Phase space dynamics and control of the quantum particles associated to hypergraph states

NASA Astrophysics Data System (ADS)

Berec, Vesna

2015-05-01

As today's nanotechnology focus becomes primarily oriented toward production and manipulation of materials at the subatomic level, allowing the performance and complexity of interconnects where the device density accepts more than hundreds devices on a single chip, the manipulation of semiconductor nanostructures at the subatomic level sets its prime tasks on preserving and adequate transmission of information encoded in specified (quantum) states. The presented study employs the quantum communication protocol based on the hypergraph network model where the numerical solutions of equations of motion of quantum particles are associated to vertices (assembled with device chip), which follow specific controllable paths in the phase space. We address these findings towards ultimate quest for prediction and selective control of quantum particle trajectories. In addition, presented protocols could represent valuable tool for reducing background noise and uncertainty in low-dimensional and operationally meaningful, scalable complex systems.

Unidirectional Wave Vector Manipulation in Two-Dimensional Space with an All Passive Acoustic Parity-Time-Symmetric Metamaterials Crystal

NASA Astrophysics Data System (ADS)

Liu, Tuo; Zhu, Xuefeng; Chen, Fei; Liang, Shanjun; Zhu, Jie

2018-03-01

Exploring the concept of non-Hermitian Hamiltonians respecting parity-time symmetry with classical wave systems is of great interest as it enables the experimental investigation of parity-time-symmetric systems through the quantum-classical analogue. Here, we demonstrate unidirectional wave vector manipulation in two-dimensional space, with an all passive acoustic parity-time-symmetric metamaterials crystal. The metamaterials crystal is constructed through interleaving groove- and holey-structured acoustic metamaterials to provide an intrinsic parity-time-symmetric potential that is two-dimensionally extended and curved, which allows the flexible manipulation of unpaired wave vectors. At the transition point from the unbroken to broken parity-time symmetry phase, the unidirectional sound focusing effect (along with reflectionless acoustic transparency in the opposite direction) is experimentally realized over the spectrum. This demonstration confirms the capability of passive acoustic systems to carry the experimental studies on general parity-time symmetry physics and further reveals the unique functionalities enabled by the judiciously tailored unidirectional wave vectors in space.

Strain manipulation of Majorana fermions in graphene armchair nanoribbons

NASA Astrophysics Data System (ADS)

Wang, Zhen-Hua; Castro, Eduardo V.; Lin, Hai-Qing

2018-01-01

Graphene nanoribbons with armchair edges are studied for externally enhanced but realistic parameter values: enhanced Rashba spin-orbit coupling due to proximity to a transition-metal dichalcogenide, such as WS2, and enhanced Zeeman field due to exchange coupling with a magnetic insulator, such as EuS under an applied magnetic field. The presence of s -wave superconductivity, induced either by proximity or by decoration with alkali-metal atoms, such as Ca or Li, leads to a topological superconducting phase with Majorana end modes. The topological phase is highly sensitive to the application of uniaxial strain with a transition to the trivial state above a critical strain well below 0.1%. This sensitivity allows for real-space manipulation of Majorana fermions by applying nonuniform strain profiles. Similar manipulation is also possible by applying an inhomogeneous Zeeman field or chemical potential.

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.

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.

Acoustic levitation and manipulation for space applications

NASA Technical Reports Server (NTRS)

Wang, T. G.

1979-01-01

A wide spectrum of experiments to be performed in space in a microgravity environment require levitation and manipulation of liquid or molten samples. A novel acoustic method has been developed at JPL for controlling liquid samples without physical contacts. This method utilizes the static pressure generated by three orthogonal acoustic standing waves excited within an enclosure. Furthermore, this method will allow the sample to be rotated and/or oscillated by modifying the phase angles and/or the amplitude of the acoustic field. This technique has been proven both in our laboratory and in a microgravity environment provided by KC-135 flights. Samples placed within our chamber driven at (1,0,0), (0,1,0), and (0,0,1), modes were indeed levitated, rotated, and oscillated.

Quasi-Airy beams along tunable propagation trajectories and directions.

PubMed

Qian, Yixian; Zhang, Site

2016-05-02

We present a theoretical and experimental exhibit that accelerates quasi-Airy beams propagating along arbitrarily appointed parabolic trajectories and directions in free space. We also demonstrate that such quasi-Airy beams can be generated by a tunable phase pattern, where two disturbance factors are introduced. The topological structures of quasi-Airy beams are readily manipulated with tunable phase patterns. Quasi-Airy beams still possess the characteristics of non-diffraction, self-healing to some extent, although they are not the solutions for paraxial wave equation. The experiments show the results are consistent with theoretical predictions. It is believed that the property of propagation along arbitrarily desired parabolic trajectories will provide a broad application in trapping atom and living cell manipulation.

Dynamical control of a quantum Kapitza pendulum in a spin-1 BEC

NASA Astrophysics Data System (ADS)

Hoang, Thai; Gerving, Corey; Land, Ben; Anquez, Martin; Hamley, Chris; Chapman, Michael

2013-05-01

We demonstrate dynamic stabilization of an unstable strongly interacting quantum many-body system by periodic manipulation of the phase of the collective states. The experiment employs a spin-1 atomic Bose condensate that has spin dynamics analogous to a non-rigid pendulum in the mean-field limit. The condensate spin is initialized to an unstable (hyperbolic) fixed point of the phase space, where subsequent free evolution gives rise to spin-nematic squeezing and quantum spin mixing. To stabilize the system, periodic microwave pulses are applied that manipulate the spin-nematic fluctuations and limit their growth. The range of pulse periods and phase shifts with which the condensate can be stabilized is measured and compares well with a linear stability analysis of the problem. C.D. Hamley, et al., ``Spin-Nematic Squeezed Vacuum in a Quantum Gas,'' Nature Physics 8, 305-308 (2012).

Space transportation system payload interface verification

NASA Technical Reports Server (NTRS)

Everline, R. T.

1977-01-01

The paper considers STS payload-interface verification requirements and the capability provided by STS to support verification. The intent is to standardize as many interfaces as possible, not only through the design, development, test and evaluation (DDT and E) phase of the major payload carriers but also into the operational phase. The verification process is discussed in terms of its various elements, such as the Space Shuttle DDT and E (including the orbital flight test program) and the major payload carriers DDT and E (including the first flights). Five tools derived from the Space Shuttle DDT and E are available to support the verification process: mathematical (structural and thermal) models, the Shuttle Avionics Integration Laboratory, the Shuttle Manipulator Development Facility, and interface-verification equipment (cargo-integration test equipment).

A shuttle and space station manipulator system for assembly, docking, maintenance, cargo handling and spacecraft retrieval (preliminary design). Volume 3: Concept analysis. Part 2: Development program

NASA Technical Reports Server (NTRS)

1972-01-01

A preliminary estimate is presented of the resources required to develop the basic general purpose walking boom manipulator system. It is assumed that the necessary full scale zero g test facilities will be available on a no cost basis. A four year development effort is also assumed and it is phased with an estimated shuttle development program since the shuttle will be developed prior to the space station. Based on delivery of one qualification unit and one flight unit and without including any ground support equipment or flight test support it is estimated (within approximately + or - 25%) that a total of 3551 man months of effort and $17,387,000 are required.

Distributed practice can boost evaluative conditioning by increasing memory for the stimulus pairs.

PubMed

Richter, Jasmin; Gast, Anne

2017-09-01

When presenting a neutral stimulus (CS) in close temporal and spatial proximity to a positive or negative stimulus (US) the former is often observed to adopt the valence of the latter, a phenomenon named evaluative conditioning (EC). It is already well established that under most conditions, contingency awareness is important for an EC effect to occur. In addition to that, some findings suggest that awareness of the stimulus pairs is not only relevant during the learning phase, but that it is also relevant whether memory for the pairings is still available during the measurement phase. As previous research has shown that memory is better after temporally distributed than after contiguous (massed) repetitions, it seems plausible that also EC effects are moderated by distributed practice manipulations. This was tested in the current studies. In two experiments with successful distributed practice manipulations on memory, we show that also the magnitude of the EC effect was larger for pairs learned under spaced compared to massed conditions. Both effects, on memory and on EC, are found after a within-participant and after a between-participant manipulation. However, we did not find significant differences in the EC effect for different conditions of spaced practice. These findings are in line with the assumption that EC is based on similar processes as memory for the pairings. Copyright © 2017 Elsevier B.V. All rights reserved.

Nonlinear unitary transformations of space-variant polarized light fields from self-induced geometric-phase optical elements

NASA Astrophysics Data System (ADS)

Kravets, Nina; Brasselet, Etienne

2018-01-01

We propose to couple the optical orientational nonlinearities of liquid crystals with their ability to self-organize to tailor them to control space-variant-polarized optical fields in a nonlinear manner. Experimental demonstration is made using a liquid crystal light valve that behaves like a light-driven geometric phase optical element. We also unveil two original nonlinear optical processes, namely self-induced separability and nonseparability. These results contribute to the advancement of nonlinear singular optics that is still in its infancy despite 25 years of effort, which may foster the development of nonlinear protocols to manipulate high-dimensional optical information both in the classical and quantum regimes.

Reflected wavefront manipulation based on ultrathin planar acoustic metasurfaces

PubMed Central

Li, Yong; Liang, Bin; Gu, Zhong-ming; Zou, Xin-ye; Cheng, Jian-chun

2013-01-01

The introduction of metasurfaces has renewed the Snell's law and opened up new degrees of freedom to tailor the optical wavefront at will. Here, we theoretically demonstrate that the generalized Snell's law can be achieved for reflected acoustic waves based on ultrathin planar acoustic metasurfaces. The metasurfaces are constructed with eight units of a solid structure to provide discrete phase shifts covering the full 2π span with steps of π/4 by coiling up the space. By careful selection of the phase profiles in the transverse direction of the metasurfaces, some fascinating wavefront engineering phenomena are demonstrated, such as anomalous reflections, conversion of propagating waves into surface waves, planar aberration-free lens and nondiffracting Bessel beam generated by planar acoustic axicon. Our results could open up a new avenue for acoustic wavefront engineering and manipulations. PMID:23986034

On the nature of control algorithms for free-floating space manipulators

NASA Technical Reports Server (NTRS)

Papadopoulos, Evangelos; Dubowsky, Steven

1991-01-01

It is suggested that nearly any control algorithm that can be used for fixed-based manipulators also can be employed in the control of free-floating space manipulator systems, with the additional conditions of estimating or measuring a spacecraft's orientation and of avoiding dynamic singularities. This result is based on the structural similarities between the kinematic and dynamic equations for the same manipulator but with a fixed base. Barycenters are used to formulate the kinematic and dynamic equations of free-floating space manipulators. A control algorithm for a space manipulator system is designed to demonstrate the value of the analysis.

A novel design for a hybrid space manipulator

NASA Technical Reports Server (NTRS)

Shahinpoor, MO

1991-01-01

Described are the structural design, kinematics, and characteristics of a robot manipulator for space applications and use as an articulate and powerful space shuttle manipulator. Hybrid manipulators are parallel-serial connection robots that give rise to a multitude of highly precise robot manipulators. These manipulators are modular and can be extended by additional modules over large distances. Every module has a hemispherical work space and collective modules give rise to highly dexterous symmetrical work space. Some basic designs and kinematic structures of these robot manipulators are discussed, the associated direct and inverse kinematics formulations are presented, and solutions to the inverse kinematic problem are obtained explicitly and elaborated upon. These robot manipulators are shown to have a strength-to-weight ratio that is many times larger than the value that is currently available with industrial or research manipulators. This is due to the fact that these hybrid manipulators are stress-compensated and have an ultralight weight, yet, they are extremely stiff due to the fact that force distribution in their structure is mostly axial. Actuation is prismatic and can be provided by ball screws for maximum precision.

Injury Risk Assessment of Extravehicular Mobility Unit (EMU) Phase VI and Series 4000 Gloves During Extravehicular Activity (EVA) Hand Manipulation Tasks

NASA Technical Reports Server (NTRS)

Kilby, Melissa

2015-01-01

Functional Extravehicular Mobility Units (EMUs) with high precision gloves are essential for the success of Extravehicular Activity (EVA). Previous research done at NASA has shown that total strength capabilities and performance are reduced when wearing a pressurized EMU. The goal of this project was to characterize the human-space suit glove interaction and assess the risk of injury during common EVA hand manipulation tasks, including pushing, pinching and gripping objects. A custom third generation sensor garment was designed to incorporate a combination of sensors, including force sensitive resistors, strain gauge sensors, and shear force sensors. The combination of sensors was used to measure the forces acting on the finger nails, finger pads, finger tips, as well as the knuckle joints. In addition to measuring the forces, data was collected on the temperature, humidity, skin conductance, and blood perfusion of the hands. Testing compared both the Phase VI and Series 4000 glove against an ungloved condition. The ungloved test was performed wearing the sensor garment only. The project outcomes identified critical landmarks that experienced higher workloads and are more likely to suffer injuries. These critical landmarks varied as a function of space suit glove and task performed. The results showed that less forces were acting on the hands while wearing the Phase VI glove as compared to wearing the Series 4000 glove. Based on our findings, the engineering division can utilize these methods for optimizing the current space suit glove and designing next generation gloves to prevent injuries and optimize hand mobility and comfort.

Slowing Quantum Decoherence by Squeezing in Phase Space

NASA Astrophysics Data System (ADS)

Le Jeannic, H.; Cavaillès, A.; Huang, K.; Filip, R.; Laurat, J.

2018-02-01

Non-Gaussian states, and specifically the paradigmatic cat state, are well known to be very sensitive to losses. When propagating through damping channels, these states quickly lose their nonclassical features and the associated negative oscillations of their Wigner function. However, by squeezing the superposition states, the decoherence process can be qualitatively changed and substantially slowed down. Here, as a first example, we experimentally observe the reduced decoherence of squeezed optical coherent-state superpositions through a lossy channel. To quantify the robustness of states, we introduce a combination of a decaying value and a rate of decay of the Wigner function negativity. This work, which uses squeezing as an ancillary Gaussian resource, opens new possibilities to protect and manipulate quantum superpositions in phase space.

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.

On the dynamic singularities in the control of free-floating space manipulators

NASA Technical Reports Server (NTRS)

Papadopoulos, E.; Dubowsky, S.

1989-01-01

It is shown that free-floating space manipulator systems have configurations which are dynamically singular. At a dynamically singular position, the manipulator is unable to move its end effector in some direction. This problem appears in any free-floating space manipulator system that permits the vehicle to move in response to manipulator motion without correction from the vehicle's attitude control system. Dynamic singularities are functions of the dynamic properties of the system; their existence and locations cannot be predicted solely from the kinematic structure of the manipulator, unlike the singularities for fixed base manipulators. It is also shown that the location of these dynamic singularities in the workplace is dependent upon the path taken by the manipulator in reaching them. Dynamic singularities must be considered in the control, planning and design of free-floating space manipulator systems. A method for calculating these dynamic singularities is presented, and it is shown that the system parameters can be selected to reduce the effect of dynamic singularities on a system's performance.

The effects of outcome and process feedback

NASA Technical Reports Server (NTRS)

Johnson, Debra Steele

1990-01-01

A study was conducted to examine the effects of process and outcome feedback on performance during a skill acquisition phase and a transfer test phase. The research also examined the role of two moderators: self-efficacy and intrinsic motivation. Subjects were college students participating for course credit. The task involved using a computerized simulation of the Space Shuttle's Remote Manipulation System (RMS). Results provided evidence of the beneficial effects of process feedback during skill acquisition. Results also provided evidence that self-efficacy and intrinsic motivation moderate the effects of feedback type on performance.

Out-reach in-space technology experiments program: Control of flexible robot manipulators in zero gravity, experiment definition phase

NASA Technical Reports Server (NTRS)

Phillips, Warren F.

1989-01-01

The results obtained show that it is possible to control light-weight robots with flexible links in a manner that produces good response time and does not induce unacceptable link vibrations. However, deflections induced by gravity cause large static position errors with such a control system. For this reason, it is not possible to use this control system for controlling motion in the direction of gravity. The control system does, on the other hand, have potential for use in space. However, in-space experiments will be needed to verify its applicability to robots moving in three dimensions.

Demonstration of Cascaded Modulator-Chicane Microbunching of a Relativistic Electron Beam

DOE PAGES

Sudar, N.; Musumeci, P.; Gadjev, I.; ...

2018-03-15

Here, we present results of an experiment showing the first successful demonstration of a cascaded microbunching scheme. Two modulator-chicane prebunchers arranged in series and a high power mid-IR laser seed are used to modulate a 52 MeV electron beam into a train of sharp microbunches phase locked to the external drive laser. This configuration is shown to greatly improve matching of the beam into the small longitudinal phase space acceptance of short-wavelength accelerators. We demonstrate trapping of nearly all (96%) of the electrons in a strongly tapered inverse free-electron laser accelerator, with an order-of-magnitude reduction in injection losses compared tomore » the classical single-buncher scheme. These results represent a critical advance in laser-based longitudinal phase space manipulations and find application in high gradient advanced acceleration as well as in high peak and average power coherent radiation sources.« less

Multiple orbital angular momentum generated by dielectric hybrid phase element

NASA Astrophysics Data System (ADS)

Wang, Xuewen; Kuchmizhak, Aleksandr; Hu, Dejiao; Li, Xiangping

2017-09-01

Vortex beam carrying multiple orbital angular momentum provides a new degree of freedom to manipulate light leading to the various exciting applications as trapping, quantum optics, information multiplexing, etc. Helical wavefront can be generated either via the geometric or the dynamic phase arising from a space-variant birefringence (q-plate) or from phase accumulation through propagation (spiral-phase-plate), respectively. Using fast direct laser writing technique we fabricate and characterize novel hybrid q-plate generating vortex beam simultaneously carrying two different high-order topological charges, which arise from the spin-orbital conversion and the azimuthal height variation of the recorded structures. We approve the versatile concept to generate multiple-OAM vortex beams combining the spin-orbital interaction and the phase accumulation in a single micro-scale device, a hybrid dielectric phase plate.

A Null Space Control of Two Wheels Driven Mobile Manipulator Using Passivity Theory

NASA Astrophysics Data System (ADS)

Shibata, Tsuyoshi; Murakami, Toshiyuki

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.

Cooperative single-photon subradiant states in a three-dimensional atomic array

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

Jen, H.H., E-mail: sappyjen@gmail.com

2016-11-15

We propose a complete superradiant and subradiant states that can be manipulated and prepared in a three-dimensional atomic array. These subradiant states can be realized by absorbing a single photon and imprinting the spatially-dependent phases on the atomic system. We find that the collective decay rates and associated cooperative Lamb shifts are highly dependent on the phases we manage to imprint, and the subradiant state of long lifetime can be found for various lattice spacings and atom numbers. We also investigate both optically thin and thick atomic arrays, which can serve for systematic studies of super- and sub-radiance. Our proposal offers an alternative schememore » for quantum memory of light in a three-dimensional array of two-level atoms, which is applicable and potentially advantageous in quantum information processing. - Highlights: • Cooperative single-photon subradiant states in a three-dimensional atomic array. • Subradiant state manipulation via spatially-increasing phase imprinting. • Quantum storage of light in the subradiant state in two-level atoms.« 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.

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.

Immediate effects of a high-velocity spine manipulation in paraspinal muscles activity of nonspecific chronic low-back pain subjects.

PubMed

Bicalho, Eduardo; Setti, João Antônio Palma; Macagnan, Jones; Cano, José Luis Rivas; Manffra, Elisangela Ferretti

2010-10-01

High-velocity spinal manipulation is commonly adopted for treating chronic low-back pain (CLBP) and has been associated with changes in muscle activity, but the evidence is controversial. The aim of this study was to analyse the immediate effects of high-velocity spine manipulation on paraspinal activity during flexion-extension trunk movements. Forty nonspecific CLBP patients were randomised into two groups, manipulation (n = 20) and control (n = 20). While the manipulation group received high-velocity spine manipulation at the L4-L5 level, the control group remained lying in the same position. EMG-related variables, perceived pain intensity (100 mm VAS) and finger-floor distance were collected before and after spinal manipulation at the L4-L5 level. EMG surface signals from the right and left paraspinal muscles (L5-S1 level) were acquired during trunk flexion-extension cycles. EMG activity during the static relaxation phase was significantly reduced following intervention for the manipulation group but not for the control group. The extension-phase EMG activity was also reduced after manipulation, but the flexion-phase EMG levels remained unchanged. Accordingly, the percent changes in FRR and ERR were significantly larger for the manipulation group compared to the control. The results suggest that a high-velocity spinal manipulation is able to acutely reduce abnormal EMG activity during the full-flexion static phase and activation during the extension phase. Copyright 2010 Elsevier Ltd. All rights reserved.

Summary report of working group 5: Beam sources, monitoring and control

NASA Astrophysics Data System (ADS)

Conde, Manoel; Zgadzaj, Rafal

2017-03-01

This paper summarizes the topics presented in Working Group 5 at the 17th Advanced Accelerator Concepts Workshop, which was held from 31 July to 5 August 2016 at the Gaylord Hotel and Conference Center, National Harbor, MD, USA. The presentations included a variety of topics covering cathode and RF gun design, new user facilities, beam phase space manipulation, and a range of novel diagnostic techniques.

RCS/Linear Discrete Actuator Study

DTIC Science & Technology

1988-08-01

up to 200 deg/sec. To eliminate loss of accuracy, the Contraves readout will be used to deter- mine the hub angle of the AFAL structure in place of...Flexible Mode Weights .......................... 127 11.6.2 Additional Terminal-Phase Thruster Constraints ................ 129 12 Implementation of On-Off...approach was chosen for the space shuttle remote manipulator system. However, a large penalty may result in overall system weight and 2 ! II I1 Ii

Optical manipulation of valley pseudospin

DOE PAGES

Ye, Ziliang; Sun, Dezheng; Heinz, Tony F.

2016-09-19

The coherent manipulation of spin and pseudospin underlies existing and emerging quantum technologies, including quantum communication and quantum computation. Valley polarization, associated with the occupancy of degenerate, but quantum mechanically distinct valleys in momentum space, closely resembles spin polarization and has been proposed as a pseudospin carrier for the future quantum electronics. Valley exciton polarization has been created in the transition metal dichalcogenide monolayers using excitation by circularly polarized light and has been detected both optically and electrically. In addition, the existence of coherence in the valley pseudospin has been identified experimentally. The manipulation of such valley coherence has, however,more » remained out of reach. In this paper, we demonstrate all-optical control of the valley coherence by means of the pseudomagnetic field associated with the optical Stark effect. Using below-bandgap circularly polarized light, we rotate the valley exciton pseudospin in monolayer WSe 2 on the femtosecond timescale. Both the direction and speed of the rotation can be manipulated optically by tuning the dynamic phase of excitons in opposite valleys. Finally, this study unveils the possibility of generation, manipulation, and detection of the valley pseudospin by coupling to photons.« less

Integrated optical phased arrays for quasi-Bessel-beam generation.

PubMed

Notaros, Jelena; Poulton, Christopher V; Byrd, Matthew J; Raval, Manan; Watts, Michael R

2017-09-01

Integrated optical phased arrays for generating quasi-Bessel beams are proposed and experimentally demonstrated in a CMOS-compatible platform. Owing to their elongated central beams, Bessel beams have applications in a range of fields, including multiparticle trapping and laser lithography. In this Letter, continuous Bessel theory is manipulated to formulate the phase and amplitude conditions necessary for generating free-space-propagating Bessel-Gauss beams using on-chip optical phased arrays. Discussion of the effects of select phased array parameters on the generated beam's figures of merit is included. A one-dimensional splitter-tree-based phased array architecture is modified to enable arbitrary passive control of the array's element phase and amplitude distributions. This architecture is used to experimentally demonstrate on-chip quasi-Bessel-beam generation with a ∼14  mm Bessel length and ∼30  μm power full width at half maximum.

Polarization-independent broadband meta-holograms via polarization-dependent nanoholes.

