sharon Monica; Aldridge, Hal A.; Vazquez, Sixto L.

1997-01-01

The Hydraulic Manipulator Testbed (HMTB) is the kinematic replica of the Flight Telerobotic Servicer (FTS). One use of the HMTB is to evaluate advanced control techniques for accomplishing robotic maintenance tasks on board the Space Station. Most maintenance tasks involve the direct manipulation of the robot by a human operator when high-quality visual feedback is important for precise control. An experiment was conducted in the Systems Integration Branch at the Langley Research Center to compare several configurations of the manipulator wrist camera for providing visual feedback during an Orbital Replaceable Unit changeout task. Several variables were considered such as wrist camera angle, camera focal length, target location, lighting. Each study participant performed the maintenance task by using eight combinations of the variables based on a Latin square design. The results of this experiment and conclusions based on data collected are presented.

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1989-01-01

Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

Voss and Helms at SSRMS controls in Destiny laboratory module

NASA Image and Video Library

2001-04-22

ISS002-E-7043 (22 April 2001) --- Expedition Two flight engineers James S. Voss and Susan J. Helms work at the Canadarm2 / Space Station Remote Manipulator System (SSRMS) control station in the Destiny Laboratory. The image was recorded with a digital still camera.

A systems theoretic approach to analysis and control of mammalian circadian dynamics

PubMed Central

Abel, John H.; Doyle, Francis J.

2016-01-01

The mammalian circadian clock is a complex multi-scale, multivariable biological control system. In the past two decades, methods from systems engineering have led to numerous insights into the architecture and functionality of this system. In this review, we examine the mammalian circadian system through a process systems lens. We present a mathematical framework for examining the cellular circadian oscillator, and show recent extensions for understanding population-scale dynamics. We provide an overview of the routes by which the circadian system can be systemically manipulated, and present in silico proof of concept results for phase resetting of the clock via model predictive control. PMID:28496287

Experimental evaluation of the concept of supevisory manipulation

NASA Technical Reports Server (NTRS)

Brooks, T. L.; Sheridan, T. B.

1982-01-01

A computer-controlled teleoperator system which is based on task-referenced sensor-aided control has been developed to study supervisory manipulation. This system, called SUPERMAN, is capable of performing complicated tasks in real-time by utilizing the operator for high-level functions related to the unpredictable portions of a task, while the subordinate machine performs the more well-defined subtasks under human supervison. To determine whether supervisory control schemes such as these offer any advantage over manual control under real-time conditions, a number of experiments involving both simple and complicated tasks were performed. Six representative tasks were chosen for the study: (1) obtaining a tool from a rack, (2) returning the tool to the rack, (3) removing a nut, (4) placing samples in a storage bin, (5) opening and closing a valve, and (6) digging with a shovel. The experiments were performed under simulated conditions using four forms of manual control (i.e., switch rate, joystick rate, master-slave position control, and master-slave with force feedback), as well as supervisory control. Through these experiments the effectiveness and quality of control were evaluated on the basis of the time required to complete each portion of the task and the type and number of errors which occurred.

Dynamic force signal processing system of a robot manipulator

NASA Technical Reports Server (NTRS)

Uchiyama, M.; Kitagaki, K.; Hakomori, K.

1987-01-01

If dynamic noises such as those caused by the inertia forces of the hand can be eliminated from the signal of the force sensor installed on the wrist of the robot manipulator and if the necessary information of the external force can be detected with high sensitivity and high accuracy, a fine force feedback control for robots used in high speed and various fields will be possible. As the dynamic force sensing system, an external force estimate method with the extended Kalman filter is suggested and simulations and tests for a one axis force were performed. Later a dynamic signal processing system of six axes was composed and tested. The results are presented.

Automated Steering Control Design by Visual Feedback Approach —System Identification and Control Experiments with a Radio-Controlled Car—

NASA Astrophysics Data System (ADS)

Fujiwara, Yukihiro; Yoshii, Masakazu; Arai, Yasuhito; Adachi, Shuichi

Advanced safety vehicle(ASV)assists drivers’ manipulation to avoid trafic accidents. A variety of researches on automatic driving systems are necessary as an element of ASV. Among them, we focus on visual feedback approach in which the automatic driving system is realized by recognizing road trajectory using image information. The purpose of this paper is to examine the validity of this approach by experiments using a radio-controlled car. First, a practical image processing algorithm to recognize white lines on the road is proposed. Second, a model of the radio-controlled car is built by system identication experiments. Third, an automatic steering control system is designed based on H∞ control theory. Finally, the effectiveness of the designed control system is examined via traveling experiments.