PubMed

Zhang, Xiaohu; Li, Xiong; Jin, Jinjin; Pu, Mingbo; Ma, Xiaoliang; Luo, Jun; Guo, Yinghui; Wang, Changtao; Luo, Xiangang

2018-05-17

Composed of ultrathin metal or dielectric nanostructures, metasurfaces can manipulate the phase, amplitude and polarization of electromagnetic waves at a subwavelength scale, which is promising for flat optical devices. In general, metasurfaces composed of space-variant anisotropic units are sensitive to the incident polarization due to the inherent polarization dependent geometric phase. Here, we implement polarization-independent broadband metasurface holograms constructed by polarization-dependent anisotropic elliptical nanoholes by elaborate design of complex amplitude holograms. The fabricated meta-hologram exhibits a polarization insensitive feature with an acceptable image quality. We verify the feasibility of the design algorithm for three-dimensional (3D) meta-holograms with simulation and the feasibility for two-dimensional (2D) meta-holograms is experimentally demonstrated at a broadband wavelength range from 405 nm to 632.8 nm. The effective polarization-independent broadband complex wavefront control with anisotropic elliptical nanoholes proposed in this paper greatly promotes the practical applications of the metasurface in technologies associated with wavefront manipulation, such as flat lens, colorful holographic displays and optical storage.

A multi-mode manipulator display system for controlling remote robotic systems

NASA Technical Reports Server (NTRS)

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

1994-01-01

The objective and contribution of the research presented in this paper is to provide a Multi-Mode Manipulator Display System (MMDS) to assist a human operator with the control of remote manipulator systems. Such systems include space based manipulators such as the space shuttle remote manipulator system (SRMS) and future ground controlled teleoperated and telescience space systems. The MMDS contains a number of display modes and submodes which display position control cues position data in graphical formats, based primarily on manipulator position and joint angle data. Therefore the MMDS is not dependent on visual information for input and can assist the operator especially when visual feedback is inadequate. This paper provides descriptions of the new modes and experiment results to date.

Base reaction optimization of redundant manipulators for space applications

NASA Technical Reports Server (NTRS)

Chung, C. L.; Desa, S.; Desilva, C. W.

1988-01-01

One of the problems associated with redundant manipulators which were proposed for space applications is that the reactions transmitted to the base of the manipulator as a result of the motion of the manipulator will cause undesirable effects on the dynamic behavior of the supporting space structure. It is therefore necessary to minimize the magnitudes of the forces and moments transmitted to the base. It is shown that kinematic redundancy can be used to solve the dynamic problem of minimizing the magnitude of the base reactions. The methodology described is applied to a four degree-of-freedom spatial manipulator with one redundant degree-of-freedom.

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.

Coherent Oscillations inside a Quantum Manifold Stabilized by Dissipation

NASA Astrophysics Data System (ADS)

Touzard, S.; Grimm, A.; Leghtas, Z.; Mundhada, S. O.; Reinhold, P.; Axline, C.; Reagor, M.; Chou, K.; Blumoff, J.; Sliwa, K. M.; Shankar, S.; Frunzio, L.; Schoelkopf, R. J.; Mirrahimi, M.; Devoret, M. H.

2018-04-01

Manipulating the state of a logical quantum bit (qubit) usually comes at the expense of exposing it to decoherence. Fault-tolerant quantum computing tackles this problem by manipulating quantum information within a stable manifold of a larger Hilbert space, whose symmetries restrict the number of independent errors. The remaining errors do not affect the quantum computation and are correctable after the fact. Here we implement the autonomous stabilization of an encoding manifold spanned by Schrödinger cat states in a superconducting cavity. We show Zeno-driven coherent oscillations between these states analogous to the Rabi rotation of a qubit protected against phase flips. Such gates are compatible with quantum error correction and hence are crucial for fault-tolerant logical qubits.

Robotic space construction

NASA Technical Reports Server (NTRS)

Mixon, Randolph W.; Hankins, Walter W., III; Wise, Marion A.

1988-01-01

Research at Langley AFB concerning automated space assembly is reviewed, including a Space Shuttle experiment to test astronaut ability to assemble a repetitive truss structure, testing the use of teleoperated manipulators to construct the Assembly Concept for Construction of Erectable Space Structures I truss, and assessment of the basic characteristics of manipulator assembly operations. Other research topics include the simultaneous coordinated control of dual-arm manipulators and the automated assembly of candidate Space Station trusses. Consideration is given to the construction of an Automated Space Assembly Laboratory to study and develop the algorithms, procedures, special purpose hardware, and processes needed for automated truss assembly.

Control of a free-flying robot manipulator system

NASA Technical Reports Server (NTRS)

Alexander, H.

1986-01-01

The development of and test control strategies for self-contained, autonomous free flying space robots are discussed. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). Use of robots should reduce the expense and danger attending EVA both by providing assistance to astronauts and in many cases by eliminating altogether the need for human EVA, thus greatly enhancing the scope and flexibility of space assembly and repair activities. The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. It is planned, in a later phase, to extend the research to three dimensions by carrying out experiments in the Space Shuttle cargo bay.

Failure tolerance strategy of space manipulator for large load carrying tasks

NASA Astrophysics Data System (ADS)

Chen, Gang; Yuan, Bonan; Jia, Qingxuan; Sun, Hanxu; Guo, Wen

2018-07-01

During the execution of large load carrying tasks in long term service, there is a notable risk of space manipulator suffering from locked-joint failure, thus space manipulator should be with enough failure tolerance performance. A research on evaluating failure tolerance performance and re-planning feasible task trajectory for space manipulator performing large load carrying tasks is conducted in this paper. The effects of locked-joint failure on critical performance(reachability and load carrying capacity) of space manipulator are analyzed at first. According to the requirements of load carrying tasks, we further propose a new concept of failure tolerance workspace with load carrying capacity(FTWLCC) to evaluate failure tolerance performance, and improve the classic A* algorithm to search the feasible task trajectory. Through the normalized FTWLCC and the improved A* algorithm, the reachability and load carrying capacity of the degraded space manipulator are evaluated, and the reachable and capable trajectory can be obtained. The establishment of FTWLCC provides a novel idea that combines mathematical statistics with failure tolerance performance to illustrate the distribution of load carrying capacity in three-dimensional space, so multiple performance indices can be analyzed simultaneously and visually. And the full consideration of all possible failure situations and motion states makes FTWLCC and improved A* algorithm be universal and effective enough to be appropriate for random joint failure and variety of requirement of large load carrying tasks, so they can be extended to other types of manipulators.

Phase-locking to a free-space terahertz comb for metrological-grade terahertz lasers.

PubMed

Consolino, L; Taschin, A; Bartolini, P; Bartalini, S; Cancio, P; Tredicucci, A; Beere, H E; Ritchie, D A; Torre, R; Vitiello, M S; De Natale, P

2012-01-01

Optical frequency comb synthesizers have represented a revolutionary approach to frequency metrology, providing a grid of frequency references for any laser emitting within their spectral coverage. Extending the metrological features of optical frequency comb synthesizers to the terahertz domain would be a major breakthrough, due to the widespread range of accessible strategic applications and the availability of stable, high-power and widely tunable sources such as quantum cascade lasers. Here we demonstrate phase-locking of a 2.5 THz quantum cascade laser to a free-space comb, generated in a LiNbO(3) waveguide and covering the 0.1-6 THz frequency range. We show that even a small fraction (<100 nW) of the radiation emitted from the quantum cascade laser is sufficient to generate a beat note suitable for phase-locking to the comb, paving the way to novel metrological-grade terahertz applications, including high-resolution spectroscopy, manipulation of cold molecules, astronomy and telecommunications.

Muon Intensity Increase by Wedge Absorbers for Low-E Muon Experiments

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

Neuffer, D. V.; Stratakis, D.; Bradley, J.

2017-09-01

Low energy muon experiments such as mu2e and g-2 have a limited energy spread acceptance. Following techniques developed in muon cooling studies and the MICE experiment, the number of muons within the desired energy spread can be increased by the matched use of wedge absorbers. More generally, the phase space of muon beams can be manipulated by absorbers in beam transport lines. Applications with simulation results are presented.

Structured electron beams from nano-engineered cathodes

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

Lueangaramwong, A.; Mihalcea, D.; Andonian, G.

The ability to engineer cathodes at the nano-scale have open new possibilities such as enhancing quantum eciency via surface-plasmon excitation, forming ultra-low-emittance beams, or producing structured electron beams. In this paper we present numerical investigations of the beam dynamics associated to this class of cathode in the weak- and strong-field regimes.We finally discuss the possible applications of some of the achievable cathode patterns when coupled with other phase space manipulations.

Dynamics and control of robot for capturing objects in space

NASA Astrophysics Data System (ADS)

Huang, Panfeng

Space robots are expected to perform intricate tasks in future space services, such as satellite maintenance, refueling, and replacing the orbital replacement unit (ORU). To realize these missions, the capturing operation may not be avoided. Such operations will encounter some challenges because space robots have some unique characteristics unfound on ground-based robots, such as, dynamic singularities, dynamic coupling between manipulator and space base, limited energy supply and working without a fixed base, and so on. In addition, since contacts and impacts may not be avoided during capturing operation. Therefore, dynamics and control problems of space robot for capturing objects are significant research topics if the robots are to be deployed for the space services. A typical servicing operation mainly includes three phases: capturing the object, berthing and docking the object, then repairing the target. Therefore, this thesis will focus on resolving some challenging problems during capturing the object, berthing and docking, and so on. In this thesis, I study and analyze the dynamics and control problems of space robot for capturing objects. This work has potential impact in space robotic applications. I first study the contact and impact dynamics of space robot and objects. I specifically focus on analyzing the impact dynamics and mapping the relationship of influence and speed. Then, I develop the fundamental theory for planning the minimum-collision based trajectory of space robot and designing the configuration of space robot at the moment of capture. To compensate for the attitude of the space base during the capturing approach operation, a new balance control concept which can effectively balance the attitude of the space base using the dynamic couplings is developed. The developed balance control concept helps to understand of the nature of space dynamic coupling, and can be readily applied to compensate or minimize the disturbance to the space base. After capturing the object, the space robot must complete the following two tasks: one is to berth the object, and the other is to re-orientate the attitude of the whole robot system for communication and power supply. Therefore, I propose a method to accomplish these two tasks simultaneously using manipulator motion only. The ultimate goal of space services is to realize the capture and manipulation autonomously. Therefore, I propose an affective approach based on learning human skill to track and capture the objects automatically in space. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node Decoupled Extended Kalman Filtering (CNN-NDEKF). The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. Finally I propose a novel approach based on Genetic Algorithms (GAs) to optimize the approach trajectory of space robots in order to realize effective and stable operations. I complete the minimum-torque path planning in order to save the limited energy in space, and design the minimum jerk trajectory for the stabilization of the space manipulator and its space base. These optimal algorithms are very important and useful for the application of space robot.

STS-109 MS Linnehan and Grunsfeld in payload bay during first EVA

NASA Image and Video Library

2002-03-04

STS109-E-5253 (4 March 2002) --- Astronaut Richard M. Linnehan, mission specialist, is about to wrap up the first phase of a seven-hour space walk in the cargo bay of the Space Shuttle Columbia. Linnehan's feet are anchored to a restraint on the end of the Remote Manipulator System (RMS) robotic arm. The piece of hardware putting on a bright glow in left foreground is the furled old solar array that astronauts Linnehan and John M. Grunsfeld, payload commander, earlier removed from Hubble Space Telescope. The old array is now latched in Columbia's cargo bay for return to Earth. The two went on to install the replacement starboard array. The image was recorded with a digital still camera.

A comparison of position and rate control for telemanipulations with consideration of manipulator system dynamics

NASA Technical Reports Server (NTRS)

Kim, Won S.; Tendick, Frank; Stark, Lawrence W.; Ellis, Stephen R.

1987-01-01

Position and rate control are the two common manual control modes in teleoperations. Human operator performance using the two modes is evaluated and compared. Simulated three-axis pick-and-place operations are used as the primary task for evaluation. First, ideal position and rate control are compared by considering several factors, such as joystick gain, joystick type, display mode, task, and manipulator work space size. Then the effects of the manipulator system dynamics are investigated by varying the natural frequency and speed limit. Experimental results show that ideal position control is superior to ideal rate control, regardless of joystick type or display mode, when the manipulation work space is small or comparable to the human operator's control space. Results also show that when the manipulator system is slow, the superiority of position control disappears. Position control is recommended for small-work-space telemanipulation tasks, while rate control is recommended for slow wide-work-space telemanipulation tasks.

Experimental phase diagram of zero-bias conductance peaks in superconductor/semiconductor nanowire devices

PubMed Central

Chen, Jun; Yu, Peng; Stenger, John; Hocevar, Moïra; Car, Diana; Plissard, Sébastien R.; Bakkers, Erik P. A. M.; Stanescu, Tudor D.; Frolov, Sergey M.

2017-01-01

Topological superconductivity is an exotic state of matter characterized by spinless p-wave Cooper pairing of electrons and by Majorana zero modes at the edges. The first signature of topological superconductivity is a robust zero-bias peak in tunneling conductance. We perform tunneling experiments on semiconductor nanowires (InSb) coupled to superconductors (NbTiN) and establish the zero-bias peak phase in the space of gate voltage and external magnetic field. Our findings are consistent with calculations for a finite-length topological nanowire and provide means for Majorana manipulation as required for braiding and topological quantum bits. PMID:28913432

The ISW1 and CHD1 ATP-dependent chromatin remodelers compete to set nucleosome spacing in vivo.

PubMed

Ocampo, Josefina; Chereji, Răzvan V; Eriksson, Peter R; Clark, David J

2016-06-02

Adenosine triphosphate-dependent chromatin remodeling machines play a central role in gene regulation by manipulating chromatin structure. Most genes have a nucleosome-depleted region at the promoter and an array of regularly spaced nucleosomes phased relative to the transcription start site. In vitro, the three known yeast nucleosome spacing enzymes (CHD1, ISW1 and ISW2) form arrays with different spacing. We used genome-wide nucleosome sequencing to determine whether these enzymes space nucleosomes differently in vivo We find that CHD1 and ISW1 compete to set the spacing on most genes, such that CHD1 dominates genes with shorter spacing and ISW1 dominates genes with longer spacing. In contrast, ISW2 plays a minor role, limited to transcriptionally inactive genes. Heavily transcribed genes show weak phasing and extreme spacing, either very short or very long, and are depleted of linker histone (H1). Genes with longer spacing are enriched in H1, which directs chromatin folding. We propose that CHD1 directs short spacing, resulting in eviction of H1 and chromatin unfolding, whereas ISW1 directs longer spacing, allowing H1 to bind and condense the chromatin. Thus, competition between the two remodelers to set the spacing on each gene may result in a highly dynamic chromatin structure. Published by Oxford University Press on behalf of Nucleic Acids Research 2016. This work is written by (a) US Government employee(s) and is in the public domain in the US.

Control of magnetohydrodynamic stability by phase space engineering of energetic ions in tokamak plasmas.

PubMed

Graves, J P; Chapman, I T; Coda, S; Lennholm, M; Albergante, M; Jucker, M

2012-01-10

Virtually collisionless magnetic mirror-trapped energetic ion populations often partially stabilize internally driven magnetohydrodynamic disturbances in the magnetosphere and in toroidal laboratory plasma devices such as the tokamak. This results in less frequent but dangerously enlarged plasma reorganization. Unique to the toroidal magnetic configuration are confined 'circulating' energetic particles that are not mirror trapped. Here we show that a newly discovered effect from hybrid kinetic-magnetohydrodynamic theory has been exploited in sophisticated phase space engineering techniques for controlling stability in the tokamak. These theoretical predictions have been confirmed, and the technique successfully applied in the Joint European Torus. Manipulation of auxiliary ion heating systems can create an asymmetry in the distribution of energetic circulating ions in the velocity orientated along magnetic field lines. We show the first experiments in which large sawtooth collapses have been controlled by this technique, and neoclassical tearing modes avoided, in high-performance reactor-relevant plasmas.

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.

A system for conducting igneous petrology experiments under controlled redox conditions in reduced gravity

NASA Technical Reports Server (NTRS)

Williams, Richard J.

1987-01-01

The Space Shuttle and the planned Space Station will permit experimentation under conditions of reduced gravitational acceleration offering experimental petrologists the opportunity to study crystal growth, element distribution, and phase chemistry. In particular the confounding effects of macro and micro scale buoyancy-induced convection and crystal settling or flotation can be greatly reduced over those observed in experiments in the terrestrial laboratory. Also, for experiments in which detailed replication of the environment is important, the access to reduced gravity will permit a more complete simulation of processes that may have occurred on asteroids or in free space. A technique that was developed to control, measure, and manipulate oxygen fugacities with small quantities of gas which are recirculated over the sample. This system could be adaptable to reduced gravity space experiments requiring redox control.

The space station freedom flight telerobotic servicer. The design and evolution of a dexterous space robot

NASA Astrophysics Data System (ADS)

McCain, Harry G.; Andary, James F.; Hewitt, Dennis R.; Haley, Dennis C.

The Flight Telerobotic Servicer (FTS) Project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station Freedom (SSF). The FTS will provide a telerobotic capability to the Freedom Station in the early assembly phases of the program and will be employed for assembly, maintenance, and inspection applications throughout the lifetime of the space station. Appropriately configured elements of the FTS will also be employed for robotic manipulation in remote satellite servicing applications and possibly the Lunar/Mars Program. In mid-1989, the FTS entered the flight system design and implementation phase (Phase C/D) of development with the signing of the FTS prime contract with Martin Marietta Astronautics Group in Denver, Colorado. The basic FTS design is now established and can be reported on in some detail. This paper will describe the FTS flight system design and the rationale for the specific design approaches and component selections. The current state of space technology and the general nature of the FTS task dictate that the FTS be designed with sophisticated teleoperation capabilities for its initial primary operating mode. However, there are technologies, such as advanced computer vision and autonomous planning techniques currently in research and advanced development phases which would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Therefore, a specific requirement on the initial FTS design is that it has the capability to evolve as new technology becomes available. This paper will describe the FTS design approach for evolution to more autonomous capabilities. Some specific task applications of the FTS and partial automation approaches of these tasks will also be discussed in this paper.

The Space Station Freedom Flight Telerobotic Servicer: the design and evolution of a dexterous space robot.

PubMed

McCain, H G; Andary, J F; Hewitt, D R; Haley, D C

1991-01-01

The Flight Telerobotic Servicer (FTS) Project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station) Freedom (SSF). The FTS will provide a telerobotic capability to the Freedom Station in the early assembly phases of the program and will be employed for assembly, maintenance, and inspection applications throughout the lifetime of the space station. Appropriately configured elements of the FTS will also be employed for robotic manipulation in remote satellite servicing applications and possibly the Lunar/Mars Program. In mid-1989, the FTS entered the flight system design and implementation phase (Phase C/D) of development with the signing of the FTS prime contract with Martin Marietta Astronautics Group in Denver, Colorado. The basic FTS design is now established and can be reported on in some detail. This paper will describe the FTS flight system design and the rationale for the specific design approaches and component selections. The current state of space technology and the nature of the FTS task dictate that the FTS be designed with sophisticated teleoperation capabilities for its initial primary operating mode. However, there are technologies, such as advanced computer vision and autonomous planning techniques currently in research and advanced development phases which would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Therefore, a specific requirement on the initial FTS design is that it has the capability to evolve as new technology becomes available. This paper will describe the FTS design approach for evolution to more autonomous capabilities. Some specific task applications of the FTS and partial automation approaches of these tasks will also be discussed in this paper.

The Space Station Freedom Flight Telerobotic Servicer: the design and evolution of a dexterous space robot

NASA Technical Reports Server (NTRS)

McCain, H. G.; Andary, J. F.; Hewitt, D. R.; Haley, D. C.

1991-01-01

The Flight Telerobotic Servicer (FTS) Project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station) Freedom (SSF). The FTS will provide a telerobotic capability to the Freedom Station in the early assembly phases of the program and will be employed for assembly, maintenance, and inspection applications throughout the lifetime of the space station. Appropriately configured elements of the FTS will also be employed for robotic manipulation in remote satellite servicing applications and possibly the Lunar/Mars Program. In mid-1989, the FTS entered the flight system design and implementation phase (Phase C/D) of development with the signing of the FTS prime contract with Martin Marietta Astronautics Group in Denver, Colorado. The basic FTS design is now established and can be reported on in some detail. This paper will describe the FTS flight system design and the rationale for the specific design approaches and component selections. The current state of space technology and the nature of the FTS task dictate that the FTS be designed with sophisticated teleoperation capabilities for its initial primary operating mode. However, there are technologies, such as advanced computer vision and autonomous planning techniques currently in research and advanced development phases which would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Therefore, a specific requirement on the initial FTS design is that it has the capability to evolve as new technology becomes available. This paper will describe the FTS design approach for evolution to more autonomous capabilities. Some specific task applications of the FTS and partial automation approaches of these tasks will also be discussed in this paper.

Space robot simulator vehicle

NASA Technical Reports Server (NTRS)

Cannon, R. H., Jr.; Alexander, H.

1985-01-01

A Space Robot Simulator Vehicle (SRSV) was constructed to model a free-flying robot capable of doing construction, manipulation and repair work in space. The SRSV is intended as a test bed for development of dynamic and static control methods for space robots. The vehicle is built around a two-foot-diameter air-cushion vehicle that carries batteries, power supplies, gas tanks, computer, reaction jets and radio equipment. It is fitted with one or two two-link manipulators, which may be of many possible designs, including flexible-link versions. Both the vehicle body and its first arm are nearly complete. Inverse dynamic control of the robot's manipulator has been successfully simulated using equations generated by the dynamic simulation package SDEXACT. In this mode, the position of the manipulator tip is controlled not by fixing the vehicle base through thruster operation, but by controlling the manipulator joint torques to achieve the desired tip motion, while allowing for the free motion of the vehicle base. One of the primary goals is to minimize use of the thrusters in favor of intelligent control of the manipulator. Ways to reduce the computational burden of control are described.

Modeling and sensory feedback control for space manipulators

NASA Technical Reports Server (NTRS)

Masutani, Yasuhiro; Miyazaki, Fumio; Arimoto, Suguru

1989-01-01

The positioning control problem of the endtip of space manipulators whose base are uncontrolled is examined. In such a case, the conventional control method for industrial robots based on a local feedback at each joint is not applicable, because a solution of the joint displacements that satisfies a given position and orientation of the endtip is not decided uniquely. A sensory feedback control scheme for space manipulators based on an artificial potential defined in a task-oriented coordinates is proposed. Using this scheme, the controller can easily determine the input torque of each joint from the data of an external sensor such as a visual device. Since the external sensor is mounted on the unfixed base, the manipulator must track the moving image of the target in sensor coordinates. Moreover the dynamics of the base and the manipulator are interactive. However, the endtip is proven to asymptotically approach the stationary target in an inertial coordinate frame by the Liapunov's method. Finally results of computer simulation for a 6-link space manipulator model show the effectiveness of the proposed scheme.

Motor resources in peripersonal space are intrinsic to spatial encoding: evidence from motor interference.

PubMed

Iachini, Tina; Ruggiero, Gennaro; Ruotolo, Francesco; Vinciguerra, Michela

2014-11-01

The aim of this study was to explore the role of motor resources in peripersonal space encoding: are they intrinsic to spatial processes or due to action potentiality of objects? To answer this question, we disentangled the effects of motor resources on object manipulability and spatial processing in peripersonal and extrapersonal spaces. Participants had to localize manipulable and non-manipulable 3-D stimuli presented within peripersonal or extrapersonal spaces of an immersive virtual reality scenario. To assess the contribution of motor resources to the spatial task a motor interference paradigm was used. In Experiment 1, localization judgments were provided with the left hand while the right dominant arm could be free or blocked. Results showed that participants were faster and more accurate in localizing both manipulable and non-manipulable stimuli in peripersonal space with their arms free. On the other hand, in extrapersonal space there was no significant effect of motor interference. Experiment 2 replicated these results by using alternatively both hands to give the response and controlling the possible effect of the orientation of object handles. Overall, the pattern of results suggests that the encoding of peripersonal space involves motor processes per se, and not because of the presence of manipulable stimuli. It is argued that this motor grounding reflects the adaptive need of anticipating what may happen near the body and preparing to react in time. Copyright © 2014. Published by Elsevier B.V.

Electric-field-induced spin disorder-to-order transition near a multiferroic triple phase point

DOE PAGES

Jang, Byung -Kweon; Lee, Jin Hong; Chu, Kanghyun; ...

2016-10-03

Here, the emergence of a triple phase point in a two-dimensional parameter space (such as pressure and temperature) can offer unforeseen opportunities for the coupling of two seemingly independent order parameters. On the basis of this, we demonstrate the electric control of magnetic order by manipulating chemical pressure: lanthanum substitution in the antiferromagnetic ferroelectric BiFeO 3. Our demonstration relies on the finding that a multiferroic triple phase point of a single spin-disordered phase and two spin-ordered phases emerges near room temperature in Bi 0.9La 0.1FeO 3 ferroelectric thin films. By using spatially resolved X-ray absorption spectroscopy, we provide direct evidencemore » that the electric poling of a particular region of the compound near the triple phase point results in an antiferromagnetic phase while adjacent unpoled regions remain magnetically disordered, opening a promising avenue for magnetoelectric applications at room temperature.« less

Three-dimensional mid-air acoustic manipulation by ultrasonic phased arrays.

PubMed

Ochiai, Yoichi; Hoshi, Takayuki; Rekimoto, Jun

2014-01-01

The essence of levitation technology is the countervailing of gravity. It is known that an ultrasound standing wave is capable of suspending small particles at its sound pressure nodes. The acoustic axis of the ultrasound beam in conventional studies was parallel to the gravitational force, and the levitated objects were manipulated along the fixed axis (i.e. one-dimensionally) by controlling the phases or frequencies of bolted Langevin-type transducers. In the present study, we considered extended acoustic manipulation whereby millimetre-sized particles were levitated and moved three-dimensionally by localised ultrasonic standing waves, which were generated by ultrasonic phased arrays. Our manipulation system has two original features. One is the direction of the ultrasound beam, which is arbitrary because the force acting toward its centre is also utilised. The other is the manipulation principle by which a localised standing wave is generated at an arbitrary position and moved three-dimensionally by opposed and ultrasonic phased arrays. We experimentally confirmed that expanded-polystyrene particles of 0.6 mm, 1 mm, and 2 mm in diameter could be manipulated by our proposed method.

Three-Dimensional Mid-Air Acoustic Manipulation by Ultrasonic Phased Arrays

PubMed Central

Ochiai, Yoichi; Hoshi, Takayuki; Rekimoto, Jun

2014-01-01

The essence of levitation technology is the countervailing of gravity. It is known that an ultrasound standing wave is capable of suspending small particles at its sound pressure nodes. The acoustic axis of the ultrasound beam in conventional studies was parallel to the gravitational force, and the levitated objects were manipulated along the fixed axis (i.e. one-dimensionally) by controlling the phases or frequencies of bolted Langevin-type transducers. In the present study, we considered extended acoustic manipulation whereby millimetre-sized particles were levitated and moved three-dimensionally by localised ultrasonic standing waves, which were generated by ultrasonic phased arrays. Our manipulation system has two original features. One is the direction of the ultrasound beam, which is arbitrary because the force acting toward its centre is also utilised. The other is the manipulation principle by which a localised standing wave is generated at an arbitrary position and moved three-dimensionally by opposed and ultrasonic phased arrays. We experimentally confirmed that expanded-polystyrene particles of 0.6 mm, 1 mm, and 2 mm in diameter could be manipulated by our proposed method. PMID:24849371

Interplay between topological phase and self-acceleration in a vortex symmetric Airy beam.

PubMed

Fang, Zhao-Xiang; Chen, Yue; Ren, Yu-Xuan; Gong, Lei; Lu, Rong-De; Zhang, An-Qi; Zhao, Hong-Ze; Wang, Pei

2018-03-19

Photons in an optical vortex usually carry orbital angular momentum, which boosts the application of the micro-rotation of absorbing particles and quantum information encoding. Such photons propagate along a straight line in free space or follow a curved trace once guided by an optical fiber. Teleportation of an optical vortex using a beam with non-diffraction and self-healing is quite challenging. We demonstrate the manipulation of the propagation trace of an optical vortex with a symmetric Airy beam (SAB) and found that the SAB experiences self-rotation with the implementation of a topological phase structure of coaxial vortex. Slight misalignment of the vortex and the SAB enables the guiding of the vortex into one of the self-accelerating channels. Multiple off-axis vortices embedded in SAB are also demonstrated to follow the trajectory of the major lobe for the SAB beam. The Poynting vector for the beams proves the direction of the energy flow corresponding to the intensity distribution. Hence, we anticipate that the proposed vortex symmetric Airy beam (VSAB) will provide new possibilities for optical manipulation and optical communication.

Improvements to the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

NASA Technical Reports Server (NTRS)

Doggett, William R.; Dorsey, John T.; Jones, Thomas C.; Lodding, Kenneth N.; Ganoe, George G.; Mercer, David; King, Bruce D.

2015-01-01

Devices for manipulating and precisely placing payloads are critical for efficient space operations including berthing of spacecraft, in-space assembly, construction and repair. Key to the success of many NASA space activities has been the availability of long-reach crane-like devices such as the Shuttle Remote Manipulation System (SRMS) and the Space Station Remote Manipulation System (SSRMS). These devices have been used for many operations including berthing visiting spacecraft to the International Space Station, deployment of spacecraft, space station assembly, astronaut positioning, payload transfer, and spacecraft inspection prior to atmospheric re-entry. Retiring the Space Transportation System has led to the removal of the SRMS from consideration for in-space missions, thus creating a capability gap. Recognizing this gap, work was initiated at NASA on a new architecture for long-reach space manipulators. Most current devices are constructed by joining revolute joints with carbon composite tubes, with the joints accounting for the majority of the device mass. For example in the case of the SRMS, the entire device mass is 410 kg (904 lbm); the joint structure, motors, gear train, cabling, etc., accounts for the majority of the system mass because the carbon composite tubes mass is 46 kg (101 lbm). An alternate space manipulator concept, the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) was created to address deficiencies in the current state-of-the-art in long-reach manipulators. The antagonistic tendon actuated joint architecture allows the motors actuating the joint to be removed from the joint axis, which simplifies the joint design while simultaneously providing mechanical advantage for the motors. The improved mechanical advantage, in turn, reduces the size and power requirements for the motor and gear train. This paper will describe recent architectural improvements to the TALISMAN design that: 1) improve the operational robustness of the system by enabling maneuvers not originally possible by varying the TALISMAN geometry; 2) enable efficient active antagonistic control of a joint while sharing cable between antagonistic tension networks; and 3) uses a unique arrangement of differential capstans to reduce motor torque requirements by an order of magnitude. The paper will also summarize recent efforts to enable autonomous deployment of a TALISMAN including the deployment concept of operations and associated hardware system design. The deployment forces are provided by the same motor systems that are used for articulation, thus reducing the mass associated with the deployment system. The deployment approach is being tested on a TALISMAN prototype which is designed to provide the same operational performance as a shuttle-class manipulator. The prototype has been fabricated and is operational in a new facility at NASA Langley Research Center that has a large area (15.2 m by 21.3 m [50 ft by 70 ft]) air-bearing floor.

Modular space station phase B extension preliminary systems design report. Volume 6: Trades and analyses

NASA Technical Reports Server (NTRS)

Jones, A. L.

1972-01-01

Requirements and concepts and the tradeoff analysis leading to the preferred concept are presented. Integrated analyses are given for subsystems and thermal control. Specific tradeoffs and analyses are also given for water management, atmosphere control, energy storage, radiators, navigation, control moment gyros, and system maintenance. The analyses of manipulator concepts and requirements, and supplemental analyses of information management issues are summarized. Subsystem reliability analyses include a detailed discussion of the critical failure analysis.

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.

Structural Sizing Methodology for the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) System

NASA Technical Reports Server (NTRS)

Jones, Thomas C.; Dorsey, John T.; Doggett, William R.

2015-01-01

The Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) is a versatile long-reach robotic manipulator that is currently being tested at NASA Langley Research Center. TALISMAN is designed to be highly mass-efficient and multi-mission capable, with applications including asteroid retrieval and manipulation, in-space servicing, and astronaut and payload positioning. The manipulator uses a modular, periodic, tension-compression design that lends itself well to analytical modeling. Given the versatility of application for TALISMAN, a structural sizing methodology was developed that could rapidly assess mass and configuration sensitivities for any specified operating work space, applied loads and mission requirements. This methodology allows the systematic sizing of the key structural members of TALISMAN, which include the truss arm links, the spreaders and the tension elements. This paper summarizes the detailed analytical derivations and methodology that support the structural sizing approach and provides results from some recent TALISMAN designs developed for current and proposed mission architectures.

Torque-Limiting Manipulation Device

NASA Technical Reports Server (NTRS)

Moetteli, John B. (Inventor)

1999-01-01

A device for manipulating a workpiece in space includes a fixture, a stanchion assembly, a manipulation mechanism, an actuation mechanism, and a reaction mechanism. The fixture has an end onto which the workpiece affixes. The stanchion assembly has an upper and a lower end. The manipulation mechanism connects the fixture and the upper end of the stanchion assembly. The lower end of the stanchion assembly mounts, via probe and a socket, to a structure. The actuation mechanism operably connects to the manipulation mechanism, and moves the fixture in space. The reaction mechanism provides a point through which force inputs into the actuation mechanism may react.

Spatiotemporal Distribution of Location and Object Effects in Primary Motor Cortex Neurons during Reach-to-Grasp

PubMed Central

Rouse, Adam G.

2016-01-01

Reaching and grasping typically are considered to be spatially separate processes that proceed concurrently in the arm and the hand, respectively. The proximal representation in the primary motor cortex (M1) controls the arm for reaching, while the distal representation controls the hand for grasping. Many studies of M1 activity therefore have focused either on reaching to various locations without grasping different objects, or else on grasping different objects all at the same location. Here, we recorded M1 neurons in the anterior bank and lip of the central sulcus as monkeys performed more naturalistic movements, reaching toward, grasping, and manipulating four different objects in up to eight different locations. We quantified the extent to which variation in firing rates depended on location, on object, and on their interaction—all as a function of time. Activity proceeded largely in two sequential phases: the first related predominantly to the location to which the upper extremity reached, and the second related to the object about to be grasped. Both phases involved activity distributed widely throughout the sampled territory, spanning both the proximal and the distal upper extremity representation in caudal M1. Our findings indicate that naturalistic reaching and grasping, rather than being spatially segregated processes that proceed concurrently, each are spatially distributed processes controlled by caudal M1 in large part sequentially. Rather than neuromuscular processes separated in space but not time, reaching and grasping are separated more in time than in space. SIGNIFICANCE STATEMENT Reaching and grasping typically are viewed as processes that proceed concurrently in the arm and hand, respectively. The arm region in the primary motor cortex (M1) is assumed to control reaching, while the hand region controls grasping. During naturalistic reach–grasp–manipulate movements, we found, however, that neuron activity proceeds largely in two sequential phases, each spanning both arm and hand representations in M1. The first phase is related predominantly to the reach location, and the second is related to the object about to be grasped. Our findings indicate that reaching and grasping are successive aspects of a single movement. Initially the arm and the hand both are projected toward the object's location, and later both are shaped to grasp and manipulate. PMID:27733614

Predicting double negativity using transmitted phase in space coiling metamaterials.

PubMed

Maurya, Santosh K; Pandey, Abhishek; Shukla, Shobha; Saxena, Sumit

2018-05-01

Metamaterials are engineered materials that offer the flexibility to manipulate the incident waves leading to exotic applications such as cloaking, extraordinary transmission, sub-wavelength imaging and negative refraction. These concepts have largely been explored in the context of electromagnetic waves. Acoustic metamaterials, similar to their optical counterparts, demonstrate anomalous effective elastic properties. Recent developments have shown that coiling up the propagation path of acoustic wave results in effective elastic response of the metamaterial beyond the natural response of its constituent materials. The effective response of metamaterials is generally evaluated using the 'S' parameter retrieval method based on amplitude of the waves. The phase of acoustic waves contains information of wave pressure and particle velocity. Here, we show using finite-element methods that phase reversal of transmitted waves may be used to predict extreme acoustic properties in space coiling metamaterials. This change is the difference in the phase of the transmitted wave with respect to the incident wave. This method is simpler when compared with the more rigorous 'S' parameter retrieval method. The inferences drawn using this method have been verified experimentally for labyrinthine metamaterials by showing negative refraction for the predicted band of frequencies.

Digit replacement: A generic map for nonlinear dynamical systems.

PubMed

García-Morales, Vladimir

2016-09-01

A simple discontinuous map is proposed as a generic model for nonlinear dynamical systems. The orbit of the map admits exact solutions for wide regions in parameter space and the method employed (digit manipulation) allows the mathematical design of useful signals, such as regular or aperiodic oscillations with specific waveforms, the construction of complex attractors with nontrivial properties as well as the coexistence of different basins of attraction in phase space with different qualitative properties. A detailed analysis of the dynamical behavior of the map suggests how the latter can be used in the modeling of complex nonlinear dynamics including, e.g., aperiodic nonchaotic attractors and the hierarchical deposition of grains of different sizes on a surface.

Redundant arm control in a supervisory and shared control system

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Long, Mark K.

1992-01-01

The Extended Task Space Control approach to robotic operations based on manipulator behaviors derived from task requirements is described. No differentiation between redundant and non-redundant robots is made at the task level. The manipulation task behaviors are combined into a single set of motion commands. The manipulator kinematics are used subsequently in mapping motion commands into actuator commands. Extended Task Space Control is applied to a Robotics Research K-1207 seven degree-of-freedom manipulator in a supervisory telerobot system as an example.

Projecting light beams with 3D waveguide arrays

NASA Astrophysics Data System (ADS)

Crespi, Andrea; Bragheri, Francesca

2017-01-01

Free-space light beams with complex intensity patterns, or non-trivial phase structure, are demanded in diverse fields, ranging from classical and quantum optical communications, to manipulation and imaging of microparticles and cells. Static or dynamic spatial light modulators, acting on the phase or intensity of an incoming light wave, are the conventional choices to produce beams with such non-trivial characteristics. However, interfacing these devices with optical fibers or integrated optical circuits often requires difficult alignment or cumbersome optical setups. Here we explore theoretically and with numerical simulations the potentialities of directly using the output of engineered three-dimensional waveguide arrays, illuminated with linearly polarized light, to project light beams with peculiar structures. We investigate through a collection of illustrative configurations the far field distribution, showing the possibility to achieve orbital angular momentum, or to produce elaborate intensity or phase patterns with several singularity points. We also simulate the propagation of the projected beam, showing the possibility to concentrate light. We note that these devices should be at reach of current technology, thus perspectives are open for the generation of complex free-space optical beams from integrated waveguide circuits.

Ultrafast electric phase control of a single exciton qubit

NASA Astrophysics Data System (ADS)

Widhalm, Alex; Mukherjee, Amlan; Krehs, Sebastian; Sharma, Nandlal; Kölling, Peter; Thiede, Andreas; Reuter, Dirk; Förstner, Jens; Zrenner, Artur

2018-03-01

We report on the coherent phase manipulation of quantum dot excitons by electric means. For our experiments, we use a low capacitance single quantum dot photodiode which is electrically controlled by a custom designed SiGe:C BiCMOS chip. The phase manipulation is performed and quantified in a Ramsey experiment, where ultrafast transient detuning of the exciton energy is performed synchronous to double pulse π/2 ps laser excitation. We are able to demonstrate electrically controlled phase manipulations with magnitudes up to 3π within 100 ps which is below the dephasing time of the quantum dot exciton.

A system for conducting igneous petrology experiments under controlled redox conditions in reduced gravity

NASA Technical Reports Server (NTRS)

Williams, R. J.

1986-01-01

The Space Shuttle and the planned Space Station will permit experimentation under conditions of reduced gravitational acceleration offering experimental petrologists the opportunity to study crystal growth, element distribution, and phase chemistry. In particular the confounding effects of macro and micro scale buoyancy-induced convection and crystal settling or floatation can be greatly reduced over those observed in experiments in the terrestrial laboratory. Also, for experiments in which detailed replication of the environment is important, the access to reduced gravity will permit a more complete simulation of processes that may have occurred on asteroids or in free space. A technique that was developed to control, measure, and manipulate oxygen fugacites with small quantities of gas which are recirculated over the sample is described. This system should be adaptable to reduced gravity space experiments requiring redox control. Experiments done conventionally and those done using this technique yield identical results done in a 1-g field.

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.

Bright circularly polarized soft X-ray high harmonics for X-ray magnetic circular dichroism.

PubMed

Fan, Tingting; Grychtol, Patrik; Knut, Ronny; Hernández-García, Carlos; Hickstein, Daniel D; Zusin, Dmitriy; Gentry, Christian; Dollar, Franklin J; Mancuso, Christopher A; Hogle, Craig W; Kfir, Ofer; Legut, Dominik; Carva, Karel; Ellis, Jennifer L; Dorney, Kevin M; Chen, Cong; Shpyrko, Oleg G; Fullerton, Eric E; Cohen, Oren; Oppeneer, Peter M; Milošević, Dejan B; Becker, Andreas; Jaroń-Becker, Agnieszka A; Popmintchev, Tenio; Murnane, Margaret M; Kapteyn, Henry C

2015-11-17

We demonstrate, to our knowledge, the first bright circularly polarized high-harmonic beams in the soft X-ray region of the electromagnetic spectrum, and use them to implement X-ray magnetic circular dichroism measurements in a tabletop-scale setup. Using counterrotating circularly polarized laser fields at 1.3 and 0.79 µm, we generate circularly polarized harmonics with photon energies exceeding 160 eV. The harmonic spectra emerge as a sequence of closely spaced pairs of left and right circularly polarized peaks, with energies determined by conservation of energy and spin angular momentum. We explain the single-atom and macroscopic physics by identifying the dominant electron quantum trajectories and optimal phase-matching conditions. The first advanced phase-matched propagation simulations for circularly polarized harmonics reveal the influence of the finite phase-matching temporal window on the spectrum, as well as the unique polarization-shaped attosecond pulse train. Finally, we use, to our knowledge, the first tabletop X-ray magnetic circular dichroism measurements at the N4,5 absorption edges of Gd to validate the high degree of circularity, brightness, and stability of this light source. These results demonstrate the feasibility of manipulating the polarization, spectrum, and temporal shape of high harmonics in the soft X-ray region by manipulating the driving laser waveform.

Bright circularly polarized soft X-ray high harmonics for X-ray magnetic circular dichroism

PubMed Central

Fan, Tingting; Grychtol, Patrik; Knut, Ronny; Hernández-García, Carlos; Hickstein, Daniel D.; Zusin, Dmitriy; Gentry, Christian; Dollar, Franklin J.; Mancuso, Christopher A.; Hogle, Craig W.; Kfir, Ofer; Legut, Dominik; Carva, Karel; Ellis, Jennifer L.; Dorney, Kevin M.; Chen, Cong; Shpyrko, Oleg G.; Fullerton, Eric E.; Cohen, Oren; Oppeneer, Peter M.; Milošević, Dejan B.; Becker, Andreas; Jaroń-Becker, Agnieszka A.; Popmintchev, Tenio; Murnane, Margaret M.; Kapteyn, Henry C.

2015-01-01

We demonstrate, to our knowledge, the first bright circularly polarized high-harmonic beams in the soft X-ray region of the electromagnetic spectrum, and use them to implement X-ray magnetic circular dichroism measurements in a tabletop-scale setup. Using counterrotating circularly polarized laser fields at 1.3 and 0.79 µm, we generate circularly polarized harmonics with photon energies exceeding 160 eV. The harmonic spectra emerge as a sequence of closely spaced pairs of left and right circularly polarized peaks, with energies determined by conservation of energy and spin angular momentum. We explain the single-atom and macroscopic physics by identifying the dominant electron quantum trajectories and optimal phase-matching conditions. The first advanced phase-matched propagation simulations for circularly polarized harmonics reveal the influence of the finite phase-matching temporal window on the spectrum, as well as the unique polarization-shaped attosecond pulse train. Finally, we use, to our knowledge, the first tabletop X-ray magnetic circular dichroism measurements at the N4,5 absorption edges of Gd to validate the high degree of circularity, brightness, and stability of this light source. These results demonstrate the feasibility of manipulating the polarization, spectrum, and temporal shape of high harmonics in the soft X-ray region by manipulating the driving laser waveform. PMID:26534992

Retrieval Practice and Spacing Effects in Young and Older Adults: An Examination of the Benefits of Desirable Difficulty

PubMed Central

Maddox, Geoffrey B.; Balota, David A.

2015-01-01

The present study examined how the function relating continued retrieval practice (e.g., 1, 3, or 5 tests) and long-term memory retention is modulated by desirable difficulty (Bjork, 1994). Of particular interest was how retrieval difficulty differed across young and older adults and across manipulations of lag (Experiment 1) and spacing (Experiment 2). To extend on previous studies, acquisition phase response latency was used as a proxy for retrieval difficulty, and analysis of final test performance was conditionalized on acquisition phase retrieval success to more directly examine the influence of desirable difficulty on retention. Results from Experiment 1 revealed that continued testing in the short lag condition led to consistent increases in retention, whereas continued testing in the long lag condition led to increasingly smaller benefits in retention for both age groups. Results from Experiment 2 revealed that repeated spaced testing enhanced retention relative to taking one spaced test for both age groups; however, repeated massed testing only enhanced retention over taking one test for young adults. Across both experiments, the response latency results were overall consistent with an influence of desirable difficulty on retention. Discussion focuses on the role of desirable difficulty during encoding in producing the benefits of lag, spacing, and testing. PMID:25616776

Development of a Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

NASA Technical Reports Server (NTRS)

Doggett, William R.; Dorsey, John T.; Jones, Thomas C.; King, Bruce

2014-01-01

An invention of a new and novel space robotic manipulator is described. By using a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening, this new robotic manipulator architecture achieves compact packaging, high strength, stiffness and dexterity while being very lightweight compared to conventional manipulators. The manipulator is also very modular; easy to scale for different reach, load and stiffness requirements; enabling customization for a diverse set of applications. Novel features of the new manipulator concept are described as well as some of the approaches to implement these design features. Two diverse applications are presented to show the versatility of the concept. First generation prototype hardware was designed, manufactured and has been assembled into a working manipulator that is being used to refine and extend development efforts.

Integrality and separability of multitouch interaction techniques in 3D manipulation tasks.

PubMed

Martinet, Anthony; Casiez, Géry; Grisoni, Laurent

2012-03-01

Multitouch displays represent a promising technology for the display and manipulation of data. While the manipulation of 2D data has been widely explored, 3D manipulation with multitouch displays remains largely unexplored. Based on an analysis of the integration and separation of degrees of freedom, we propose a taxonomy for 3D manipulation techniques with multitouch displays. Using that taxonomy, we introduce Depth-Separated Screen-Space (DS3), a new 3D manipulation technique based on the separation of translation and rotation. In a controlled experiment, we compared DS3 with Sticky Tools and Screen-Space. Results show that separating the control of translation and rotation significantly affects performance for 3D manipulation, with DS3 performing faster than the two other techniques.

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.

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.

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.

Method and Apparatus for Remote Delivery and Manipulation of a Miniature Tool Adjacent a Work Piece in a Restricted Space

DOEpatents

Sale, Christopher H.; Kaltenbaugh, Daniel R.

2004-08-10

An apparatus for remote delivery and manipulation of a miniature tool adjacent a work piece in a restricted space, includes a tool camer, a camage for manipulating the tool carrier relative to the work piece, a first actuator for operating the carnage, and an optional remote secondary operating actuator for operating the first actuator.

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.

Experiments in advanced control concepts for space robotics - An overview of the Stanford Aerospace Robotics Laboratory

NASA Technical Reports Server (NTRS)

Hollars, M. G.; Cannon, R. H., Jr.; Alexander, H. L.; Morse, D. F.

1987-01-01

The Stanford University Aerospace Robotics Laboratory is actively developing and experimentally testing advanced robot control strategies for space robotic applications. Early experiments focused on control of very lightweight one-link manipulators and other flexible structures. The results are being extended to position and force control of mini-manipulators attached to flexible manipulators and multilink manipulators with flexible drive trains. Experimental results show that end-point sensing and careful dynamic modeling or adaptive control are key to the success of these control strategies. Free-flying space robot simulators that operate on an air cushion table have been built to test control strategies in which the dynamics of the base of the robot and the payload are important.