Species-specific ant brain manipulation by a specialized fungal parasite.

PubMed

de Bekker, Charissa; Quevillon, Lauren E; Smith, Philip B; Fleming, Kimberly R; Ghosh, Debashis; Patterson, Andrew D; Hughes, David P

2014-08-29

A compelling demonstration of adaptation by natural selection is the ability of parasites to manipulate host behavior. One dramatic example involves fungal species from the genus Ophiocordyceps that control their ant hosts by inducing a biting behavior. Intensive sampling across the globe of ants that died after being manipulated by Ophiocordyceps suggests that this phenomenon is highly species-specific. We advance our understanding of this system by reconstructing host manipulation by Ophiocordyceps parasites under controlled laboratory conditions and combining this with field observations of infection rates and a metabolomics survey. We report on a newly discovered species of Ophiocordyceps unilateralis sensu lato from North America that we use to address the species-specificity of Ophiocordyceps-induced manipulation of ant behavior. We show that the fungus can kill all ant species tested, but only manipulates the behavior of those it infects in nature. To investigate if this could be explained at the molecular level, we used ex vivo culturing assays to measure the metabolites that are secreted by the fungus to mediate fungus-ant tissue interactions. We show the fungus reacts heterogeneously to brains of different ant species by secreting a different array of metabolites. By determining which ion peaks are significantly enriched when the fungus is grown alongside brains of its naturally occurring host, we discovered candidate compounds that could be involved in behavioral manipulation by O. unilateralis s.l.. Two of these candidates are known to be involved in neurological diseases and cancer. The integrative work presented here shows that ant brain manipulation by O. unilateralis s.l. is species-specific seemingly because the fungus produces a specific array of compounds as a reaction to the presence of the host brain it has evolved to manipulate. These studies have resulted in the discovery of candidate compounds involved in establishing behavioral manipulation by this specialized fungus and therefore represent a major advancement towards an understanding of the molecular mechanisms underlying this phenomenon.

40 CFR 792.90 - Animal and other test system care.

Code of Federal Regulations, 2014 CFR

2014-07-01

... SUBSTANCES CONTROL ACT (CONTINUED) GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 792.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing... adult terrestrial amphibians used in laboratory procedures that require manipulations and observations...

40 CFR 792.90 - Animal and other test system care.

Code of Federal Regulations, 2013 CFR

2013-07-01

... SUBSTANCES CONTROL ACT (CONTINUED) GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 792.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing... adult terrestrial amphibians used in laboratory procedures that require manipulations and observations...

40 CFR 792.90 - Animal and other test system care.

Code of Federal Regulations, 2011 CFR

2011-07-01

... SUBSTANCES CONTROL ACT (CONTINUED) GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 792.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing... adult terrestrial amphibians used in laboratory procedures that require manipulations and observations...

40 CFR 792.90 - Animal and other test system care.

Code of Federal Regulations, 2012 CFR

2012-07-01

... SUBSTANCES CONTROL ACT (CONTINUED) GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 792.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing... adult terrestrial amphibians used in laboratory procedures that require manipulations and observations...

40 CFR 792.90 - Animal and other test system care.

Code of Federal Regulations, 2010 CFR

2010-07-01

... SUBSTANCES CONTROL ACT (CONTINUED) GOOD LABORATORY PRACTICE STANDARDS Testing Facilities Operation § 792.90 Animal and other test system care. (a) There shall be standard operating procedures for the housing... adult terrestrial amphibians used in laboratory procedures that require manipulations and observations...

A hybrid system for upper limb movement restoration in quadriplegics.