Independent Manipulation of Heat and Electrical Current via Bifunctional Metamaterials

NASA Astrophysics Data System (ADS)

Moccia, Massimo; Castaldi, Giuseppe; Savo, Salvatore; Sato, Yuki; Galdi, Vincenzo

2014-04-01

Spatial tailoring of the material constitutive properties is a well-known strategy to mold the local flow of given observables in different physical domains. Coordinate-transformation-based methods (e.g., transformation optics) offer a powerful and systematic approach to design anisotropic, spatially inhomogeneous artificial materials (metamaterials) capable of precisely manipulating wave-based (electromagnetic, acoustic, elastic) as well as diffusion-based (heat) phenomena in a desired fashion. However, as versatile as these approaches have been, most designs have thus far been limited to serving single-target functionalities in a given physical domain. Here, we present a step towards a "transformation multiphysics" framework that allows independent and simultaneous manipulation of multiple physical phenomena. As a proof of principle of this new scheme, we design and synthesize (in terms of realistic material constituents) a metamaterial shell that simultaneously behaves as a thermal concentrator and an electrical "invisibility cloak." Our numerical results open up intriguing possibilities in the largely unexplored phase space of multifunctional metadevices, with a wide variety of potential applications to electrical, magnetic, acoustic, and thermal scenarios.

Robust Task Space Trajectory Tracking Control of Robotic Manipulators

NASA Astrophysics Data System (ADS)

Galicki, M.

2016-08-01

This work deals with the problem of the accurate task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. Furthermore, the movement is to be accomplished in such a way as to reduce both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of chattering-free robust controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

Characterization of On-Orbit U.S. Lab Condensate Vacuum Venting

NASA Astrophysics Data System (ADS)

Schmidl, W. D.; Alred, J. A.; Mikatarian, R.; Soares, C.; Miles, E.

2002-01-01

The venting of liquid streams into a vacuum has been studied extensively for many years. An experiment was performed aboard the International Space Station (ISS) to video tape the U.S. Lab's condensate venting event with cameras located on the Space Station Remote Manipulator System (SSRMS). Images of the vent plume were acquired close to both the port and starboard vent nozzles. The imaging started with a wider view and then zoomed in closer before the shutdown phase of the vent event occurred. The objective of this experiment was to extend our understanding of the properties of venting liquids into space. Data from the video images were analyzed to obtain the approximate cone angle encompassing the core of the vent plume. The condensate vent plume was characterized as having three phases, a startup phase, a nominal phase, and a shutdown phase. The startup phase consisted of the initial period when the vent first started and the liquid first entered the heated line. The nominal phase was the period when the majority of the liquid was vented. The shutdown phase occurs close to the end of the vent event. The shutdown phase was further divided into two parts, the shutdown initial phase, and a later shutdown sputtering phase. The shutdown initial phase occurs when gas becomes entrained in the condensate liquid being vented. The sputtering phase occurred after the vent valve was closed, and the liquid/ice in the line was removed by continuing to heat the line to bake it out. It was determined that the ice particles were ejected at higher angles, but lower velocities, during the startup and shutdown phases. The number and velocities of ice particles ejected outside of the core region, during the startup, initial shutdown and shutdown sputtering phases were determined. The core of liquid ejected during the startup and shutdown phases was contained within a half cone angle of less than 60 degrees. The startup phase took approximately 36 seconds, the shutdown initial phase took approximately 22 seconds, and the shutdown sputtering phase took approximately 32 seconds. Results from the experiment were correlated with the Boeing ISS vent plume model.

Dynamic optical arbitrary waveform shaping based on cascaded optical modulators of single FBG.

PubMed

Chen, Jingyuan; Li, Peili

2015-08-10

A dynamic optical arbitrary waveform generation (O-AWG) with amplitude and phase independently controlled in optical modulators of single fiber Bragg Grating (FBG) has been proposed. This novel scheme consists of several optical modulators. In the optical modulator (O-MOD), a uniform FBG is used to filter spectral component of the input signal. The amplitude is controlled by fiber stretcher (FS) in Mach-Zehnder interference (MZI) structure through interference of two MZI arms. The phase is manipulated via the second FS in the optical modulator. This scheme is investigated by simulation. Consequently, optical pulse trains with different waveforms as well as pulse trains with nonuniform pulse intensity, pulse spacing and pulse width within each period are obtained through FSs adjustment to alter the phase shifts of signal in each O-MOD.

Intelligent Robotic Systems Study (IRSS), phase 3

NASA Technical Reports Server (NTRS)

1991-01-01

This phase of the Intelligent Robotic Systems Study (IRSS) examines some basic dynamics and control issues for a space manipulator attached to its worksite through a compliant base. One example of this scenario is depicted, which is a simplified, planar representation of the Flight Telerobotic Servicer (FTS) Development Test Flight 2 (DTF-2) experiment. The system consists of 4 major components: (1) dual FTS arms to perform dextrous tasks; (2) the main body to house power and electronics; (3) an Attachment Stabilization and Positioning Subsystem (ASPS) to provide coarse positioning and stabilization of the arms, and (4) the Worksite Attachment Mechanism (WAM) which anchors the system to its worksite, such as a Space Station truss node or Shuttle bay platform. The analysis is limited to the DTF-2 scenario. The goal is to understand the basic interaction dynamics between the arm, the positioner and/or stabilizer, and the worksite. The dynamics and controls simulation model are described. Analysis and simulation results are presented.

Femtosecond profiling of shaped x-ray pulses

NASA Astrophysics Data System (ADS)

Hoffmann, M. C.; Grguraš, I.; Behrens, C.; Bostedt, C.; Bozek, J.; Bromberger, H.; Coffee, R.; Costello, J. T.; DiMauro, L. F.; Ding, Y.; Doumy, G.; Helml, W.; Ilchen, M.; Kienberger, R.; Lee, S.; Maier, A. R.; Mazza, T.; Meyer, M.; Messerschmidt, M.; Schorb, S.; Schweinberger, W.; Zhang, K.; Cavalieri, A. L.

2018-03-01

Arbitrary manipulation of the temporal and spectral properties of x-ray pulses at free-electron lasers would revolutionize many experimental applications. At the Linac Coherent Light Source at Stanford National Accelerator Laboratory, the momentum phase-space of the free-electron laser driving electron bunch can be tuned to emit a pair of x-ray pulses with independently variable photon energy and femtosecond delay. However, while accelerator parameters can easily be adjusted to tune the electron bunch phase-space, the final impact of these actuators on the x-ray pulse cannot be predicted with sufficient precision. Furthermore, shot-to-shot instabilities that distort the pulse shape unpredictably cannot be fully suppressed. Therefore, the ability to directly characterize the x-rays is essential to ensure precise and consistent control. In this work, we have generated x-ray pulse pairs via electron bunch shaping and characterized them on a single-shot basis with femtosecond resolution through time-resolved photoelectron streaking spectroscopy. This achievement completes an important step toward future x-ray pulse shaping techniques.

An optimal resolved rate law for kindematically redundant manipulators

NASA Technical Reports Server (NTRS)

Bourgeois, B. J.

1987-01-01

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution was found to cause large joint rates in some case. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to nonplanar manipulators.

Quantum coherent optical phase modulation in an ultrafast transmission electron microscope.

PubMed

Feist, Armin; Echternkamp, Katharina E; Schauss, Jakob; Yalunin, Sergey V; Schäfer, Sascha; Ropers, Claus

2015-05-14

Coherent manipulation of quantum systems with light is expected to be a cornerstone of future information and communication technology, including quantum computation and cryptography. The transfer of an optical phase onto a quantum wavefunction is a defining aspect of coherent interactions and forms the basis of quantum state preparation, synchronization and metrology. Light-phase-modulated electron states near atoms and molecules are essential for the techniques of attosecond science, including the generation of extreme-ultraviolet pulses and orbital tomography. In contrast, the quantum-coherent phase-modulation of energetic free-electron beams has not been demonstrated, although it promises direct access to ultrafast imaging and spectroscopy with tailored electron pulses on the attosecond scale. Here we demonstrate the coherent quantum state manipulation of free-electron populations in an electron microscope beam. We employ the interaction of ultrashort electron pulses with optical near-fields to induce Rabi oscillations in the populations of electron momentum states, observed as a function of the optical driving field. Excellent agreement with the scaling of an equal-Rabi multilevel quantum ladder is obtained, representing the observation of a light-driven 'quantum walk' coherently reshaping electron density in momentum space. We note that, after the interaction, the optically generated superposition of momentum states evolves into a train of attosecond electron pulses. Our results reveal the potential of quantum control for the precision structuring of electron densities, with possible applications ranging from ultrafast electron spectroscopy and microscopy to accelerator science and free-electron lasers.

Quantum coherent optical phase modulation in an ultrafast transmission electron microscope

NASA Astrophysics Data System (ADS)

Feist, Armin; Echternkamp, Katharina E.; Schauss, Jakob; Yalunin, Sergey V.; Schäfer, Sascha; Ropers, Claus

2015-05-01

Coherent manipulation of quantum systems with light is expected to be a cornerstone of future information and communication technology, including quantum computation and cryptography. The transfer of an optical phase onto a quantum wavefunction is a defining aspect of coherent interactions and forms the basis of quantum state preparation, synchronization and metrology. Light-phase-modulated electron states near atoms and molecules are essential for the techniques of attosecond science, including the generation of extreme-ultraviolet pulses and orbital tomography. In contrast, the quantum-coherent phase-modulation of energetic free-electron beams has not been demonstrated, although it promises direct access to ultrafast imaging and spectroscopy with tailored electron pulses on the attosecond scale. Here we demonstrate the coherent quantum state manipulation of free-electron populations in an electron microscope beam. We employ the interaction of ultrashort electron pulses with optical near-fields to induce Rabi oscillations in the populations of electron momentum states, observed as a function of the optical driving field. Excellent agreement with the scaling of an equal-Rabi multilevel quantum ladder is obtained, representing the observation of a light-driven `quantum walk' coherently reshaping electron density in momentum space. We note that, after the interaction, the optically generated superposition of momentum states evolves into a train of attosecond electron pulses. Our results reveal the potential of quantum control for the precision structuring of electron densities, with possible applications ranging from ultrafast electron spectroscopy and microscopy to accelerator science and free-electron lasers.

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.

The astronaut and the banana peel: An EVA retriever scenario

NASA Technical Reports Server (NTRS)

Shapiro, Daniel G.

1989-01-01

To prepare for the problem of accidents in Space Station activities, the Extravehicular Activity Retriever (EVAR) robot is being constructed, whose purpose is to retrieve astronauts and tools that float free of the Space Station. Advanced Decision Systems is at the beginning of a project to develop research software capable of guiding EVAR through the retrieval process. This involves addressing problems in machine vision, dexterous manipulation, real time construction of programs via speech input, and reactive execution of plans despite the mishaps and unexpected conditions that arise in uncontrolled domains. The problem analysis phase of this work is presented. An EVAR scenario is used to elucidate major domain and technical problems. An overview of the technical approach to prototyping an EVAR system is also presented.

Fractography of poly(methyl methacrylates).

PubMed

Kusy, R P; Turner, D T

1975-07-01

For convenience in clinical manipulation, it is the practice to fabricate PMMA protheses from mixtures of powder and monomer. When the monomer is subsequently polymerized an unusual 2-phase polymeric material results in which grains of PMMA are dispersed in a matrix of the same polymer. The mechanical properties of the 2-phase materials are inferior in certain respects relative to 1-phase polymers. The purpose of the present work is to evaluate the failure of 2-phase materials by microscopical examination of their fracture surfaces. A granular microstructure was clearly distinguishable and a distinction made between materials which fail exclusively by transgranular fracture and others which additionally exhibit intergranular fracture. In order to interpret markings observed on the fracture surfaces of the complex 2-phase systems a study was made of the influence of molecular weight on the fractography of 1-phase PMMA. Molecular weight was reduced by degradation of samples by exposure to gamma-rays. The spacing of periodic rib markings on fracture surfaces was found to decrease with molecular weight and this relationship used to provide an estimate of the molecular weight of polymer in the matrix of 2-phase materials.

Space transportation, satellite services, and space platforms

NASA Technical Reports Server (NTRS)

Disher, J. H.

1979-01-01

The paper takes a preview of the progressive development of vehicles for space transportation, satellite services, and orbital platforms. A low-thrust upper stage of either the ion engine or chemical type will be developed to transport large spacecraft and space platforms to and from GEO. The multimission spacecraft, space telescope, and other scientific platforms will require orbital serves going beyond that provided by the Shuttle's remote manipulator system, and plans call for extravehicular activity tools, improved remote manipulators, and a remote manned work station (the cherry picker).

EVA 5 activity on Flight Day 8 to service the Hubble Space Telescope

NASA Image and Video Library

1997-02-18

S82-E-5718 (18 Feb. 1997) --- Making use of the Remote Manipulator System (RMS) astronauts Mark C. Lee (left), STS-82 payload commander, and Steven L. Smith, mission specialist, perform the final phases of Extravehicular Activity (EVA) duty. Lee holds a patch piece for Bay #10, out of view, toward which the two were headed. A sample of the patch work can be seen on Bay #9 in the upper left quadrant of the picture. This view was taken with an Electronic Still Camera (ESC).

Robotics technology developments in the United States space telerobotics program

NASA Technical Reports Server (NTRS)

Lavery, David

1994-01-01

In the same way that the launch of Yuri Gagarin in April 1961 announced the beginning of human space flight, last year's flight of the German ROTEX robot flight experiment is heralding the start of a new era of space robotics. After a gap of twelve years since the introduction of a new capability in space remote manipulation, ROTEX is the first of at least ten new robotic systems and experiments which will fly before the year 2000. As a result of redefining the development approach for space robotic systems, and capitalizing on opportunities associated with the assembly and maintenance of the space station, the space robotics community is preparing a whole new generation of operational robotic capabilities. Expanding on the capabilities of earlier manipulation systems such as the Viking and Surveyor soil scoops, the Russian Lunakhods, and the Shuttle Remote Manipulator System (RMS), these new space robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces.

Broadband acoustic focusing by Airy-like beams based on acoustic metasurfaces

NASA Astrophysics Data System (ADS)

Chen, Di-Chao; Zhu, Xing-Feng; Wei, Qi; Wu, Da-Jian; Liu, Xiao-Jun

2018-01-01

An acoustic metasurface (AM) composed of space-coiling subunits is proposed to generate acoustic Airy-like beams (ALBs) by manipulating the transmitted acoustic phase. The self-accelerating, self-healing, and non-diffracting features of ALBs are demonstrated using finite element simulations. We further employ two symmetrical AMs to realize two symmetrical ALBs, resulting in highly efficient acoustic focusing. At the working frequency, the focal intensity can reach roughly 20 times that of the incident wave. It is found that the highly efficient acoustic focusing can circumvent obstacles in the propagating path and can be maintained in a broad frequency bandwidth. In addition, simply changing the separation between the two AMs can modulate the focal length of the proposed AM lens. ALBs generated by AMs and the corresponding AM lens may benefit applications in medical ultrasound imaging, biomedical therapy, and particle trapping and manipulation.

Independent Controls of Differently-Polarized Reflected Waves by Anisotropic Metasurfaces

PubMed Central

Ma, Hui Feng; Wang, Gui Zhen; Kong, Gu Sheng; Cui, Tie Jun

2015-01-01

We propose a kind of anisotropic planar metasurface, which has capacity to manipulate the orthogonally-polarized electromagnetic waves independently in the reflection mode. The metasurface is composed of orthogonally I-shaped structures and a metal-grounded plane spaced by a dielectric isolator, with the thickness of about 1/15 wavelength. The normally incident linear-polarized waves will be totally reflected by the metal plane, but the reflected phases of x- and y-polarized waves can be controlled independently by the orthogonally I-shaped structures. Based on this principle, we design four functional devices using the anisotropic metasurfaces to realize polarization beam splitting, beam deflection, and linear-to-circular polarization conversion with a deflection angle, respectively. Good performances have been observed from both simulation and measurement results, which show good capacity of the anisotropic metasurfaces to manipulate the x- and y-polarized reflected waves independently. PMID:25873323

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.

Sensitivity to Spacing Information Increases More for the Eye Region than for the Mouth Region during Childhood

ERIC Educational Resources Information Center

de Heering, Adelaide; Schiltz, Christine

2013-01-01

Sensitivity to spacing information within faces improves with age and reaches maturity only at adolescence. In this study, we tested 6-16-year-old children's sensitivity to vertical spacing when the eyes or the mouth is the facial feature selectively manipulated. Despite the similar discriminability of these manipulations when they are embedded in…

All-angle Negative Reflection with An Ultrathin Acoustic Gradient Metasurface: Floquet-Bloch Modes Perspective and Experimental Verification.

PubMed

Liu, Bingyi; Zhao, Jiajun; Xu, Xiaodong; Zhao, Wenyu; Jiang, Yongyuan

2017-10-23

Metasurface with gradient phase response offers new alternative for steering the propagation of waves. Conventional Snell's law has been revised by taking the contribution of local phase gradient into account. However, the requirement of momentum matching along the metasurface sets its nontrivial beam manipulation functionality within a limited-angle incidence. In this work, we theoretically and experimentally demonstrate that the acoustic gradient metasurface supports the negative reflection for all-angle incidence. The mode expansion theory is developed to help understand how the gradient metasurface tailors the incident beams, and the all-angle negative reflection occurs when the first negative order Floquet-Bloch mode dominates inside the metasurface slab. The coiling-up space structures are utilized to build desired acoustic gradient metasurface, and the all-angle negative reflections have been perfectly verified by experimental measurements. Our work offers the Floquet-Bloch modes perspective for qualitatively understanding the reflection behaviors of the acoustic gradient metasurface, and the all-angle negative reflection characteristic possessed by acoustic gradient metasurface could enable a new degree of the acoustic wave manipulating and be applied in the functional diffractive acoustic elements, such as the all-angle acoustic back reflector.

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.

Kinematically redundant robot manipulators

NASA Technical Reports Server (NTRS)

Baillieul, J.; Hollerbach, J.; Brockett, R.; Martin, D.; Percy, R.; Thomas, R.

1987-01-01

Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques.

Bright circularly polarized soft X-ray high harmonics for X-ray magnetic circular dichroism

DOE PAGES

Fan, Tingting; Grychtol, Patrik; Knut, Ronny; ...

2015-11-03

Here, we demonstrate, to our knowledge, the first bright circularly polarized high-harmonic beams in the soft X-ray region of the electromagnetic spectrum, and use them to implement X-ray magnetic circular dichroism measurements in a tabletop-scale setup. Using counterrotating circularly polarized laser fields at 1.3 and 0.79 µm, we generate circularly polarized harmonics with photon energies exceeding 160 eV. The harmonic spectra emerge as a sequence of closely spaced pairs of left and right circularly polarized peaks, with energies determined by conservation of energy and spin angular momentum. We explain the single-atom and macroscopic physics by identifying the dominant electron quantummore » trajectories and optimal phase-matching conditions. The first advanced phase-matched propagation simulations for circularly polarized harmonics reveal the influence of the finite phase-matching temporal window on the spectrum, as well as the unique polarization-shaped attosecond pulse train. Finally, we use, to our knowledge, the first tabletop X-ray magnetic circular dichroism measurements at the N 4,5 absorption edges of Gd to validate the high degree of circularity, brightness, and stability of this light source. These results demonstrate the feasibility of manipulating the polarization, spectrum, and temporal shape of high harmonics in the soft X-ray region by manipulating the driving laser waveform.« less

An optimal resolved rate law for kinematically redundant manipulators

NASA Technical Reports Server (NTRS)

Bourgeois, B. J.

1987-01-01

The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators.

STS-100 Onboard Photograph-International Space Station Remote Manipulator System

NASA Technical Reports Server (NTRS)

2001-01-01

This is a Space Shuttle STS-100 mission onboard photograph. Astronaut Scott Parazynski totes a Direct Current Switching Unit while anchored on the end of the Canadian-built Remote Manipulator System (RMS) robotic arm. The RMS is in the process of moving Parazynski to the exterior of the Destiny laboratory (right foreground), where he will secure the spare unit, a critical part of the station's electrical system, to the stowage platform in case future crews will need it. Also in the photograph are the Italian-built Raffaello multipurpose Logistics Module (center) and the new Canadarm2 (lower right) or Space Station Remote Manipulator System.

Parallel MR Imaging with Accelerations Beyond the Number of Receiver Channels Using Real Image Reconstruction.

PubMed

Ji, Jim; Wright, Steven

2005-01-01

Parallel imaging using multiple phased-array coils and receiver channels has become an effective approach to high-speed magnetic resonance imaging (MRI). To obtain high spatiotemporal resolution, the k-space is subsampled and later interpolated using multiple channel data. Higher subsampling factors result in faster image acquisition. However, the subsampling factors are upper-bounded by the number of parallel channels. Phase constraints have been previously proposed to overcome this limitation with some success. In this paper, we demonstrate that in certain applications it is possible to obtain acceleration factors potentially up to twice the channel numbers by using a real image constraint. Data acquisition and processing methods to manipulate and estimate of the image phase information are presented for improving image reconstruction. In-vivo brain MRI experimental results show that accelerations up to 6 are feasible with 4-channel data.

Manipulating Liquids With Acoustic Radiation Pressure Phased Arrays

NASA Technical Reports Server (NTRS)

Oeftering, Richard C.

1999-01-01

High-intensity ultrasound waves can produce the effects of "Acoustic Radiation Pressure" (ARP) and "acoustic streaming." These effects can be used to propel liquid flows and to apply forces that can be used to move or manipulate floating objects or liquid surfaces. NASA's interest in ARP includes the remote-control agitation of liquids and the manipulation of bubbles and drops in liquid experiments and propellant systems. A high level of flexibility is attained by using a high-power acoustic phased array to generate, steer, and focus a beam of acoustic waves. This is called an Acoustic Radiation Pressure Phased Array, or ARPPA. In this approach, many acoustic transducer elements emit wavelets that converge into a single beam of sound waves. Electronically coordinating the timing, or "phase shift," of the acoustic waves makes it possible to form a beam with a predefined direction and focus. Therefore, a user can direct the ARP force at almost any desired point within a liquid volume. ARPPA lets experimenters manipulate objects anywhere in a test volume. This flexibility allow it to be used for multiple purposes, such as to agitate liquids, deploy and manipulate drops or bubbles, and even suppress sloshing in spacecraft propellant tanks.

Space robots with flexible appendages: Dynamic modeling, coupling measurement, and vibration suppression

NASA Astrophysics Data System (ADS)

Meng, Deshan; Wang, Xueqian; Xu, Wenfu; Liang, Bin

2017-05-01

For a space robot with flexible appendages, vibrations of flexible structure can be easily excited during both orbit and/or attitude maneuvers of the base and the operation of the manipulators. Hence, the pose (position and attitude) of the manipulator's end-effector will greatly deviate from the desired values, and furthermore, the motion of the manipulator will trigger and exacerbate vibrations of flexible appendages. Given lack of the atmospheric damping in orbit, the vibrations will last for quite a while and cause the on-orbital tasks to fail. We derived the rigid-flexible coupling dynamics of a space robot system with flexible appendages and established a coupling model between the flexible base and the space manipulator. A specific index was defined to measure the coupling degree between the flexible motion of the appendages and the rigid motion of the end-effector. Then, we analyzed the dynamic coupling for different conditions, such as modal displacements, joint angles (manipulator configuration), and mass properties. Moreover, the coupling map was adopted and drawn to represent the coupling motion. Based on this map, a trajectory planning method was addressed to suppress structure vibration. Finally, simulation studies of typical cases were performed, which verified the proposed models and method. This work provides a theoretic basis for the system design, performance evaluation, trajectory planning, and control of such space robots.

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.

Adaptive strategies of remote systems operators exposed to perturbed camera-viewing conditions

NASA Technical Reports Server (NTRS)

Stuart, Mark A.; Manahan, Meera K.; Bierschwale, John M.; Sampaio, Carlos E.; Legendre, A. J.

1991-01-01

This report describes a preliminary investigation of the use of perturbed visual feedback during the performance of simulated space-based remote manipulation tasks. The primary objective of this NASA evaluation was to determine to what extent operators exhibit adaptive strategies which allow them to perform these specific types of remote manipulation tasks more efficiently while exposed to perturbed visual feedback. A secondary objective of this evaluation was to establish a set of preliminary guidelines for enhancing remote manipulation performance and reducing the adverse effects. These objectives were accomplished by studying the remote manipulator performance of test subjects exposed to various perturbed camera-viewing conditions while performing a simulated space-based remote manipulation task. Statistical analysis of performance and subjective data revealed that remote manipulation performance was adversely affected by the use of perturbed visual feedback and performance tended to improve with successive trials in most perturbed viewing conditions.

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.

Analysis of a closed-kinematic chain robot manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

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.

Manipulating Genetic Material in Bacteria

NASA Technical Reports Server (NTRS)

1998-01-01

Lisa Crawford, a graduate research assistant from the University of Toledo, works with Laurel Karr of Marshall Space Flight Center (MSFC) in the molecular biology laboratory. They are donducting genetic manipulation of bacteria and yeast for the production of large amount of desired protein. Photo credit: NASA/Marshall Space Flight Center (MSFC)

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.

Recombinant Enaction: Manipulatives Generate New Procedures in the Imagination, by Extending and Recombining Action Spaces

ERIC Educational Resources Information Center

Rahaman, Jeenath; Agrawal, Harshit; Srivastava, Nisheeth; Chandrasekharan, Sanjay

2018-01-01

Manipulation of physical models such as tangrams and tiles is a popular approach to teaching early mathematics concepts. This pedagogical approach is extended by new computational media, where mathematical entities such as equations and vectors can be virtually manipulated. The cognitive and neural mechanisms supporting such manipulation-based…

Manipulation of Micro Scale Particles in an Optical Trap Using Interferometry

NASA Technical Reports Server (NTRS)

Seibel, Robin

2002-01-01

This research shows that micro particles can be manipulated via interferometric patterns superimposed on an optical tweezers beam. Interferometry allows the manipulation of intensity distributions, and thus, force distributions on a trapped particle. To demonstrate the feasibility of such manipulation, 458 nm light, from an argon-ion laser, was injected into a Mach Zender interferometer. One mirror in the interferometer was oscillated with a piezoelectric phase modulator. The light from the interferometer was then injected into a microscope to trap a 9.75 micron polystyrene sphere. By varying the phase modulation, the sphere was made to oscillate in a controlled fashion.

The development of a fiber optics communication network for controlling a Multidegree-Of-Freedom Serpentine Truss

NASA Astrophysics Data System (ADS)

Andrawis, Alfred S.

1994-10-01

The problem addressed by this report is the large size and heavy weight of the cable bundle, used for controlling a Multidegree-Of-Freedom Serpentine Truss Manipulator arm, which imposes limitations on the manipulator arm maneuverability. This report covers a design of an optical fiber network to replace the existing copper wire network of the Serpentine Truss Manipulator. This report proposes a fiber network design which significantly reduces the bundle size into two phases. The first phase does not require any modifications for the manipulator architecture, while the other requires major modifications. Design philosophy, hardware details and schematic diagrams are presented.

The development of a fiber optics communication network for controlling a Multidegree-Of-Freedom Serpentine Truss

NASA Technical Reports Server (NTRS)

Andrawis, Alfred S.

1994-01-01

The problem addressed by this report is the large size and heavy weight of the cable bundle, used for controlling a Multidegree-Of-Freedom Serpentine Truss Manipulator arm, which imposes limitations on the manipulator arm maneuverability. This report covers a design of an optical fiber network to replace the existing copper wire network of the Serpentine Truss Manipulator. This report proposes a fiber network design which significantly reduces the bundle size into two phases. The first phase does not require any modifications for the manipulator architecture, while the other requires major modifications. Design philosophy, hardware details and schematic diagrams are presented.

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.

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.

Probing coherence in microcavity frequency combs via optical pulse shaping

NASA Astrophysics Data System (ADS)

Ferdous, Fahmida; Miao, Houxun; Wang, Pei-Hsun; Leaird, Daniel E.; Srinivasan, Kartik; Chen, Lei; Aksyuk, Vladimir; Weiner, Andrew M.

2012-09-01

Recent investigations of microcavity frequency combs based on cascaded four-wave mixing have revealed a link between the evolution of the optical spectrum and the observed temporal coherence. Here we study a silicon nitride microresonator for which the initial four-wave mixing sidebands are spaced by multiple free spectral ranges (FSRs) from the pump, then fill in to yield a comb with single FSR spacing, resulting in partial coherence. By using a pulse shaper to select and manipulate the phase of various subsets of spectral lines, we are able to probe the structure of the coherence within the partially coherent comb. Our data demonstrate strong variation in the degree of mutual coherence between different groups of lines and provide support for a simple model of partially coherent comb formation.

Cooperative single-photon subradiant states in a three-dimensional atomic array

NASA Astrophysics Data System (ADS)

Jen, H. H.

2016-11-01

We propose a complete superradiant and subradiant states that can be manipulated and prepared in a three-dimensional atomic array. These subradiant states can be realized by absorbing a single photon and imprinting the spatially-dependent phases on the atomic system. We find that the collective decay rates and associated cooperative Lamb shifts are highly dependent on the phases we manage to imprint, and the subradiant state of long lifetime can be found for various lattice spacings and atom numbers. We also investigate both optically thin and thick atomic arrays, which can serve for systematic studies of super- and sub-radiance. Our proposal offers an alternative scheme for quantum memory of light in a three-dimensional array of two-level atoms, which is applicable and potentially advantageous in quantum information processing.

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.

Reversible structure manipulation by tuning carrier concentration in metastable Cu2S

PubMed Central

Tao, Jing; Chen, Jingyi; Li, Jun; Mathurin, Leanne; Zheng, Jin-Cheng; Li, Yan; Lu, Deyu; Cao, Yue; Wu, Lijun; Cava, Robert Joseph; Zhu, Yimei

2017-01-01

The optimal functionalities of materials often appear at phase transitions involving simultaneous changes in the electronic structure and the symmetry of the underlying lattice. It is experimentally challenging to disentangle which of the two effects––electronic or structural––is the driving force for the phase transition and to use the mechanism to control material properties. Here we report the concurrent pumping and probing of Cu2S nanoplates using an electron beam to directly manipulate the transition between two phases with distinctly different crystal symmetries and charge-carrier concentrations, and show that the transition is the result of charge generation for one phase and charge depletion for the other. We demonstrate that this manipulation is fully reversible and nonthermal in nature. Our observations reveal a phase-transition pathway in materials, where electron-induced changes in the electronic structure can lead to a macroscopic reconstruction of the crystal structure. PMID:28855335

Kinematically Optimal Robust Control of Redundant Manipulators

NASA Astrophysics Data System (ADS)

Galicki, M.

2017-12-01

This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

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.

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.

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.

Manipulating Topological Edge Spins in One-Dimensional Optical Lattice

NASA Astrophysics Data System (ADS)

Liu, Xiong-Jun; Liu, Zheng-Xin; Cheng, Meng

2013-03-01

We propose to observe and manipulate topological edge spins in 1D optical lattice based on currently available experimental platforms. Coupling the atomic spin states to a laser-induced periodic Zeeman field, the lattice system can be driven into a symmetry protected topological (SPT) phase, which belongs to the chiral unitary (AIII) class protected by particle number conservation and chiral symmetries. In free-fermion case the SPT phase is classified by a Z invariant which reduces to Z4 with interactions. The zero edge modes of the SPT phase are spin-polarized, with left and right edge spins polarized to opposite directions and forming a topological spin-qubit (TSQ). We demonstrate a novel scheme to manipulate the zero modes and realize single spin control in optical lattice. The manipulation of TSQs has potential applications to quantum computation. We acknowledge the support from JQI-NSF-PFC, Microsoft-Q, and DARPA- QuEST.

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.

Advanced Beamline Design for Fermilab's Advanced Superconducting Test Accelerator

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

Prokop, Christopher

2014-01-01

The Advanced Superconducting Test Accelerator (ASTA) at Fermilab is a new electron accelerator currently in the commissioning stage. In addition to testing superconducting accelerating cavities for future accelerators, it is foreseen to support a variety of Advanced Accelerator R&D (AARD) experiments. Producing the required electron bunches with the expected flexibility is challenging. The goal of this dissertation is to explore via numerical simulations new accelerator beamlines that can enable the advanced manipulation of electron bunches. The work especially includes the design of a low-energy bunch compressor and a study of transverse-to-longitudinal phase space exchangers.

Innovative Robot Archetypes for In-Space Construction and Maintenance

NASA Technical Reports Server (NTRS)

Rehnmark, Fredrik; Ambrose, Robert O.; Kennedy, Brett; Diftler, Myron; Mehling Joshua; Brigwater, Lyndon; Radford, Nicolaus; Goza, S. Michael; Culbert, Christopher

2005-01-01

The space environment presents unique challenges and opportunities in the assembly, inspection and maintenance of orbital and transit spaceflight systems. While conventional Extra-Vehicular Activity (EVA) technology, out of necessity, addresses each of the challenges, relatively few of the opportunities have been exploited due to crew safety and reliability considerations. Extra-Vehicular Robotics (EVR) is one of the least-explored design spaces but offers many exciting innovations transcending the crane-like Space Shuttle and International Space Station Remote Manipulator System (RMS) robots used for berthing, coarse positioning and stabilization. Microgravity environments can support new robotic archetypes with locomotion and manipulation capabilities analogous to undersea creatures. Such diversification could enable the next generation of space science platforms and vehicles that are too large and fragile to launch and deploy as self-contained payloads. Sinuous manipulators for minimally invasive inspection and repair in confined spaces, soft-stepping climbers with expansive leg reach envelopes and free-flying nanosatellite cameras can access EVA worksites generally not accessible to humans in spacesuits. These and other novel robotic archetypes are presented along with functionality concepts

Research approach and first results on agglomerate compaction in protoplanetary dust simulation in the Cloud Manipulation System

NASA Astrophysics Data System (ADS)

Vedernikov, Andrei; Blum, Jurgen; Ingo Von Borstel, Olaf; Schraepler, Rainer; Balapanov, Daniyar; Cecere, Anselmo

2016-07-01

Nanometre and micrometre-sized solid particles are ubiquitous in space and on Earth - from galaxies, interstellar space, protoplanetary and debris disks to planetary rings and atmospheres, planetary surfaces, comets, interplanetary space, Earth's atmosphere. Apparently, the most intriguing problem in the picture of the formation of planets is the transition from individual microscopic dust grains to kilometre-sized planetesimals. Revealing the mechanisms of this transition is one of the main tasks of the European Space Agency's project Interaction in Cosmic and Atmospheric Particle Systems (ICAPS). It was found that Brownian motion driven agglomeration could not provide the transition within reasonable time scale. As a result, at this stage top scientific goals shifted towards forced agglomeration and concentration of particles, targeting revealing the onset of compaction, experimental study of the evolution of fractal dimensions, size and mass distribution, occurrence of bouncing. The main tasks comprise 1) development of the rapid agglomeration model 2) development of the experimental facilities creating big fractal-type agglomerates from 10 to 1000 μm from a cloud of micrometre-size grains; 3) experimental realization of the rapid agglomeration in microgravity and ground conditions; and 4) in situ investigation of the morphology, mobility, mechanical and optical properties of the free-floating agglomerates, including investigation of thermophoresis, photophoresis of the agglomerates and of the two-phase flow phenomena. To solve the experimental part of the tasks we developed a Cloud Manipulation System, realized as a breadboard (CMS BB) for long duration microgravity platforms and a simplified laboratory version (CMS LV) mostly oriented on short duration microgravity and ground tests. The new system is based on the use of thermophoresis, most favourable for cloud manipulation without creating additional particle-particle forces in the cloud with a possibility of growing single agglomerate out of the whole cloud. The cloud manipulation system additionally provides temperature stabilization or, on the contrary, high temperature variation in the observation volume; formation of controlled temperature gradients, intensive three-dimensional periodic shear flow or three-dimensional gas density pulsations of the contraction-expansion type; application of electrostatic gradients including electro dynamic balancing; imposing of photophoretic force, etc. Their choice and/or combination depend upon particular experimental task. Experiments on forced agglomeration in short duration microgravity conditions of the Bremen drop tower succeeded in rapid growth of extended agglomerates, formation of complex three-dimensional cloud patterns, allowed observing controlled cloud displacement, cloud trapping, particle separation with respect to their electrical charge. The breadboard (CMS BB) and the laboratory version of the Cloud Manipulation System (CMS LV) are new types of scientific instrument with high scientific potential. ESA PRODEX program, the Belgian Federal Science Policy Office, DLR project 50WM1223, ZARM Drop Tower Operation and Service Company Ltd. are greatly acknowledged.

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-114 Mission Specialist Wendy Lawrence manipulates part of a Multi-Purpose Logistics Module. Lawrence is a new addition to the mission crew. The STS-114 crew is at KSC to take part in crew equipment and orbiter familiarization.

NASA Image and Video Library

2003-10-30

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-114 Mission Specialist Wendy Lawrence manipulates part of a Multi-Purpose Logistics Module. Lawrence is a new addition to the mission crew. The STS-114 crew is at KSC to take part in crew equipment and orbiter familiarization.

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.

Femtosecond profiling of shaped x-ray pulses

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

Hoffmann, M. C.; Grguras, I.; Behrens, C.

Arbitrary manipulation of the temporal and spectral properties of x-ray pulses at free-electron lasers would revolutionize many experimental applications. At the Linac Coherent Light Source at Stanford National Accelerator Laboratory, the momentum phase-space of the free-electron laser driving electron bunch can be tuned to emit a pair of x-ray pulses with independently variable photon energy and femtosecond delay. However, while accelerator parameters can easily be adjusted to tune the electron bunch phase-space, the final impact of these actuators on the x-ray pulse cannot be predicted with sufficient precision. Furthermore, shot-to-shot instabilities that distort the pulse shape unpredictably cannot be fullymore » suppressed. Therefore, the ability to directly characterize the x-rays is essential to ensure precise and consistent control. In this work, we have generated x-ray pulse pairs via electron bunch shaping and characterized them on a single-shot basis with femtosecond resolution through time-resolved photoelectron streaking spectroscopy. Furthermore, this achievement completes an important step toward future x-ray pulse shaping techniques.« less

Femtosecond profiling of shaped x-ray pulses

DOE PAGES

Hoffmann, M. C.; Grguras, I.; Behrens, C.; ...

2018-03-26

Arbitrary manipulation of the temporal and spectral properties of x-ray pulses at free-electron lasers would revolutionize many experimental applications. At the Linac Coherent Light Source at Stanford National Accelerator Laboratory, the momentum phase-space of the free-electron laser driving electron bunch can be tuned to emit a pair of x-ray pulses with independently variable photon energy and femtosecond delay. However, while accelerator parameters can easily be adjusted to tune the electron bunch phase-space, the final impact of these actuators on the x-ray pulse cannot be predicted with sufficient precision. Furthermore, shot-to-shot instabilities that distort the pulse shape unpredictably cannot be fullymore » suppressed. Therefore, the ability to directly characterize the x-rays is essential to ensure precise and consistent control. In this work, we have generated x-ray pulse pairs via electron bunch shaping and characterized them on a single-shot basis with femtosecond resolution through time-resolved photoelectron streaking spectroscopy. Furthermore, this achievement completes an important step toward future x-ray pulse shaping techniques.« less

Coordinated control of a space manipulator tested by means of an air bearing free floating platform

NASA Astrophysics Data System (ADS)

Sabatini, Marco; Gasbarri, Paolo; Palmerini, Giovanni B.

2017-10-01

A typical approach studied for the guidance of next generation space manipulators (satellites with robotic arms aimed at autonomously performing on-orbit operations) is to decouple the platform and the arm maneuvers, which are supposed to happen sequentially, mainly because of safety concerns. This control is implemented in this work as a two-stage Sequential control, where a first stage calls for the motion of the platform and the second stage calls for the motion of the manipulator. A second novel strategy is proposed, considering the platform and the manipulator as a single multibody system subject to a Coordinated control, with the goal of approaching and grasping a target spacecraft. At the scope, a region that the end effector can reach by means of the arm motion with limited reactions on the platform is identified (the so called Reaction Null workspace). The Coordinated control algorithm performs a gain modulation (finalized to a balanced contribution of the platform and arm motion) as a function of the target position within this Reaction Null map. The result is a coordinated maneuver in which the end effector moves thanks to the platform motion, predominant in a first phase, and to the arm motion, predominant when the Reaction-Null workspace is reached. In this way the collision avoidance and attitude over-control issues are automatically considered, without the need of splitting the mission in independent (and overall sub-optimal) segments. The guidance and control algorithms are first simulated by means of a multibody code, and successively tested in the lab by means of a free floating platform equipped with a robotic arm, moving frictionless on a flat granite table thanks to air bearings and on-off thrusters; the results will be discussed in terms of optimality of the fuel consumption and final accuracy.

Integrated Simulation Design Challenges to Support TPS Repair Operations

NASA Technical Reports Server (NTRS)

Quiocho, Leslie J.; Crues, Edwin Z.; Huynh, An; Nguyen, Hung T.; MacLean, John

2005-01-01

During the Orbiter Repair Maneuver (ORM) operations planned for Return to Flight (RTF), the Shuttle Remote Manipulator System (SRMS) must grapple the International Space Station (ISS), undock the Orbiter, maneuver it through a long duration trajectory, and orient it to an EVA crewman poised at the end of the Space Station Remote Manipulator System (SSRMS) to facilitate the repair of the Thermal Protection System (TPS). Once repair has been completed and confirmed, then the SRMS proceeds back through the trajectory to dock the Orbiter to the Orbiter Docking System. In order to support analysis of the complex dynamic interactions of the integrated system formed by the Orbiter, ISS, SRMS, and SSRMS during the ORM, simulation tools used for previous 'nominal' mission support required substantial enhancements. These upgrades were necessary to provide analysts with the capabilities needed to study integrated system performance. This paper discusses the simulation design challenges encountered while developing simulation capabilities to mirror the ORM operations. The paper also describes the incremental build approach that was utilized, starting with the subsystem simulation elements and integration into increasing more complex simulations until the resulting ORM worksite dynamics simulation had been assembled. Furthermore, the paper presents an overall integrated simulation V&V methodology based upon a subsystem level testing, integrated comparisons, and phased checkout.

Electric field driven evolution of topological domain structure in hexagonal manganites

NASA Astrophysics Data System (ADS)

Yang, K. L.; Zhang, Y.; Zheng, S. H.; Lin, L.; Yan, Z. B.; Liu, J.-M.; Cheong, S.-W.

2017-10-01

Controlling and manipulating the topological state represents an important topic in condensed matters for both fundamental researches and applications. In this work, we focus on the evolution of a real-space topological domain structure in hexagonal manganites driven by electric field, using the analytical and numerical calculations based on the Ginzburg-Landau theory. It is revealed that the electric field drives a transition of the topological domain structure from the type-I pattern to the type-II one. In particular, it is identified that a high electric field can enforce the two antiphase-plus-ferroelectric (AP +FE ) domain walls with Δ Φ =π /3 to approach each other and to merge into one domain wall with Δ Φ = 2 π /3 eventually if the electric field is sufficiently high, where Δ Φ is the difference in the trimerization phase between two neighboring domains. Our simulations also reveal that the vortex cores of the topological structure can be disabled at a sufficiently high critical electric field by suppressing the structural trimerization therein, beyond which the vortex core region is replaced by a single ferroelectric domain without structural trimerization (Q = 0 ). Our results provide a stimulating reference for understanding the manipulation of real-space topological domain structure in hexagonal manganites.

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.

2D Mesh Manipulation

DTIC Science & Technology

2011-11-01

the Poisson form of the equations can also be generated by manipulating the computational space , so forcing functions become superfluous . The...ABSTRACT Unstructured methods for region discretization have become common in computational fluid dynamics (CFD) analysis because of certain benefits...application of Winslow elliptic smoothing equations to unstructured meshes. It has been shown that it is not necessary for the computational space of

View of the Columbia's remote manipulator system (RMS)

NASA Image and Video Library

1982-11-13

STS002-13-226 (13 Nov. 1981) --- Backdropped against Earth's horizon and the darkness of space, the space shuttle Columbia's remote manipulator system (RMS) gets its first workout in zero-gravity during the STS-2 mission. A television camera is mounted near the elbow and another is partially visible near the wrist of the RMS. Photo credit: NASA

Development of a prototype kinestatic platform for application to space and ground servicing tasks. Phase 1: Concept Modeling

NASA Technical Reports Server (NTRS)

Duffy, J.; Crane, C.

1993-01-01

The Center for Intelligent Machines and Robotics (CIMAR) of the University of Florida, in conjunction with Rockwell International is developing an electro-mechanical device called a Kinestatic Platform (KP) for aerospace applications. The goal of the current project is to develop a prototype KP which is capable of manipulating a 50 lb. payload. This prototype will demonstrate the feasibility of implementing a scaled up version to perform high precision manipulation of distributed systems and to control contact forces and allowable motions (rotations and translations), which is defined here as Kinestatic Control, in a six dimensional, partially constrained environment, simultaneously and independently. The objectives of the Phase 1 effort were as follows: (1) Identify specific NASA applications where the KP technology can be applied. (2) Select one application for development. (3) Develop a conceptual design of the KP specifically for the selected application. This includes the steps of developing a set of detailed performance criteria, establishing and making selection of the mechanism design parameters, and evaluating the expected system response. (4) Develop a computer graphics animation of the KP as it performs the selected application. This report will proceed by providing a technical description of the KP followed by how each of these objectives was addressed.

Use of 3D vision for fine robot motion

NASA Technical Reports Server (NTRS)

Lokshin, Anatole; Litwin, Todd

1989-01-01

An integration of 3-D vision systems with robot manipulators will allow robots to operate in a poorly structured environment by visually locating targets and obstacles. However, by using computer vision for objects acquisition makes the problem of overall system calibration even more difficult. Indeed, in a CAD based manipulation a control architecture has to find an accurate mapping between the 3-D Euclidean work space and a robot configuration space (joint angles). If a stereo vision is involved, then one needs to map a pair of 2-D video images directly into the robot configuration space. Neural Network approach aside, a common solution to this problem is to calibrate vision and manipulator independently, and then tie them via common mapping into the task space. In other words, both vision and robot refer to some common Absolute Euclidean Coordinate Frame via their individual mappings. This approach has two major difficulties. First a vision system has to be calibrated over the total work space. And second, the absolute frame, which is usually quite arbitrary, has to be the same with a high degree of precision for both robot and vision subsystem calibrations. The use of computer vision to allow robust fine motion manipulation in a poorly structured world which is currently in progress is described along with the preliminary results and encountered problems.

Fast, optically controlled Kerr phase shifter for digital signal processing.

PubMed

Li, R B; Deng, L; Hagley, E W; Payne, M G; Bienfang, J C; Levine, Z H

2013-05-01

We demonstrate an optically controlled Kerr phase shifter using a room-temperature 85Rb vapor operating in a Raman gain scheme. Phase shifts from zero to π relative to an unshifted reference wave are observed, and gated operations are demonstrated. We further demonstrate the versatile digital manipulation of encoded signal light with an encoded phase-control light field using an unbalanced Mach-Zehnder interferometer. Generalizations of this scheme should be capable of full manipulation of a digitized signal field at high speed, opening the door to future applications.

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.

Actuators for a space manipulator

NASA Technical Reports Server (NTRS)

Chun, W.; Brunson, P.

1987-01-01

The robotic manipulator can be decomposed into distinct subsytems. One particular area of interest of mechanical subsystems is electromechanical actuators (or drives). A drive is defined as a motor with an appropriate transmission. An overview is given of existing, as well as state-of-the-art drive systems. The scope is limited to space applications. A design philosophy and adequate requirements are the initial steps in designing a space-qualified actuator. The focus is on the d-c motor in conjunction with several types of transmissions (harmonic, tendon, traction, and gear systems). The various transmissions will be evaluated and key performance parameters will be addressed in detail. Included in the assessment is a shuttle RMS joint and a MSFC drive of the Prototype Manipulator Arm. Compound joints are also investigated. Space imposes a set of requirements for designing a high-performance drive assembly. Its inaccessibility and cryogenic conditions warrant special considerations. Some guidelines concerning these conditions are present. The goal is to gain a better understanding in designing a space actuator.

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.

Singularity classification as a design tool for multiblock grids

NASA Technical Reports Server (NTRS)

Jones, Alan K.

1992-01-01

A major stumbling block in interactive design of 3-D multiblock grids is the difficulty of visualizing the design as a whole. One way to make this visualization task easier is to focus, at least in early design stages, on an aspect of the grid which is inherently easy to present graphically, and to conceptualize mentally, namely the nature and location of singularities in the grid. The topological behavior of a multiblock grid design is determined by what happens at its edges and vertices. Only a few of these are in any way exceptional. The exceptional behaviors lie along a singularity graph, which is a 1-D construct embedded in 3-D space. The varieties of singular behavior are limited enough to make useful symbology on a graphics device possible. Furthermore, some forms of block design manipulation that appear appropriate to the early conceptual-modeling phase can be accomplished on this level of abstraction. An overview of a proposed singularity classification scheme and selected examples of corresponding manipulation techniques is presented.

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.