PubMed

Varoto, Renato; Barbarini, Elisa Signoreto; Cliquet, Alberto

2008-09-01

Generally, quadriplegic individuals have difficulties performing object manipulation. Toward satisfactory manipulation, reach and grasp movements must be performed with voluntary control, and for that, grasp force feedback is essential. A hybrid system aiming at partial upper limb sensory-motor restoration for quadriplegics was built. Such device is composed of an elbow dynamic orthosis that provides elbow flexion/extension (range was approximately from 20 degrees to 120 degrees , and average angular speed was approximately 15 degrees /s) with forearm support, a wrist static orthosis and neuromuscular electrical stimulation for grasping generation, and a glove with force sensors that allows grasping force feedback. The glove presents two user interface modes: visual by light emitting diodes or audio emitted by buzzer. Voice control of the entire system (elbow dynamic orthosis and electrical stimulator) is performed by the patient. The movements provided by the hybrid system, combined with the scapular and shoulder movements performed by the patient, can aid quadriplegic individuals in tasks that involve reach and grasp movements.

Toward a practical mobile robotic aid system for people with severe physical disabilities.

PubMed

Regalbuto, M A; Krouskop, T A; Cheatham, J B

1992-01-01

A simple, relatively inexpensive robotic system that can aid severely disabled persons by providing pick-and-place manipulative abilities to augment the functions of human or trained animal assistants is under development at Rice University and the Baylor College of Medicine. A stand-alone software application program runs on a Macintosh personal computer and provides the user with a selection of interactive windows for commanding the mobile robot via cursor action. A HERO 2000 robot has been modified such that its workspace extends from the floor to tabletop heights, and the robot is interfaced to a Macintosh SE via a wireless communications link for untethered operation. Integrated into the system are hardware and software which allow the user to control household appliances in addition to the robot. A separate Machine Control Interface device converts breath action and head or other three-dimensional motion inputs into cursor signals. Preliminary in-home and laboratory testing has demonstrated the utility of the system to perform useful navigational and manipulative tasks.

Effect of lidocaine on inflammation in equine jejunum subjected to manipulation only and remote to intestinal segments subjected to ischemia.

PubMed

Bauck, Anje G; Grosche, Astrid; Morton, Alison J; Graham, A Sarah; Vickroy, Thomas W; Freeman, David E

2017-08-01

OBJECTIVE To examine effects of continuous rate infusion of lidocaine on transmural neutrophil infiltration in equine intestine subjected to manipulation only and remote to ischemic intestine. ANIMALS 14 healthy horses. PROCEDURES Ventral midline celiotomy was performed (time 0). Mild ischemia was induced in segments of jejunum and large colon. A 1-m segment of jejunum was manipulated by massaging the jejunal wall 10 times. Horses received lidocaine (n = 7) or saline (0.9% NaCl) solution (7) throughout anesthesia. Biopsy specimens were collected and used to assess tissue injury, neutrophil influx, cyclooxygenase expression, and hypoxia-inducible factor 1α (HIF-1α) expression at 0, 1, and 4 hours after manipulation and ischemia. Transepithelial resistance (TER) and mannitol flux were measured by use of Ussing chambers. RESULTS Lidocaine did not consistently decrease neutrophil infiltration in ischemic, manipulated, or control tissues at 4 hours. Lidocaine significantly reduced circular muscle and overall scores for cyclooxygenase-2 expression in manipulated tissues. Manipulated tissues had significantly less HIF-1α expression at 4 hours than did control tissues. Mucosa from manipulated and control segments obtained at 4 hours had lower TER and greater mannitol flux than did control tissues at 0 hours. Lidocaine did not significantly decrease calprotectin expression. Severity of neutrophil infiltration was similar in control, ischemic, and manipulated tissues at 4 hours. CONCLUSIONS AND CLINICAL RELEVANCE Manipulated jejunum did not have a significantly greater increase in neutrophil infiltration, compared with 4-hour control (nonmanipulated) jejunum remote to sites of manipulation, ischemia, and reperfusion. Lidocaine did not consistently reduce neutrophil infiltration in jejunum.

KC-135 materials handling robotics

NASA Technical Reports Server (NTRS)

Workman, Gary L.