On computing the global time-optimal motions of robotic manipulators in the presence of obstacles

NASA Technical Reports Server (NTRS)

Shiller, Zvi; Dubowsky, Steven

1991-01-01

A method for computing the time-optimal motions of robotic manipulators is presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. The optimization problem is reduced to a search for the time-optimal path in the n-dimensional position space. A small set of near-optimal paths is first efficiently selected from a grid, using a branch and bound search and a series of lower bound estimates on the traveling time along a given path. These paths are further optimized with a local path optimization to yield the global optimal solution. Obstacles are considered by eliminating the collision points from the tessellated space and by adding a penalty function to the motion time in the local optimization. The computational efficiency of the method stems from the reduced dimensionality of the searched spaced and from combining the grid search with a local optimization. The method is demonstrated in several examples for two- and six-degree-of-freedom manipulators with obstacles.

Space Operations in the Eighties.

ERIC Educational Resources Information Center

Aviation/Space, 1982

1982-01-01

Highlights activities/accomplishments and future endeavors related to space operations. Topics discussed include the Space Shuttle, recovery/refurbishment operations, payload manipulator, upper stages operations, tracking and data relay, spacelab, space power systems, space exposure facility, space construction, and space station. (JN)

Automated pinhole-aperture diagnostic for the current profiling of TWT electron beams

NASA Astrophysics Data System (ADS)

Wei, Yu-Xiang; Huang, Ming-Guang; Liu, Shu-Qing; Liu, Jin-Yue; Hao, Bao-Liang; Du, Chao-Hai; Liu, Pu-Kun

2013-02-01

The measurement system reported here is intended for use in determining the current density distribution of electron beams from Pierce guns for use in TWTs. The system was designed to automatically scan the cross section of the electron beam and collect the high-resolution data with a Faraday cup probe mounted on a multistage manipulator using the LabVIEW program. A 0.06 mm thick molybdenum plate with a pinhole and a Faraday cup mounted as a probe assembly was employed to sample the electron beam current with 0.5 µm space resolution. The thermal analysis of the probe with pulse beam heating was discussed. A 0.45 µP electron gun with the expected minimum beam radius 0.42 mm was measured and the three-dimensional current density distribution, beam envelope and phase space were presented.

Out-of-equilibrium dynamics driven by localized time-dependent perturbations at quantum phase transitions

NASA Astrophysics Data System (ADS)

Pelissetto, Andrea; Rossini, Davide; Vicari, Ettore

2018-03-01

We investigate the quantum dynamics of many-body systems subject to local (i.e., restricted to a limited space region) time-dependent perturbations. If the system crosses a quantum phase transition, an off-equilibrium behavior is observed, even for a very slow driving. We show that, close to the transition, time-dependent quantities obey scaling laws. In first-order transitions, the scaling behavior is universal, and some scaling functions can be computed exactly. For continuous transitions, the scaling laws are controlled by the standard critical exponents and by the renormalization-group dimension of the perturbation at the transition. Our protocol can be implemented in existing relatively small quantum simulators, paving the way for a quantitative probe of the universal off-equilibrium scaling behavior, without the need to manipulate systems close to the thermodynamic limit.

Modeling and control of a flexible space robot to capture a tumbling debris

NASA Astrophysics Data System (ADS)

Dubanchet, Vincent

After 60 years of intensive satellite launches, the number of drifting objects in Earth orbits is reaching a shifting point, where human intervention is becoming necessary to reduce the threat of collision. Indeed, a 200 year forecast, known as the "Kessler syndrome", states that space access will be greatly compromised if nothing is done to address the proliferation of these debris. Scientist J.-C. Liou from the National Aeronautics and Space Administration (NASA) has shown that the current trend could be reversed if at least five massive objects, such as dead satellites or rocket upper stages, were de-orbited each year. Among the various technical concepts considered for debris removal, robotics has emerged, over the last 30 years, as one of the most promising solutions. The International Space Station (ISS) already possesses fully operational robotic arms, and other missions have explored the potential of a manipulator embedded onto a satellite. During two of the latter, key capabilities have been demonstrated for on-orbit servicing, and prove to be equally useful for the purpose of debris removal. This thesis focuses on the close range capture of a tumbling debris by a robotic arm with light-weight flexible segments. This phase includes the motion planning and the control of a space robot, in order to smoothly catch a target point on the debris. The validation of such technologies is almost impossible on Earth and leads to prohibitive costs when performed on orbit. Therefore, the modeling and simulation of flexible multi-body systems has been investigated thoroughly, and is likewise a strong contribution of the thesis. Based on these models, an experimental validation is proposed by reproducing the on-orbit kinematics on a test bench made up of two industrial manipulators and driven by a real-time dynamic simulation. In a nutshell, the thesis is built around three main parts: the modeling of a space robot, the design of control laws, and their validation on a test case. (Abstract shortened by ProQuest.).

Design and control considerations for industrial and space manipulators

NASA Technical Reports Server (NTRS)

Whitney, D. E.; Book, W. J.; Lynch, P. M.

1974-01-01

This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.

OAST-Flyer is deployed by the Remote Manipulator System (RMS) as viewed from the flight deck

NASA Image and Video Library

1996-01-14

STS072-320-014 (17 Jan. 1996) --- The end effect of the Space Shuttle Endeavour's Remote Manipulator System (RMS) is about to grapple the Office of Aeronautics and Space Technology's (OAST) -- Flyer satellite. The view was recorded with a 35mm camera aimed through one of Endeavour's overheard windows on the aft flight deck.

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...

Manipulator system man-machine interface evaluation program. [technology assessment

NASA Technical Reports Server (NTRS)

Malone, T. B.; Kirkpatrick, M.; Shields, N. L.

1974-01-01

Application and requirements for remote manipulator systems for future space missions were investigated. A manipulator evaluation program was established to study the effects of various systems parameters on operator performance of tasks necessary for remotely manned missions. The program and laboratory facilities are described. Evaluation criteria and philosophy are discussed.

View of SSMRS and Dextre

NASA Image and Video Library

2014-04-30

ISS039-E-016800 (30 April 2014) --- Backdropped against a cloudy portion of Earth, the Special Purpose Dexterous Manipulator -- the Canadian Space Agency’s robotic “handyman” AKA Dextre -- and the Canadarm2 or Space Station Remote Manipulator System arm take a "rest" after completing a task 225 miles above the home planet. Robotic ground controllers used the Canadarm2 and Dextre to remove the High Definition Earth Viewing (HDEV) payload from the trunk of the SpaceX Dragon, seen in the top portion of the photo. HDEV was installed on the nadir adapter on the European Space Agency's Columbus exposed facility (out of frame).

Interference of Single Photons Emitted by Entangled Atoms in Free Space

NASA Astrophysics Data System (ADS)

Araneda, G.; Higginbottom, D. B.; Slodička, L.; Colombe, Y.; Blatt, R.

2018-05-01

The generation and manipulation of entanglement between isolated particles has precipitated rapid progress in quantum information processing. Entanglement is also known to play an essential role in the optical properties of atomic ensembles, but fundamental effects in the controlled emission and absorption from small, well-defined numbers of entangled emitters in free space have remained unobserved. Here we present the control of the emission rate of a single photon from a pair of distant, entangled atoms into a free-space optical mode. Changing the length of the optical path connecting the atoms modulates the single-photon emission rate in the selected mode with a visibility V =0.27 ±0.03 determined by the degree of entanglement shared between the atoms, corresponding directly to the concurrence Cρ=0.31 ±0.10 of the prepared state. This scheme, together with population measurements, provides a fully optical determination of the amount of entanglement. Furthermore, large sensitivity of the interference phase evolution points to applications of the presented scheme in high-precision gradient sensing.

Precision requirements and innovative manufacturing for ultrahigh precision laser interferometry of gravitational-wave astronomy

NASA Astrophysics Data System (ADS)

Ni, Wei-Tou; Han, Sen; Jin, Tao

2016-11-01

With the LIGO announcement of the first direct detection of gravitational waves (GWs), the GW Astronomy was formally ushered into our age. After one-hundred years of theoretical investigation and fifty years of experimental endeavor, this is a historical landmark not just for physics and astronomy, but also for industry and manufacturing. The challenge and opportunity for industry is precision and innovative manufacturing in large size - production of large and homogeneous optical components, optical diagnosis of large components, high reflectance dielectric coating on large mirrors, manufacturing of components for ultrahigh vacuum of large volume, manufacturing of high attenuating vibration isolation system, production of high-power high-stability single-frequency lasers, production of high-resolution positioning systems etc. In this talk, we address the requirements and methods to satisfy these requirements. Optical diagnosis of large optical components requires large phase-shifting interferometer; the 1.06 μm Phase Shifting Interferometer for testing LIGO optics and the recently built 24" phase-shifting Interferometer in Chengdu, China are examples. High quality mirrors are crucial for laser interferometric GW detection, so as for ring laser gyroscope, high precision laser stabilization via optical cavities, quantum optomechanics, cavity quantum electrodynamics and vacuum birefringence measurement. There are stringent requirements on the substrate materials and coating methods. For cryogenic GW interferometer, appropriate coating on sapphire or silicon are required for good thermal and homogeneity properties. Large ultrahigh vacuum components and high attenuating vibration system together with an efficient metrology system are required and will be addressed. For space interferometry, drag-free technology and weak-light manipulation technology are must. Drag-free technology is well-developed. Weak-light phase locking is demonstrated in the laboratories while weak-light manipulation technology still needs developments.

Servicing capability for the evolutionary Space Station

NASA Technical Reports Server (NTRS)

Thomas, Edward F.; Grems, Edward G., III; Corbo, James E.

1990-01-01

Since the beginning of the Space Station Freedom (SSF) program the concept of on-orbit servicing of user hardware has been an integral part of the program implementation. The user servicing system architecture has been divided into a baseline and a growth phase. The baseline system consists of the following hardware elements that will support user servicing - flight telerobotic servicer, crew and equipment translation aid, crew intravehicular and extravehicular servicing support, logistics supply system, mobile servicing center, and the special purpose dextrous manipulator. The growth phase incorporates a customer servicing facility (CSF), a station-based orbital maneuvering vehicle and an orbital spacecraft consumables resupply system. The requirements for user servicing were derived from the necessity to service attached payloads, free flyers and coorbiting platforms. These requirements include: orbital replacement units (ORU) and instrument changeout, National Space Transportation System cargo bay loading and unloading, contamination control and monitoring, thermal protection, payload berthing, storage, access to SSF distributed systems, functional checkout, and fluid replenishment. The baseline user servicing capabilities accommodate ORU and instrument changeout. However, this service is limited to attached payloads, either in situ or at a locally adjacent site. The growth phase satisfies all identified user servicing requirements by expanding servicing capabilities to include complex servicing tasks for attached payloads, free-flyers and coorbiting platforms at a dedicated, protected Servicing site. To provide a smooth evolution of user servicing the SSF interfaces that are necessary to accommodate the growth phase have been identified. The interface requirements on SSF have been greatly simplified by accommodating the growth servicing support elements within the CSF. This results in a single SSF interface: SSF to the CSF.

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

From Loschmidt daemons to time-reversed waves.

PubMed

Fink, Mathias

2016-06-13

Time-reversal invariance can be exploited in wave physics to control wave propagation in complex media. Because time and space play a similar role in wave propagation, time-reversed waves can be obtained by manipulating spatial boundaries or by manipulating time boundaries. The two dual approaches will be discussed in this paper. The first approach uses 'time-reversal mirrors' with a wave manipulation along a spatial boundary sampled by a finite number of antennas. Related to this method, the role of the spatio-temporal degrees of freedom of the wavefield will be emphasized. In a second approach, waves are manipulated from a time boundary and we show that 'instantaneous time mirrors', mimicking the Loschmidt point of view, simultaneously acting in the entire space at once can also radiate time-reversed waves. © 2016 The Author(s).

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.

Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

NASA Technical Reports Server (NTRS)

Dorsey, John T.; Doggett, William R.; Komendera, Erik E.

2015-01-01

The robotic architecture of State-of-the-Art (SOA) space manipulators, represented by the Shuttle Remote Manipulator System (SRMS), inherently limits their capabilities to extend reach, reduce mass, apply force and package efficiently. TALISMAN uses a new and innovative robotic architecture that incorporates a combination of lightweight truss links, a novel hinge joint, tendon-articulation and passive tension stiffening to achieve revolutionary performance. A TALISMAN with performance similar to the SRMS has 1/10th of its mass and packages in 1/7th of its volume. The TALISMAN architecture allows its reach to be scaled over a large range; from 10 to over 300 meters. In addition, the dexterity (number of degrees-of-freedom) can be easily adjusted without significantly impacting manipulator mass because the joints are very lightweight.

Direct Manipulation in Virtual Reality

NASA Technical Reports Server (NTRS)

Bryson, Steve

2003-01-01

Virtual Reality interfaces offer several advantages for scientific visualization such as the ability to perceive three-dimensional data structures in a natural way. The focus of this chapter is direct manipulation, the ability for a user in virtual reality to control objects in the virtual environment in a direct and natural way, much as objects are manipulated in the real world. Direct manipulation provides many advantages for the exploration of complex, multi-dimensional data sets, by allowing the investigator the ability to intuitively explore the data environment. Because direct manipulation is essentially a control interface, it is better suited for the exploration and analysis of a data set than for the publishing or communication of features found in that data set. Thus direct manipulation is most relevant to the analysis of complex data that fills a volume of three-dimensional space, such as a fluid flow data set. Direct manipulation allows the intuitive exploration of that data, which facilitates the discovery of data features that would be difficult to find using more conventional visualization methods. Using a direct manipulation interface in virtual reality, an investigator can, for example, move a data probe about in space, watching the results and getting a sense of how the data varies within its spatial volume.

KSC-08pd0606

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, an overhead crane moves the Special Purpose Dexterous Manipulator, known as Dextre, to the payload canister for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

KSC-08pd0608

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the Special Purpose Dexterous Manipulator, known as Dextre, moves nearer to the payload canister where it will be installed for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

KSC-08pd0604

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the Special Purpose Dexterous Manipulator, known as Dextre, moves across the facility via an overhead crane to the payload canister for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

KSC-08pd0607

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the Special Purpose Dexterous Manipulator, known as Dextre, moves closer to the payload canister where it will be installed for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

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.

Screening and genetic manipulation of green organisms for establishment of biological life support systems in space.

PubMed

Saei, Amir Ata; Omidi, Amir Ali; Barzegari, Abolfazl

2013-01-01

Curiosity has driven humankind to explore and conquer space. However, today, space research is not a means to relieve this curiosity anymore, but instead has turned into a need. To support the crew in distant expeditions, supplies should either be delivered from the Earth, or prepared for short durations through physiochemical methods aboard the space station. Thus, research continues to devise reliable regenerative systems. Biological life support systems may be the only answer to human autonomy in outposts beyond Earth. For construction of an artificial extraterrestrial ecosystem, it is necessary to search for highly adaptable super-organisms capable of growth in harsh space environments. Indeed, a number of organisms have been proposed for cultivation in space. Meanwhile, some manipulations can be done to increase their photosynthetic potential and stress tolerance. Genetic manipulation and screening of plants, microalgae and cyanobacteria is currently a fascinating topic in space bioengineering. In this commentary, we will provide a viewpoint on the realities, limitations and promises in designing biological life support system based on engineered and/or selected green organism. Special focus will be devoted to the engineering of key photosynthetic enzymes in pioneer green organisms and their potential use in establishment of transgenic photobioreactors in space.

Screening and genetic manipulation of green organisms for establishment of biological life support systems in space

PubMed Central

Saei, Amir Ata; Omidi, Amir Ali; Barzegari, Abolfazl

2013-01-01

Curiosity has driven humankind to explore and conquer space. However, today, space research is not a means to relieve this curiosity anymore, but instead has turned into a need. To support the crew in distant expeditions, supplies should either be delivered from the Earth, or prepared for short durations through physiochemical methods aboard the space station. Thus, research continues to devise reliable regenerative systems. Biological life support systems may be the only answer to human autonomy in outposts beyond Earth. For construction of an artificial extraterrestrial ecosystem, it is necessary to search for highly adaptable super-organisms capable of growth in harsh space environments. Indeed, a number of organisms have been proposed for cultivation in space. Meanwhile, some manipulations can be done to increase their photosynthetic potential and stress tolerance. Genetic manipulation and screening of plants, microalgae and cyanobacteria is currently a fascinating topic in space bioengineering. In this commentary, we will provide a viewpoint on the realities, limitations and promises in designing biological life support system based on engineered and/or selected green organism. Special focus will be devoted to the engineering of key photosynthetic enzymes in pioneer green organisms and their potential use in establishment of transgenic photobioreactors in space. PMID:22992434

KSC-07pd2868

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, is lowered toward the base for installation. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

Operator Station Design System - A computer aided design approach to work station layout

NASA Technical Reports Server (NTRS)

Lewis, J. L.

1979-01-01

The Operator Station Design System is resident in NASA's Johnson Space Center Spacecraft Design Division Performance Laboratory. It includes stand-alone minicomputer hardware and Panel Layout Automated Interactive Design and Crew Station Assessment of Reach software. The data base consists of the Shuttle Transportation System Orbiter Crew Compartment (in part), the Orbiter payload bay and remote manipulator (in part), and various anthropometric populations. The system is utilized to provide panel layouts, assess reach and vision, determine interference and fit problems early in the design phase, study design applications as a function of anthropometric and mission requirements, and to accomplish conceptual design to support advanced study efforts.

Magnetic conveyor belt for transporting and merging trapped atom clouds.

PubMed

Hänsel, W; Reichel, J; Hommelhoff, P; Hänsch, T W

2001-01-22

We demonstrate an integrated magnetic device which transports cold atoms near a surface with very high positioning accuracy. Time-dependent currents in a lithographic conductor pattern create a moving chain of potential wells; atoms are transported in these wells while remaining confined in all three dimensions. We achieve mean fluxes up to 10(6) s(-1) with a negligible heating rate. An extension of this device allows merging of atom clouds by unification of two Ioffe-Pritchard potentials. The unification, which we demonstrate experimentally, can be performed without loss of phase space density. This novel, all-magnetic atom manipulation offers exciting perspectives, such as trapped-atom interferometry.

Remote Manipulator

NASA Technical Reports Server (NTRS)

1986-01-01

SPAR Aerospace Limited's "Canadarm," Canada's contribution to the space shuttle. It is a crane which can operate as a 50 foot extension of an astronaut's arm. It can lift 65,000 pounds in space and retrieve satellites for repair, etc. Redesigned versions have energy and mining applications. Some of its hardware has been redeveloped for use as a Hydro manipulator in a nuclear reactor where it is expected to be extremely cost effective.

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.

3D Laser Scanner for Underwater Manipulation.

PubMed

Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan

2018-04-04

Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.

Motion capability analysis of a quadruped robot as a parallel manipulator

NASA Astrophysics Data System (ADS)

Yu, Jingjun; Lu, Dengfeng; Zhang, Zhongxiang; Pei, Xu

2014-12-01

This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.

MFD - Documentation of small fine arm in stowed position

NASA Image and Video Library

1997-08-12

S85-E-5044 (12 August 1997) --- View of the payload bay of the Earth-orbiting Space Shuttle Discovery looking toward the shuttle's vertical stabilizer with clouds in the background. Easily recognized is the Manipulator Flight Demonstration (MFD), which is sponsored by Japan's National Space Development Agency (NASDA). MFD will evaluate the use of the Small Fine Arm (SFA) that is planned to be part of the future Japanese Experiment Module's Remote Manipulator System (RMS) on the International Space Station (ISS). The photograph was taken with the Electronic Still Camera (ESC).

View of the shuttle orbiter Discovery's payload bay during RMS checkout

NASA Image and Video Library

1997-02-12

S82-E-5014 (12 Feb. 1997) --- Space Shuttle Discovery's Remote Manipulator System (RMS) gets a preliminary workout in preparation for a busy work load later in the week. The crewmembers 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. This view was taken with an Electronic Still Camera (ESC).

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.

Space spider crane

NASA Technical Reports Server (NTRS)

Macconochie, Ian O. (Inventor); Mikulas, Martin M., Jr. (Inventor); Pennington, Jack E. (Inventor); Kinkead, Rebecca L. (Inventor); Bryan, Charles F., Jr. (Inventor)

1988-01-01

A space spider crane for the movement, placement, and or assembly of various components on or in the vicinity of a space structure is described. As permanent space structures are utilized by the space program, a means will be required to transport cargo and perform various repair tasks. A space spider crane comprising a small central body with attached manipulators and legs fulfills this requirement. The manipulators may be equipped with constant pressure gripping end effectors or tools to accomplish various repair tasks. The legs are also equipped with constant pressure gripping end effectors to grip the space structure. Control of the space spider crane may be achieved either by computer software or a remotely situated human operator, who maintains visual contact via television cameras mounted on the space spider crane. One possible walking program consists of a parallel motion walking program whereby the small central body alternatively leans forward and backward relative to end effectors.

Dexterous Orbital Servicing System (DOSS)

NASA Technical Reports Server (NTRS)

Price, Charles R.; Berka, Reginald B.; Chladek, John T.

1994-01-01

The Dexterous Orbiter Servicing System (DOSS) is a dexterous robotic spaceflight system that is based on the manipulator designed as part of the Flight Telerobotics Servicer program for the Space Station Freedom and built during a 'technology capture' effort that was commissioned when the FTS was cancelled from the Space Station Freedom program. The FTS technology capture effort yielded one flight manipulator and the 1 g hydraulic simulator that had been designed as an integrated test tool and crew trainer. The DOSS concept was developed to satisfy needs of the telerobotics research community, the space shuttle, and the space station. As a flight testbed, DOSS would serve as a baseline reference for testing the performance of advanced telerobotics and intelligent robotics components. For shuttle, the DOSS, configured as a movable dexterous tool, would be used to provide operational flexibility for payload operations and contingency operations. As a risk mitigation flight demonstration, the DOSS would serve the International Space Station to characterize the end to end system performance of the Special Purpose Dexterous Manipulator performing assembly and maintenance tasks with actual ISSA orbital replacement units. Currently, the most likely entrance of the DOSS into spaceflight is a risk mitigation flight experiment for the International Space Station.

A virtual work space for both hands manipulation with coherency between kinesthetic and visual sensation

NASA Technical Reports Server (NTRS)

Ishii, Masahiro; Sukanya, P.; Sato, Makoto

1994-01-01

This paper describes the construction of a virtual work space for tasks performed by two handed manipulation. We intend to provide a virtual environment that encourages users to accomplish tasks as they usually act in a real environment. Our approach uses a three dimensional spatial interface device that allows the user to handle virtual objects by hand and be able to feel some physical properties such as contact, weight, etc. We investigated suitable conditions for constructing our virtual work space by simulating some basic assembly work, a face and fit task. We then selected the conditions under which the subjects felt most comfortable in performing this task and set up our virtual work space. Finally, we verified the possibility of performing more complex tasks in this virtual work space by providing simple virtual models and then let the subjects create new models by assembling these components. The subjects can naturally perform assembly operations and accomplish the task. Our evaluation shows that this virtual work space has the potential to be used for performing tasks that require two-handed manipulation or cooperation between both hands in a natural manner.

Traction-drive, seven-degree-of-freedom telerobot arm: A concept for manipulaton in space

NASA Technical Reports Server (NTRS)

Kuban, D. P.; Williams, D. M.

1987-01-01

As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation are presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance.

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).

Multifunctional picoliter droplet manipulation platform and its application in single cell analysis.

PubMed

Gu, Shu-Qing; Zhang, Yun-Xia; Zhu, Ying; Du, Wen-Bin; Yao, Bo; Fang, Qun

2011-10-01

We developed an automated and multifunctional microfluidic platform based on DropLab to perform flexible generation and complex manipulations of picoliter-scale droplets. Multiple manipulations including precise droplet generation, sequential reagent merging, and multistep solid-phase extraction for picoliter-scale droplets could be achieved in the present platform. The system precision in generating picoliter-scale droplets was significantly improved by minimizing the thermo-induced fluctuation of flow rate. A novel droplet fusion technique based on the difference of droplet interfacial tensions was developed without the need of special microchannel networks or external devices. It enabled sequential addition of reagents to droplets on demand for multistep reactions. We also developed an effective picoliter-scale droplet splitting technique with magnetic actuation. The difficulty in phase separation of magnetic beads from picoliter-scale droplets due to the high interfacial tension was overcome using ferromagnetic particles to carry the magnetic beads to pass through the phase interface. With this technique, multistep solid-phase extraction was achieved among picoliter-scale droplets. The present platform had the ability to perform complex multistep manipulations to picoliter-scale droplets, which is particularly required for single cell analysis. Its utility and potentials in single cell analysis were preliminarily demonstrated in achieving high-efficiency single-cell encapsulation, enzyme activity assay at the single cell level, and especially, single cell DNA purification based on solid-phase extraction.