1991-01-01

Robot dynamics and control will become an important issue for implementing productive platforms in space. Robotic operations will become necessary for man-tended stations and for efficient performance of routine operations in a manned platform. The current constraints on the use of robotic devices in a microgravity environment appears to be due to an anticipated increase in acceleration levels due to manipulator motion and for safety concerns. The objective of this study will be to provide baseline data to meet that need. Most texts and papers dealing with the kinematics and dynamics of robots assume that the manipulator is composed of joints separated by rigid links. However, in recent years several groups have begun to study the dynamics of flexible manipulators, primarily for applying robots in space and for improving the efficiency and precision of robotic systems. Robotic systems which are being planned for implementation in space have a number of constraints to overcome. Additional concepts which have to be worked out in any robotic implementation for a space platform include teleoperation and degree of autonomous control. Some significant results in developing a robotic workcell for performing robotics research on the KC-135 aircraft in preperation for space-based robotics applications in the future were generated. In addition, it was shown that TREETOPS can be used to simulate the dynamics of robot manipulators for both space and ground-based applications.

Dual-loop model of the human controller

NASA Technical Reports Server (NTRS)

Hess, R. A.

1978-01-01

A dual-loop model of the human controller in single-axis compensatory tracking tasks is introduced. This model possesses an inner-loop closure that involves feeding back that portion of controlled element output rate that is due to control activity. A novel feature of the model is the explicit appearance of the human's internal representation of the manipulator-controlled element dynamics in the inner loop. The sensor inputs to the human controller are assumed to be system error and control force. The former can be sensed via visual, aural, or tactile displays, whereas the latter is assumed to be sensed in kinesthetic fashion. A set of general adaptive characteristics for the model is hypothesized, including a method for selecting simplified internal models of the manipulator-controlled element dynamics. It is demonstrated that the model can produce controller describing functions that closely approximate those measured in four laboratory tracking tasks in which the controlled element dynamics vary considerably in terms of ease of control. An empirically derived expression for the normalized injected error remnant spectrum is introduced.

Voltage controlled nano-injection system for single-cell surgery

PubMed Central

Seger, R. Adam; Actis, Paolo; Penfold, Catherine; Maalouf, Michelle; Vilozny, Boaz; Pourmand, Nader

2015-01-01

Manipulation and analysis of single cells is the next frontier in understanding processes that control the function and fate of cells. Herein we describe a single-cell injection platform based on nanopipettes. The system uses scanning microscopy techniques to detect cell surfaces, and voltage pulses to deliver molecules into individual cells. As a proof of concept, we injected adherent mammalian cells with fluorescent dyes. PMID:22899383

Voltage controlled nano-injection system for single-cell surgery.

PubMed

Adam Seger, R; Actis, Paolo; Penfold, Catherine; Maalouf, Michelle; Vilozny, Boaz; Pourmand, Nader

2012-09-28

Manipulation and analysis of single cells is the next frontier in understanding processes that control the function and fate of cells. Herein we describe a single-cell injection platform based on nanopipettes. The system uses scanning microscopy techniques to detect cell surfaces, and voltage pulses to deliver molecules into individual cells. As a proof of concept, we injected adherent mammalian cells with fluorescent dyes.

Were they in the loop during automated driving? Links between visual attention and crash potential.

PubMed

Louw, Tyron; Madigan, Ruth; Carsten, Oliver; Merat, Natasha

2017-08-01

A proposed advantage of vehicle automation is that it relieves drivers from the moment-to-moment demands of driving, to engage in other, non-driving related, tasks. However, it is important to gain an understanding of drivers' capacity to resume manual control, should such a need arise. As automation removes vehicle control-based measures as a performance indicator, other metrics must be explored. This driving simulator study, conducted under the European Commission (EC) funded AdaptIVe project, assessed drivers' gaze fixations during partially-automated (SAE Level 2) driving, on approach to critical and non-critical events. Using a between-participant design, 75 drivers experienced automation with one of five out-of-the-loop (OOTL) manipulations, which used different levels of screen visibility and secondary tasks to induce varying levels of engagement with the driving task: 1) no manipulation, 2) manipulation by light fog, 3) manipulation by heavy fog, 4) manipulation by heavy fog plus a visual task, 5) no manipulation plus an n-back task. The OOTL manipulations influenced drivers' first point of gaze fixation after they were asked to attend to an evolving event. Differences resolved within one second and visual attention allocation adapted with repeated events, yet crash outcome was not different between OOTL manipulation groups. Drivers who crashed in the first critical event showed an erratic pattern of eye fixations towards the road centre on approach to the event, while those who did not demonstrated a more stable pattern. Automated driving systems should be able to direct drivers' attention to hazards no less than 6 seconds in advance of an adverse outcome. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/.