Robotic Sample Manipulator for Handling Astromaterials Inside the Geolab Microgravity Glovebox

NASA Technical Reports Server (NTRS)

Bell, Mary S.; Calaway, M. J.; Evans, C. A.; Li,Z.; Tong, S.; Zhong, Y.; Dahiwala, R.; Wang, L.; Porter, F.

2013-01-01

Future human and robotic sample return missions will require isolation containment systems with strict protocols and procedures for reducing inorganic and organic contamination. Robotic handling and manipulation of astromaterials may be required for preliminary examination inside such an isolation containment system. In addition, examination of astromaterials in microgravity will require constant contact to secure samples during manipulation. The National Space Grant Foundation exploration habitat (XHab) academic innovative challenge 2012 administered through the NASA advanced exploration systems (AES) deep space habitat (DSH) project awarded funding to the University of Bridgeport team to develop an engineering design for tools to facilitate holding and handling geological samples for analysis in a microgravity glovebox environment. The Bridgeport XHab team developed a robotic arm system with a three-finger gripper that could manipulate geologic samples within the existing GeoLab glovebox integrated into NASA's DSH called the GeoLab Robotic Sample Manipulator (see fig. 1 and 2). This hardware was deployed and tested during the 2012 DSH mission operations tests [1].

A method for estimating the mass properties of a manipulator by measuring the reaction moments at its base

NASA Technical Reports Server (NTRS)

West, Harry; Papadopoulos, Evangelos; Dubowsky, Steven; Cheah, Hanson

1989-01-01

Emulating on earth the weightlessness of a manipulator floating in space requires knowledge of the manipulator's mass properties. A method for calculating these properties by measuring the reaction forces and moments at the base of the manipulator is described. A manipulator is mounted on a 6-DOF sensor, and the reaction forces and moments at its base are measured for different positions of the links as well as for different orientations of its base. A procedure is developed to calculate from these measurements some combinations of the mass properties. The mass properties identified are not sufficiently complete for computed torque and other dynamic control techniques, but do allow compensation for the gravitational load on the links, and for simulation of weightless conditions on a space emulator. The algorithm has been experimentally demonstrated on a PUMA 260 and used to measure the independent combinations of the 16 mass parameters of the base and three proximal links.

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.

Chaos motion in robot manipulators

NASA Technical Reports Server (NTRS)

Lokshin, A.; Zak, M.

1987-01-01

It is shown that a simple two-link planar manipulator exhibits a phenomenon of global instability in a subspace of its configuration space. A numerical example, as well as results of a graphic simulation, is given.

Real-space Wigner-Seitz Cells Imaging of Potassium on Graphite via Elastic Atomic Manipulation

PubMed Central

Yin, Feng; Koskinen, Pekka; Kulju, Sampo; Akola, Jaakko; Palmer, Richard E.

2015-01-01

Atomic manipulation in the scanning tunnelling microscopy, conventionally a tool to build nanostructures one atom at a time, is here employed to enable the atomic-scale imaging of a model low-dimensional system. Specifically, we use low-temperature STM to investigate an ultra thin film (4 atomic layers) of potassium created by epitaxial growth on a graphite substrate. The STM images display an unexpected honeycomb feature, which corresponds to a real-space visualization of the Wigner-Seitz cells of the close-packed surface K atoms. Density functional simulations indicate that this behaviour arises from the elastic, tip-induced vertical manipulation of potassium atoms during imaging, i.e. elastic atomic manipulation, and reflects the ultrasoft properties of the surface under strain. The method may be generally applicable to other soft e.g. molecular or biomolecular systems. PMID:25651973

Telerobotic control of a dextrous manipulator using master and six-DOF hand-controllers for space assembly and servicing tasks

NASA Technical Reports Server (NTRS)

O'Hara, John M.

1987-01-01

Two studies were conducted evaluating methods of controlling a telerobot; bilateral force reflecting master controllers and proportional rate six degrees of freedom (DOF) hand controllers. The first study compared the controllers on performance of single manipulator arm tasks, a peg-in-the-hole task, and simulated satellite orbital replacement unit changeout. The second study, a Space Station truss assembly task, required simultaneous operation of both manipulator arms (all 12 DOFs) and complex multiaxis slave arm movements. Task times were significantly longer and fewer errors were committed with the hand controllers. The hand controllers were also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers were rated significantly higher in physical workload. There were no significant differences in ratings of manipulator control quality.

Origins and demonstrations of electrons with orbital angular momentum

PubMed Central

Agrawal, Amit; Ercius, Peter A.; Grillo, Vincenzo; Herzing, Andrew A.; Harvey, Tyler R.; Linck, Martin; Pierce, Jordan S.

2017-01-01

The surprising message of Allen et al. (Allen et al. 1992 Phys. Rev. A 45, 8185 (doi:10.1103/PhysRevA.45.8185)) was that photons could possess orbital angular momentum in free space, which subsequently launched advancements in optical manipulation, microscopy, quantum optics, communications, many more fields. It has recently been shown that this result also applies to quantum mechanical wave functions describing massive particles (matter waves). This article discusses how electron wave functions can be imprinted with quantized phase vortices in analogous ways to twisted light, demonstrating that charged particles with non-zero rest mass can possess orbital angular momentum in free space. With Allen et al. as a bridge, connections are made between this recent work in electron vortex wave functions and much earlier works, extending a 175 year old tradition in matter wave vortices. This article is part of the themed issue ‘Optical orbital angular momentum’. PMID:28069765

Overall nadir view of ISS seen during flyaround

NASA Image and Video Library

2001-07-22

STS104-332-027 (21 July 2001) --- The International Space Station (ISS), just days after receiving the installment of the Quest airlock, was photographed by one the STS-104 astronauts during a fly-around of the orbital outpost. The survey occurred shortly after Atlantis' undocking. The Canadarm2 or Space Station Remote Manipulator System (SSRMS) appears to be pointed toward the new airlock on the station's starboard side. The STS-104 and Expedition Two crew's joint efforts in the past several days, in which the airlock was installed and other work was accomplished, marked the completion of the second phase of the station. Within the last year (beginning in July of 2000), 77 tons of hardware have been added to the complex, including the Zvezda module, the Z1 Truss Assembly, Pressurized Mating Adapter 3, the P6 Truss and its 240-foot long solar arrays, the U.S. laboratory Destiny, the Canadarm2 and finally the Quest airlock.

Overall nadir view of ISS seen during flyaround

NASA Image and Video Library

2001-07-22

STS104-332-026 (21 July 2001) --- The International Space Station (ISS), just days after receiving the installment of the Quest airlock, was photographed by one the STS-104 astronauts during a fly-around of the orbital outpost. The survey occurred shortly after Atlantis' undocking. The Canadarm2 or Space Station Remote Manipulator System (SSRMS) appears to be pointed toward the new airlock on the station's starboard side. The STS-104 and Expedition Two crew's joint efforts in the past several days, in which the airlock was installed and other work was accomplished, marked the completion of the second phase of the station. Within the last year (beginning in July of 2000), 77 tons of hardware have been added to the complex, including the Zvezda module, the Z1 Truss Assembly, Pressurized Mating Adapter 3, the P6 Truss and its 240-foot long solar arrays, the U.S. laboratory Destiny, the Canadarm2 and finally the Quest airlock.

The NASA/OAST telerobot testbed architecture

NASA Technical Reports Server (NTRS)

Matijevic, J. R.; Zimmerman, W. F.; Dolinsky, S.

1989-01-01

Through a phased development such as a laboratory-based research testbed, the NASA/OAST Telerobot Testbed provides an environment for system test and demonstration of the technology which will usefully complement, significantly enhance, or even replace manned space activities. By integrating advanced sensing, robotic manipulation and intelligent control under human-interactive supervision, the Testbed will ultimately demonstrate execution of a variety of generic tasks suggestive of space assembly, maintenance, repair, and telescience. The Testbed system features a hierarchical layered control structure compatible with the incorporation of evolving technologies as they become available. The Testbed system is physically implemented in a computing architecture which allows for ease of integration of these technologies while preserving the flexibility for test of a variety of man-machine modes. The development currently in progress on the functional and implementation architectures of the NASA/OAST Testbed and capabilities planned for the coming years are presented.

KSC-08pd0605

NASA Image and Video Library

2008-02-11

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the Special Purpose Dexterous Manipulator, known as Dextre, moves across the facility via an overhead crane to the payload canister at right for transfer to Launch Pad 39A. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station. Along with Canadarm2, which is called the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System. The three components have been designed to work together or independently. Dextre is part of the payload on space shuttle Endeavour's STS-123 mission, targeted for launch March 11. Photo courtesy of The Boeing Company

Intelligent Control of Flexible-Joint Robotic Manipulators

NASA Technical Reports Server (NTRS)

Colbaugh, R.; Gallegos, G.

1997-01-01

This paper considers the trajectory tracking problem for uncertain rigid-link. flexible.joint manipulators, and presents a new intelligent controller as a solution to this problem. The proposed control strategy is simple and computationally efficient, requires little information concerning either the manipulator or actuator/transmission models and ensures uniform boundedness of all signals and arbitrarily accurate task-space trajectory tracking.

Phase-space dependent critical gradient behavior of fast-ion transport due to Alfvén eigenmodes

DOE PAGES

Collins, C. S.; Heidbrink, W. W.; Podestà, M.; ...

2017-06-09

Experiments in the DIII-D tokamak show that many overlapping small-amplitude Alfv en eigenmodes (AEs) cause fast-ion transport to sharply increase above a critical threshold, leading to fast-ion density profile resilience and reduced fusion performance. The threshold is above the AE linear stability limit and varies between diagnostics that are sensitive to different parts of fast-ion phase-space. A comparison with theoretical analysis using the nova and orbit codes shows that, for the neutral particle diagnostic, the threshold corresponds to the onset of stochastic particle orbits due to wave-particle resonances with AEs in the measured region of phase space. We manipulated themore » bulk fast-ion distribution and instability behavior through variations in beam deposition geometry, and no significant differences in the onset threshold outside of measurement uncertainties were found, in agreement with the theoretical stochastic threshold analysis. Simulations using the `kick model' produce beam ion density gradients consistent with the empirically measured radial critical gradient and highlight the importance of including the energy and pitch dependence of the fast-ion distribution function in critical gradient models. The addition of electron cyclotron heating changes the types of AEs present in the experiment, comparatively increasing the measured fast-ion density and radial gradient. Our studies provide the basis for understanding how to avoid AE transport that can undesirably redistribute current and cause fast-ion losses, and the measurements are being used to validate AE-induced transport models that use the critical gradient paradigm, giving greater confidence when applied to ITER.« less

Phase-space dependent critical gradient behavior of fast-ion transport due to Alfvén eigenmodes

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

Collins, C. S.; Heidbrink, W. W.; Podestà, M.

Experiments in the DIII-D tokamak show that many overlapping small-amplitude Alfv en eigenmodes (AEs) cause fast-ion transport to sharply increase above a critical threshold, leading to fast-ion density profile resilience and reduced fusion performance. The threshold is above the AE linear stability limit and varies between diagnostics that are sensitive to different parts of fast-ion phase-space. A comparison with theoretical analysis using the nova and orbit codes shows that, for the neutral particle diagnostic, the threshold corresponds to the onset of stochastic particle orbits due to wave-particle resonances with AEs in the measured region of phase space. We manipulated themore » bulk fast-ion distribution and instability behavior through variations in beam deposition geometry, and no significant differences in the onset threshold outside of measurement uncertainties were found, in agreement with the theoretical stochastic threshold analysis. Simulations using the `kick model' produce beam ion density gradients consistent with the empirically measured radial critical gradient and highlight the importance of including the energy and pitch dependence of the fast-ion distribution function in critical gradient models. The addition of electron cyclotron heating changes the types of AEs present in the experiment, comparatively increasing the measured fast-ion density and radial gradient. Our studies provide the basis for understanding how to avoid AE transport that can undesirably redistribute current and cause fast-ion losses, and the measurements are being used to validate AE-induced transport models that use the critical gradient paradigm, giving greater confidence when applied to ITER.« less

The Current Status of the Space Station Biological Research Project: a Core Facility Enabling Multi-Generational Studies under Slectable Gravity Levels

NASA Astrophysics Data System (ADS)

Santos, O.

2002-01-01

The Space Station Biological Research Project (SSBRP) has developed a new plan which greatly reduces the development costs required to complete the facility. This new plan retains core capabilities while allowing for future growth. The most important piece of equipment required for quality biological research, the 2.5 meter diameter centrifuge capable of accommodating research specimen habitats at simulated gravity levels ranging from microgravity to 2.0 g, is being developed by NASDA, the Japanese space agency, for the SSBRP. This is scheduled for flight to the ISS in 2007. The project is also developing a multi-purpose incubator, an automated cell culture unit, and two microgravity habitat holding racks, currently scheduled for launch in 2005. In addition the Canadian Space Agency is developing for the project an insect habitat, which houses Drosophila melanogaster, and provides an internal centrifuge for 1 g controls. NASDA is also developing for the project a glovebox for the contained manipulation and analysis of biological specimens, scheduled for launch in 2006. This core facility will allow for experimentation on small plants (Arabidopsis species), nematode worms (C. elegans), fruit flies (Drosophila melanogaster), and a variety of microorganisms, bacteria, yeast, and mammalian cells. We propose a plan for early utilization which focuses on surveys of changes in gene expression and protein structure due to the space flight environment. In the future, the project is looking to continue development of a rodent habitat and a plant habitat that can be accommodated on the 2.5 meter centrifuge. By utilizing the early phases of the ISS to broadly answer what changes occur at the genetic and protein level of cells and organisms exposed to the ISS low earth orbit environment, we can generate interest for future experiments when the ISS capabilities allow for direct manipulation and intervention of experiments. The ISS continues to hold promise for high quality, long term, multi-generational biological studies with large sample sizes and appropriate controls.

KSC-07pd2871

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians help guide the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, into place for installation on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2863

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, is ready to be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station ISS. Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2870

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians help guide the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, into place for installation on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2866

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, is moved across the facility. The arm will be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

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.

A Study of Multi-Representation of Geometry Problem Solving with Virtual Manipulatives and Whiteboard System

ERIC Educational Resources Information Center

Hwang, Wu-Yuin; Su, Jia-Han; Huang, Yueh-Min; Dong, Jian-Jie

2009-01-01

In this paper, the development of an innovative Virtual Manipulatives and Whiteboard (VMW) system is described. The VMW system allowed users to manipulate virtual objects in 3D space and find clues to solve geometry problems. To assist with multi-representation transformation, translucent multimedia whiteboards were used to provide a virtual 3D…

An Android Research and Development Program.

DTIC Science & Technology

1983-03-01

reprogrammable multifunctional manipulator designed to move material, parts, tools, or special devices, through variable programmed motions for the performance...thesis: 1. An ’industrial robot’ is a [mechanized,] reprogrammable multifunctional manipulator designed to move material, parts, tools, or...insertion is also well defined in space. These manipulators are currently in use in the automobile industry, and two were were demonstrated by Kohol

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).

Space teleoperations technology for Space Station evolution

NASA Technical Reports Server (NTRS)

Reuter, Gerald J.

1990-01-01

Viewgraphs on space teleoperations technology for space station evolution are presented. Topics covered include: shuttle remote manipulator system; mobile servicing center functions; mobile servicing center technology; flight telerobotic servicer-telerobot; flight telerobotic servicer technology; technologies required for space station assembly; teleoperation applications; and technology needs for space station evolution.

Efficacy of preventive spinal manipulation for chronic low-back pain and related disabilities: a preliminary study.

PubMed

Descarreaux, Martin; Blouin, Jean-Sébastien; Drolet, Marc; Papadimitriou, Stanislas; Teasdale, Normand

2004-10-01

To document the potential role of maintenance chiropractic spinal manipulation to reduce overall pain and disability levels associated with chronic low-back conditions after an initial phase of intensive chiropractic treatments. Thirty patients with chronic nonspecific low-back pain were separated into 2 groups. The first group received 12 treatments in an intensive 1-month period but received no treatment in a subsequent 9-month period. For this group, a 4-week period preceding the initial phase of treatment was used as a control period to examine the sole effect of time on pain and disability levels. The second group received 12 treatments in an intensive 1-month period and also received maintenance spinal manipulation every 3 weeks for a 9-month follow-up period. Pain and disability levels were evaluated with a visual analog scale and a modified Oswestry questionnaire, respectively. The 1-month control period did not modify the pain and disability levels. For both groups, the pain and disability levels decreased after the intensive phase of treatments. Both groups maintained their pain scores at levels similar to the postintensive treatments throughout the follow-up period. For the disability scores, however, only the group that was given spinal manipulations during the follow-up period maintained their postintensive treatment scores. The disability scores of the other group went back to their pretreatment levels. Intensive spinal manipulation is effective for the treatment of chronic low back pain. This experiment suggests that maintenance spinal manipulations after intensive manipulative care may be beneficial to patients to maintain subjective postintensive treatment disability levels. Future studies, however, are needed to confirm the finding in a larger group of patients with chronic low-back pain.

International Space Station (ISS)

NASA Image and Video Library

2001-04-24

This is a Space Shuttle STS-100 mission onboard photograph. Astronaut Scott Parazynski totes a Direct Current Switching Unit while anchored on the end of the Canadian-built Remote Manipulator System (RMS) robotic arm. The RMS is in the process of moving Parazynski to the exterior of the Destiny laboratory (right foreground), where he will secure the spare unit, a critical part of the station's electrical system, to the stowage platform in case future crews will need it. Also in the photograph are the Italian-built Raffaello multipurpose Logistics Module (center) and the new Canadarm2 (lower right) or Space Station Remote Manipulator System.

Development of Japanese experiment module remote manipulator system

NASA Technical Reports Server (NTRS)

Matsueda, Tatsuo; Kuwao, Fumihiro; Motohasi, Shoichi; Okamura, Ryo

1994-01-01

National Space Development Agency of Japan (NASDA) is developing the Japanese Experiment Module (JEM), as its contribution to the International Space Station. The JEM consists of the pressurized module (PM), the exposed facility (EF), the experiment logistics module pressurized section (ELM-PS), the experiment logistics module exposed section (ELM-ES) and the Remote Manipulator System (RMS). The JEMRMS services for the JEM EF, which is a space experiment platform, consists of the Main Arm (MA), the Small Fine Arm (SFA) and the RMS console. The MA handles the JEM EF payloads, the SFA and the JEM element, such as ELM-ES.

Acoustic Liquid Manipulation Used to Enhance Electrochemical Processes

NASA Technical Reports Server (NTRS)

Oeftering, Richard C.

2005-01-01

Working in concert with the NASA Technology Transfer and Partnership Office, the Great Lakes Industrial Technology Center, and Alchemitron Corporation of Elgin, Illinois, the NASA Glenn Research Center has applied nonlinear acoustic principles to industrial applications. High-intensity ultrasonic beam techniques employ the effects of acoustic radiation pressure and acoustic streaming to manipulate the behavior of liquids. This includes propelling liquids, moving bubbles, and ejecting liquids as droplets and fountains. Since these effects can be accomplished without mechanical pumps or moving parts, we are exploring how these techniques could be used to manipulate liquids in space applications. Some of these acoustic techniques could be used both in normal Earth gravity and in the microgravity of space.

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.

Nanofluidics: A New Arena for Materials Science.

PubMed

Xu, Yan

2018-01-01

A significant growth of research in nanofluidics is achieved over the past decade, but the field is still facing considerable challenges toward the transition from the current physics-centered stage to the next application-oriented stage. Many of these challenges are associated with materials science, so the field of nanofluidics offers great opportunities for materials scientists to exploit. In addition, the use of unusual effects and ultrasmall confined spaces of well-defined nanofluidic environments would offer new mechanisms and technologies to manipulate nanoscale objects as well as to synthesize novel nanomaterials in the liquid phase. Therefore, nanofluidics will be a new arena for materials science. In the past few years, burgeoning progress has been made toward this trend, as overviewed in this article, including materials and methods for fabricating nanofluidic devices, nanofluidics with functionalized surfaces and functional material components, as well as nanofluidics for manipulating nanoscale materials and fabricating new nanomaterials. Many critical challenges as well as fantastic opportunities in this arena lie ahead. Some of those, which are of particular interest, are also discussed. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

KSC-07pd2867

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, is moved toward the base, in the background. The arm will be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2869

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians aid with the lowering of the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, toward the base. The arm will be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station (ISS). Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2864

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians adjust the cables of an overhead crane on the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre. The arm will be moved to and installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station ISS. Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

KSC-07pd2865

NASA Image and Video Library

2007-10-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility at NASA's Kennedy Space Center, technicians begin raising the starboard arm of the Special Purpose Dexterous Manipulator, known as Dextre, for its move across the facility. The arm will be installed on the base. Dextre is a sophisticated dual-armed robot, which is part of Canada's contribution to the International Space Station ISS. Along with Canadarm2, whose technical name is the Space Station Remote Manipulator System, and a moveable work platform called the Mobile Base System, these three elements form a robotic system called the Mobile Servicing System, or MSS. The three components have been designed to work together or independently. Dextre is part of the payload scheduled on mission STS-123, targeted to launch Feb. 14. Photo credit: NASA/George Shelton

Monostable superrepellent materials

NASA Astrophysics Data System (ADS)

Li, Yanshen; Quéré, David; Lv, Cunjing; Zheng, Quanshui

2017-03-01

Superrepellency is an extreme situation where liquids stay at the tops of rough surfaces, in the so-called Cassie state. Owing to the dramatic reduction of solid/liquid contact, such states lead to many applications, such as antifouling, droplet manipulation, hydrodynamic slip, and self-cleaning. However, superrepellency is often destroyed by impalement transitions triggered by environmental disturbances whereas inverse transitions are not observed without energy input. Here we show through controlled experiments the existence of a “monostable” region in the phase space of surface chemistry and roughness, where transitions from Cassie to (impaled) Wenzel states become spontaneously reversible. We establish the condition for observing monostability, which might guide further design and engineering of robust superrepellent materials.

Generation of Ramped Current Profiles in Relativistic Electron Beams Using Wakefields in Dielectric Structures

DOE PAGES

Andonian, G.; Barber, S.; O’Shea, F. H.; ...

2017-02-03

We show that temporal pulse tailoring of charged-particle beams is essential to optimize efficiency in collinear wakefield acceleration schemes. In this Letter, we demonstrate a novel phase space manipulation method that employs a beam wakefield interaction in a dielectric structure, followed by bunch compression in a permanent magnet chicane, to longitudinally tailor the pulse shape of an electron beam. This compact, passive, approach was used to generate a nearly linearly ramped current profile in a relativistic electron beam experiment carried out at the Brookhaven National Laboratory Accelerator Test Facility. Here, we report on these experimental results including beam and wakefieldmore » diagnostics and pulse profile reconstruction techniques.« less

Split-arm swinging: the effect of arm swinging manipulation on interlimb coordination during walking.

PubMed

Bondi, Moshe; Zeilig, Gabi; Bloch, Ayala; Fasano, Alfonso; Plotnik, Meir

2017-08-01

Human locomotion is defined by bilateral coordination of gait (BCG) and shared features with the fore-hindlimb coordination of quadrupeds. The objective of the present study is to explore the influence of arm swinging (AS) on BCG. Sixteen young, healthy individuals (eight women; eight right motor-dominant, eight left-motor dominant) participated. Participants performed 10 walking trials (2 min). In each of the trials AS was unilaterally manipulated (e.g., arm restriction, weight on the wrist), bilaterally manipulated, or not manipulated. The order of trials was random. Walking trials were performed on a treadmill. Gait kinematics were recorded by a motion capture system. Using feedback-controlled belt speed allowed the participants to walk at a self-determined gait speed. Effects of the manipulations were assessed by AS amplitudes and the phase coordination index (PCI), which quantifies the left-right anti-phased stepping pattern. Most of the AS manipulations caused an increase in PCI values (i.e., reduced lower limb coordination). Unilateral AS manipulation had a reciprocal effect on the AS amplitude of the other arm such that, for example, over-swinging of the right arm led to a decrease in the AS amplitude of the left arm. Side of motor dominance was not found to have a significant impact on PCI and AS amplitude. The present findings suggest that lower limb BCG is markedly influenced by the rhythmic AS during walking. It may thus be important for gait rehabilitation programs targeting BCG to take AS into account. NEW & NOTEWORTHY Control mechanisms for four-limb coordination in human locomotion are not fully known. To study the influence of arm swinging (AS) on bilateral coordination of the lower limbs during walking, we introduced a split-AS paradigm in young, healthy adults. AS manipulations caused deterioration in the anti-phased stepping pattern and impacted the AS amplitudes for the contralateral arm, suggesting that lower limb coordination is markedly influenced by the rhythmic AS during walking. Copyright © 2017 the American Physiological Society.