Can we manipulate root system architecture to control soil erosion?

NASA Astrophysics Data System (ADS)

Ola, A.; Dodd, I. C.; Quinton, J. N.

2015-03-01

Soil erosion is a major threat to soil functioning. The use of vegetation to control erosion has long been a topic for research. Much of this research has focused on the above ground properties of plants, demonstrating the important role that canopy structure and cover plays in the reduction of water erosion processes. Less attention has been paid to plant roots. Plant roots are a crucial yet under-researched factor for reducing water erosion through their ability to alter soil properties, such as aggregate stability, hydraulic function and shear strength. However, there have been few attempts to manipulate plant root system properties to reduce soil erosion. Therefore, this review aims to explore the effects that plant roots have on soil erosion and hydrological processes, and how plant root architecture might be manipulated to enhance its erosion control properties. We clearly demonstrate the importance of root system architecture for the control of soil erosion. We also demonstrate that some plant species respond to nutrient enriched patches by increasing lateral root proliferation. The soil response to root proliferation will depend upon its location: at the soil surface dense mats of roots may block soil pores thereby limiting infiltration, enhancing runoff and thus erosion; whereas at depth local increases in shear strength may reinforce soils against structural failure at the shear plane. Additionally, in nutrient deprived regions, root hair development may be stimulated and larger amounts of root exudates released, thereby improving aggregate stability and decreasing erodibility. Utilising nutrient placement at depth may represent a potentially new, easily implemented, management strategy on nutrient poor agricultural land or constructed slopes to control erosion, and further research in this area is needed.

Diode probes for spatiotemporal optical control of multiple neurons in freely moving animals

PubMed Central

Koos, Tibor; Buzsáki, György

2012-01-01

Neuronal control with high temporal precision is possible with optogenetics, yet currently available methods do not enable to control independently multiple locations in the brains of freely moving animals. Here, we describe a diode-probe system that allows real-time and location-specific control of neuronal activity at multiple sites. Manipulation of neuronal activity in arbitrary spatiotemporal patterns is achieved by means of an optoelectronic array, manufactured by attaching multiple diode-fiber assemblies to high-density silicon probes or wire tetrodes and implanted into the brains of animals that are expressing light-responsive opsins. Each diode can be controlled separately, allowing localized light stimulation of neuronal activators and silencers in any temporal configuration and concurrent recording of the stimulated neurons. Because the only connections to the animals are via a highly flexible wire cable, unimpeded behavior is allowed for circuit monitoring and multisite perturbations in the intact brain. The capacity of the system to generate unique neural activity patterns facilitates multisite manipulation of neural circuits in a closed-loop manner and opens the door to addressing novel questions. PMID:22496529

Virtual Passive Controller for Robot Systems Using Joint Torque Sensors

NASA Technical Reports Server (NTRS)

Aldridge, Hal A.; Juang, Jer-Nan

1997-01-01

This paper presents a control method based on virtual passive dynamic control that will stabilize a robot manipulator using joint torque sensors and a simple joint model. The method does not require joint position or velocity feedback for stabilization. The proposed control method is stable in the sense of Lyaponov. The control method was implemented on several joints of a laboratory robot. The controller showed good stability robustness to system parameter error and to the exclusion of nonlinear dynamic effects on the joints. The controller enhanced position tracking performance and, in the absence of position control, dissipated joint energy.

Education and Identity Control among the Palestinians in Israel.

ERIC Educational Resources Information Center

Makkawi, Ibrahim A.

Unlike many Third World nation minorities living in Western societies, the Palestinians in Israel did not immigrate to the new system; rather, the system was imposed on them by the Israeli Jewish government. This paper argues that the Israeli government uses its hegemony over the educational system for its Palestinian citizens to manipulate and…

Control of Prose Processing via Instructional and Typographical Cues.

ERIC Educational Resources Information Center

Glynn, Shawn M.; Di Vesta, Francis J.

1979-01-01

College students studied text about an imaginary solar system. Two cuing systems were manipulated to induce a single or double set of cues consistent with one or two sets of text propositions, or no target propositions were specified. Cuing systems guided construction and implementation of prose-processing decision criteria. (Author/RD)