Holographic acoustic elements for manipulation of levitated objects.

PubMed

Marzo, Asier; Seah, Sue Ann; Drinkwater, Bruce W; Sahoo, Deepak Ranjan; Long, Benjamin; Subramanian, Sriram

2015-10-27

Sound can levitate objects of different sizes and materials through air, water and tissue. This allows us to manipulate cells, liquids, compounds or living things without touching or contaminating them. However, acoustic levitation has required the targets to be enclosed with acoustic elements or had limited manoeuvrability. Here we optimize the phases used to drive an ultrasonic phased array and show that acoustic levitation can be employed to translate, rotate and manipulate particles using even a single-sided emitter. Furthermore, we introduce the holographic acoustic elements framework that permits the rapid generation of traps and provides a bridge between optical and acoustical trapping. Acoustic structures shaped as tweezers, twisters or bottles emerge as the optimum mechanisms for tractor beams or containerless transportation. Single-beam levitation could manipulate particles inside our body for applications in targeted drug delivery or acoustically controlled micro-machines that do not interfere with magnetic resonance imaging.

Holographic acoustic elements for manipulation of levitated objects

NASA Astrophysics Data System (ADS)

Marzo, Asier; Seah, Sue Ann; Drinkwater, Bruce W.; Sahoo, Deepak Ranjan; Long, Benjamin; Subramanian, Sriram

2015-10-01

Sound can levitate objects of different sizes and materials through air, water and tissue. This allows us to manipulate cells, liquids, compounds or living things without touching or contaminating them. However, acoustic levitation has required the targets to be enclosed with acoustic elements or had limited manoeuvrability. Here we optimize the phases used to drive an ultrasonic phased array and show that acoustic levitation can be employed to translate, rotate and manipulate particles using even a single-sided emitter. Furthermore, we introduce the holographic acoustic elements framework that permits the rapid generation of traps and provides a bridge between optical and acoustical trapping. Acoustic structures shaped as tweezers, twisters or bottles emerge as the optimum mechanisms for tractor beams or containerless transportation. Single-beam levitation could manipulate particles inside our body for applications in targeted drug delivery or acoustically controlled micro-machines that do not interfere with magnetic resonance imaging.

Holographic acoustic elements for manipulation of levitated objects

PubMed Central

Marzo, Asier; Seah, Sue Ann; Drinkwater, Bruce W.; Sahoo, Deepak Ranjan; Long, Benjamin; Subramanian, Sriram

2015-01-01

Sound can levitate objects of different sizes and materials through air, water and tissue. This allows us to manipulate cells, liquids, compounds or living things without touching or contaminating them. However, acoustic levitation has required the targets to be enclosed with acoustic elements or had limited manoeuvrability. Here we optimize the phases used to drive an ultrasonic phased array and show that acoustic levitation can be employed to translate, rotate and manipulate particles using even a single-sided emitter. Furthermore, we introduce the holographic acoustic elements framework that permits the rapid generation of traps and provides a bridge between optical and acoustical trapping. Acoustic structures shaped as tweezers, twisters or bottles emerge as the optimum mechanisms for tractor beams or containerless transportation. Single-beam levitation could manipulate particles inside our body for applications in targeted drug delivery or acoustically controlled micro-machines that do not interfere with magnetic resonance imaging. PMID:26505138

Acoustical levitation for space processing. [weightless molten material manipulation

NASA Technical Reports Server (NTRS)

Wang, T. G.; Saffren, M. M.; Elleman, D. D.

1974-01-01

It is pointed out that many space-manufacturing processes will require the manipulation of weightless molten material within a container in such a way that the material does not touch the container wall. A description is given of an acoustical method which can be used for the positioning and shaping of any molten material including nonconductors such as glasses. The new approach makes use of an acoustical standing wave which is excited within an enclosure or resonator.

Benefits attained from space flight in pre-clinical evaluation of candidate drugs

NASA Astrophysics Data System (ADS)

Stodieck, Louis S.; Bateman, Ted; Ayers, Reed; Ferguson, Virginia; Simske, Steve

1998-01-01

Modern medicine has made great strides in recent decades. The promises of biotechnology and advances in gene identification and manipulation offer tremendous potential for treatment of disease. However, developing new drug therapies by biotechnology and pharmaceutical companies is still a very costly and time consuming process. One of the important milestones in drug development is the successful completion of preclinical evaluation. During this phase, drug candidates must be shown to be safe, yet effective as a treatment of the target disease or disorder. Critical for preclinical testing is the availability of biomedical test models that adequately mimic the target disease. A good model will 1) allow confident prediction of a drug's effects before expensive clinical trials are begun, 2) provide convincing data for use in an FDA new drug application and 3) minimize the time required for testing. Space flight may offer a completely unique and new set of biomedical models for use in pharmaceutical testing. This paper highlights some examples of recent experiments done in space to test new compounds for Chiron, (Emmeryville, CA) and discusses the importance of the International Space Station to greatly expand such commercial opportunities.

Efficient Computation Of Manipulator Inertia Matrix

NASA Technical Reports Server (NTRS)

Fijany, Amir; Bejczy, Antal K.

1991-01-01

Improved method for computation of manipulator inertia matrix developed, based on concept of spatial inertia of composite rigid body. Required for implementation of advanced dynamic-control schemes as well as dynamic simulation of manipulator motion. Motivated by increasing demand for fast algorithms to provide real-time control and simulation capability and, particularly, need for faster-than-real-time simulation capability, required in many anticipated space teleoperation applications.

Parametric study of fluid flow manipulation with piezoelectric macrofiber composite flaps

NASA Astrophysics Data System (ADS)

Sadeghi, O.; Tarazaga, P.; Stremler, M.; Shahab, S.

2017-04-01

Active Fluid Flow Control (AFFC) has received great research attention due to its significant potential in engineering applications. It is known that drag reduction, turbulence management, flow separation delay and noise suppression through active control can result in significantly increased efficiency of future commercial transport vehicles and gas turbine engines. In microfluidics systems, AFFC has mainly been used to manipulate fluid passing through the microfluidic device. We put forward a conceptual approach for fluid flow manipulation by coupling multiple vibrating structures through flow interactions in an otherwise quiescent fluid. Previous investigations of piezoelectric flaps interacting with a fluid have focused on a single flap. In this work, arrays of closely-spaced, free-standing piezoelectric flaps are attached perpendicular to the bottom surface of a tank. The coupling of vibrating flaps due to their interacting with the surrounding fluid is investigated in air (for calibration) and under water. Actuated flaps are driven with a harmonic input voltage, which results in bending vibration of the flaps that can work with or against the flow-induced bending. The size and spatial distribution of the attached flaps, and the phase and frequency of the input actuation voltage are the key parameters to be investigated in this work. Our analysis will characterize the electrohydroelastic dynamics of active, interacting flaps and the fluid motion induced by the system.

A method for generating double-ring-shaped vector beams

NASA Astrophysics Data System (ADS)

Huan, Chen; Xiao-Hui, Ling; Zhi-Hong, Chen; Qian-Guang, Li; Hao, Lv; Hua-Qing, Yu; Xu-Nong, Yi

2016-07-01

We propose a method for generating double-ring-shaped vector beams. A step phase introduced by a spatial light modulator (SLM) first makes the incident laser beam have a nodal cycle. This phase is dynamic in nature because it depends on the optical length. Then a Pancharatnam-Berry phase (PBP) optical element is used to manipulate the local polarization of the optical field by modulating the geometric phase. The experimental results show that this scheme can effectively create double-ring-shaped vector beams. It provides much greater flexibility to manipulate the phase and polarization by simultaneously modulating the dynamic and the geometric phases. Project supported by the National Natural Science Foundation of China (Grant No. 11547017), the Hubei Engineering University Research Foundation, China (Grant No. z2014001), and the Natural Science Foundation of Hubei Province, China (Grant No. 2014CFB578).

Spoof surface plasmon polaritons excitation and wavefront control by Pancharatnam–Berry phase manipulating metasurface

NASA Astrophysics Data System (ADS)

Meng, Yueyu; Ma, Hua; Li, Yongfeng; Feng, Mingde; Wang, Jiafu; Li, Zhiqiang; Qu, Shaobo

2018-05-01

Realizing fine control of surface plasmon polaritons (SPPs) and spoof surface plasmon polaritons (SSPPs) is highly desired in many integrated photonic and microwave applications, but the flexibility to control the wavefront of SPPs and SSPPs still need addressing. In this paper, a Pancharatnam–Berry (PB) phase manipulating metasurface (PMM) was designed to achieve SSPPs excitation and wavefront control. Under circular polarization (CP) incidence, simply by designing the rotation angle of the unit cells the reflection phase spatial distribution can be manipulated. By means of different phase profiles on the 2D unit cells array, the SSPPs can be excited with various wavefront shapes, without the need of special excitation structure pattern. Meanwhile, a plasmonic metal is also designed to support SSPPs with both TE and TM polarizations, which can efficiently guide out the energies from the input CP waves. As a proof of concept, a PB PMM composed of N-shape metallic structure was designed. Through designing the rotation of the unit cells, two typical phase profiles were designed to excite SSPPs in arbitrary slant direction or focusing. This scheme could be used to achieve SSPPs excitation with many other wavefront shapes, and would also enable promising applications in other spectra.

The influence of scoring targets and outer-floaters on attacking and defending team dispersion, shape and creation of space during small-sided soccer games.

PubMed

Castellano, Julen; Silva, Pedro; Usabiaga, Oidui; Barreira, Daniel

2016-06-01

The effect of altered game formats on team performances during soccer practice can be harnessed by coaches to stimulate specific tactical behaviours. The aim of the present study was to analyse the influence of using (i) small goals [SG], (ii) goalkeepers [7G] and (iii) floaters [7GF] on the dispersion, shape and available space of teams during small-sided games (SSGs). Twenty-four male soccer players were distributed into four teams composed of five players, two goalkeepers and two floaters that performed six SSG bouts of 6 min, interspersed with 6 min of passive recovery. Offensive and defensive phases were also analysed separately in order to verify the preservation of basic principles of attacking (teams more stretched to create free space) and defending (teams more compact to tie-up space) during SSGs. The variables used to characterize the collective behaviour were: length [L], width [W], team shape [Sh], and team separateness [TS]. Results revealed that the teams showed different collective behaviours depending on SSG format and a playing phase: a) L and W were higher in attack than in defence in all SSGs; b) team shapes were more elongated in defence in all SSGs except SG; c) the space separating players from their closest opponents (TS) was shorter in 7G; and d) SG and 7GF elicited greater defensive openness due to increased team width. The results suggest that manipulating task constraints, such as goal size, presence or absence of goalkeepers and floaters can be harnessed by coaches to shape distinct team tactical behaviours in SSGs while preserving the basic principles of attacking and defending.

The influence of scoring targets and outer-floaters on attacking and defending team dispersion, shape and creation of space during small-sided soccer games

PubMed Central

Silva, Pedro; Usabiaga, Oidui; Barreira, Daniel

2016-01-01

Abstract The effect of altered game formats on team performances during soccer practice can be harnessed by coaches to stimulate specific tactical behaviours. The aim of the present study was to analyse the influence of using (i) small goals [SG], (ii) goalkeepers [7G] and (iii) floaters [7GF] on the dispersion, shape and available space of teams during small-sided games (SSGs). Twenty-four male soccer players were distributed into four teams composed of five players, two goalkeepers and two floaters that performed six SSG bouts of 6 min, interspersed with 6 min of passive recovery. Offensive and defensive phases were also analysed separately in order to verify the preservation of basic principles of attacking (teams more stretched to create free space) and defending (teams more compact to tie-up space) during SSGs. The variables used to characterize the collective behaviour were: length [L], width [W], team shape [Sh], and team separateness [TS]. Results revealed that the teams showed different collective behaviours depending on SSG format and a playing phase: a) L and W were higher in attack than in defence in all SSGs; b) team shapes were more elongated in defence in all SSGs except SG; c) the space separating players from their closest opponents (TS) was shorter in 7G; and d) SG and 7GF elicited greater defensive openness due to increased team width. The results suggest that manipulating task constraints, such as goal size, presence or absence of goalkeepers and floaters can be harnessed by coaches to shape distinct team tactical behaviours in SSGs while preserving the basic principles of attacking and defending. PMID:28149378

Hot Electrons Regain Coherence in Semiconducting Nanowires

NASA Astrophysics Data System (ADS)

Reiner, Jonathan; Nayak, Abhay Kumar; Avraham, Nurit; Norris, Andrew; Yan, Binghai; Fulga, Ion Cosma; Kang, Jung-Hyun; Karzig, Toesten; Shtrikman, Hadas; Beidenkopf, Haim

2017-04-01

The higher the energy of a particle is above equilibrium, the faster it relaxes because of the growing phase space of available electronic states it can interact with. In the relaxation process, phase coherence is lost, thus limiting high-energy quantum control and manipulation. In one-dimensional systems, high relaxation rates are expected to destabilize electronic quasiparticles. Here, we show that the decoherence induced by relaxation of hot electrons in one-dimensional semiconducting nanowires evolves nonmonotonically with energy such that above a certain threshold hot electrons regain stability with increasing energy. We directly observe this phenomenon by visualizing, for the first time, the interference patterns of the quasi-one-dimensional electrons using scanning tunneling microscopy. We visualize the phase coherence length of the one-dimensional electrons, as well as their phase coherence time, captured by crystallographic Fabry-Pèrot resonators. A remarkable agreement with a theoretical model reveals that the nonmonotonic behavior is driven by the unique manner in which one-dimensional hot electrons interact with the cold electrons occupying the Fermi sea. This newly discovered relaxation profile suggests a high-energy regime for operating quantum applications that necessitate extended coherence or long thermalization times, and may stabilize electronic quasiparticles in one dimension.

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.

Simulation of pattern and defect detection in periodic amplitude and phase structures using photorefractive four-wave mixing

NASA Astrophysics Data System (ADS)

Nehmetallah, Georges; Banerjee, Partha; Khoury, Jed

2015-03-01

The nonlinearity inherent in four-wave mixing in photorefractive (PR) materials is used for adaptive filtering. Examples include script enhancement on a periodic pattern, scratch and defect cluster enhancement, periodic pattern dislocation enhancement, etc. through intensity filtering image manipulation. Organic PR materials have large space-bandwidth product, which makes them useful in adaptive filtering techniques in quality control systems. For instance, in the case of edge enhancement, phase conjugation via four-wave mixing suppresses the low spatial frequencies of the Fourier spectrum of an aperiodic image and consequently leads to image edge enhancement. In this work, we model, numerically verify, and simulate the performance of a four wave mixing setup used for edge, defect and pattern detection in periodic amplitude and phase structures. The results show that this technique successfully detects the slightest defects clearly even with no enhancement. This technique should facilitate improvements in applications such as image display sharpness utilizing edge enhancement, production line defect inspection of fabrics, textiles, e-beam lithography masks, surface inspection, and materials characterization.

Attractive design: an elution solvent optimization platform for magnetic-bead-based fractionation using digital microfluidics and design of experiments.

PubMed

Lafrenière, Nelson M; Mudrik, Jared M; Ng, Alphonsus H C; Seale, Brendon; Spooner, Neil; Wheeler, Aaron R

2015-04-07

There is great interest in the development of integrated tools allowing for miniaturized sample processing, including solid phase extraction (SPE). We introduce a new format for microfluidic SPE relying on C18-functionalized magnetic beads that can be manipulated in droplets in a digital microfluidic platform. This format provides the opportunity to tune the amount (and potentially the type) of stationary phase on-the-fly, and allows the removal of beads after the extraction (to enable other operations in same device-space), maintaining device reconfigurability. Using the new method, we employed a design of experiments (DOE) operation to enable automated on-chip optimization of elution solvent composition for reversed phase SPE of a model system. Further, conditions were selected to enable on-chip fractionation of multiple analytes. Finally, the method was demonstrated to be useful for online cleanup of extracts from dried blood spot (DBS) samples. We anticipate this combination of features will prove useful for separating a wide range of analytes, from small molecules to peptides, from complex matrices.

Microstructural Control via Copious Nucleation Manipulated by In Situ Formed Nucleants: Large-Sized and Ductile Metallic Glass Composites.

PubMed

Song, Wenli; Wu, Yuan; Wang, Hui; Liu, Xiongjun; Chen, Houwen; Guo, Zhenxi; Lu, Zhaoping

2016-10-01

A novel strategy to control the precipitation behavior of the austenitic phase, and to obtain large-sized, transformation-induced, plasticity-reinforced bulk metallic glass matrix composites, with good tensile properties, is proposed. By inducing heterogeneous nucleation of the transformable reinforcement via potent nucleants formed in situ, the characteristics of the austenitic phase are well manipulated. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Robonaut: A Robotic Astronaut Assistant

NASA Technical Reports Server (NTRS)

Ambrose, Robert O.; Diftler, Myron A.

2001-01-01

NASA's latest anthropomorphic robot, Robonaut, has reached a milestone in its capability. This highly dexterous robot, designed to assist astronauts in space, is now performing complex tasks at the Johnson Space Center that could previously only be carried out by humans. With 43 degrees of freedom, Robonaut is the first humanoid built for space and incorporates technology advances in dexterous hands, modular manipulators, lightweight materials, and telepresence control systems. Robonaut is human size, has a three degree of freedom (DOF) articulated waist, and two, seven DOF arms, giving it an impressive work space for interacting with its environment. Its two, five fingered hands allow manipulation of a wide range of tools. A pan/tilt head with multiple stereo camera systems provides data for both teleoperators and computer vision systems.

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.

Conceptual design of a mobile remote manipulator system

NASA Technical Reports Server (NTRS)

Bush, H. G.; Mikulas, M. M., Jr.; Wallsom, R. E.; Jensen, J. K.

1984-01-01

A mobile remote manipulator system has been identified as a necessary device for space station. A conceptual design for an MRMS is presented which features (1) tracks on the MRMS and guide pins only on the truss structure, (2) a push/pull drive mechanism which rotates to permit movement in four directions, and (3) spacecrane and mobile foot restraint manipulators (or arms). Operational and design features of the MRMS elements are described and illustrated. Concepts are also presented which permit rotating the operational plane of the MRMS through 90 deg. Such a system has been found to have great utility for initial space station construction, maintenance and repair, and to provide a construction capability for future station growth or large spacecraft assembly and/or servicing.

Feasibility of remotely manipulated welding in space: A step in the development of novel joining technologies

NASA Technical Reports Server (NTRS)

Masubuchi, K.; Agapakis, J. E.; Debiccari, A.; Vonalt, C.

1985-01-01

A six month research program entitled Feasibility of Remotely Manipulated Welding in Space - A Step in the Development of Novel Joining Technologies is performed at the Massachusetts Institute of Technology for the Office of Space Science and Applications, NASA, under Contract No. NASW-3740. The work is performed as a part of the Innovative Utilization of the Space Station Program. The final report from M.I.T. was issued in September 1983. This paper presents a summary of the work performed under this contract. The objective of this research program is to initiate research for the development of packaged, remotely controlled welding systems for space construction and repair. The research effort includes the following tasks: (1) identification of probable joining tasks in space; (2) identification of required levels of automation in space welding tasks; (3) development of novel space welding concepts; (4) development of recommended future studies; and (5) preparation of the final report.

Electric-Field Control of Oxygen Vacancies and Magnetic Phase Transition in a Cobaltite/Manganite Bilayer

NASA Astrophysics Data System (ADS)

Cui, B.; Song, C.; Li, F.; Zhong, X. Y.; Wang, Z. C.; Werner, P.; Gu, Y. D.; Wu, H. Q.; Saleem, M. S.; Parkin, S. S. P.; Pan, F.

2017-10-01

Manipulation of oxygen vacancies (VO ) in single oxide layers by varying the electric field can result in significant modulation of the ground state. However, in many oxide multilayers with strong application potentials, e.g., ferroelectric tunnel junctions and solid-oxide fuel cells, understanding VO behavior in various layers under an applied electric field remains a challenge, owing to complex VO transport between different layers. By sweeping the external voltage, a reversible manipulation of VO and a corresponding fixed magnetic phase transition sequence in cobaltite/manganite (SrCoO3 -x/La0.45Sr0.55MnO3 -y ) heterostructures are reported. The magnetic phase transition sequence confirms that the priority of electric-field-induced VO formation or annihilation in the complex bilayer system is mainly determined by the VO formation energies and Gibbs free-energy differences, which is supported by theoretical analysis. We not only realize a reversible manipulation of the magnetic phase transition in an oxide bilayer but also provide insight into the electric-field control of VO engineering in heterostructures.

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.

Autonomous Mechanical Assembly on the Space Shuttle: An Overview

NASA Technical Reports Server (NTRS)

Raibert, M. H.

1979-01-01

The space shuttle will be equipped with a pair of 50 ft. manipulators used to handle payloads and to perform mechanical assembly operations. Although current plans call for these manipulators to be operated by a human teleoperator. The possibility of using results from robotics and machine intelligence to automate this shuttle assembly system was investigated. The major components of an autonomous mechanical assembly system are examined, along with the technology base upon which they depend. The state of the art in advanced automation is also assessed.

Command and Telemetry Latency Effects on Operator Performance during International Space Station Robotics Operations

NASA Technical Reports Server (NTRS)

Currie, Nancy J.; Rochlis, Jennifer

2004-01-01

International Space Station (ISS) operations will require the on-board crew to perform numerous robotic-assisted assembly, maintenance, and inspection activities. Current estimates for some robotically performed maintenance timelines are disproportionate and potentially exceed crew availability and duty times. Ground-based control of the ISS robotic manipulators, specifically the Special Purpose Dexterous Manipulator (SPDM), is being examined as one potential solution to alleviate the excessive amounts of crew time required for extravehicular robotic maintenance and inspection tasks.

Electromagnetic fasteners

DOEpatents

Crane, Randolph W.; Marts, Donna J.

1994-11-01

An electromagnetic fastener for manipulating objects in space uses the matic attraction of various metals. An end effector is attached to a robotic manipulating system having an electromagnet such that when current is supplied to the electromagnet, the object is drawn and affixed to the end effector, and when the current is withheld, the object is released. The object to be manipulated includes a multiplicity of ferromagnetic patches at various locations to provide multiple areas for the effector on the manipulator to become affixed to the object. The ferromagnetic patches are sized relative to the object's geometry and mass.

Electromagnetic fasteners

DOEpatents

Crane, Randolph W.; Marts, Donna J.

1994-01-01

An electromagnetic fastener for manipulating objects in space uses the matic attraction of various metals. An end effector is attached to a robotic manipulating system having an electromagnet such that when current is supplied to the electromagnet, the object is drawn and affixed to the end effector, and when the current is withheld, the object is released. The object to be manipulated includes a multiplicity of ferromagnetic patches at various locations to provide multiple areas for the effector on the manipulator to become affixed to the object. The ferromagnetic patches are sized relative to the object's geometry and mass.

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.

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.

Space robotics in Japan

NASA Technical Reports Server (NTRS)

Whittaker, William; Lowrie, James W.; Mccain, Harry; Bejczy, Antal; Sheridan, Tom; Kanade, Takeo; Allen, Peter

1994-01-01

Japan has been one of the most successful countries in the world in the realm of terrestrial robot applications. The panel found that Japan has in place a broad base of robotics research and development, ranging from components to working systems for manufacturing, construction, and human service industries. From this base, Japan looks to the use of robotics in space applications and has funded work in space robotics since the mid-1980's. The Japanese are focusing on a clear image of what they hope to achieve through three objectives for the 1990's: developing long-reach manipulation for tending experiments on Space Station Freedom, capturing satellites using a free-flying manipulator, and surveying part of the moon with a mobile robot. This focus and a sound robotics infrastructure is enabling the young Japanese space program to develop relevant systems for extraterrestrial robotics applications.

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.

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.

DYMAFLEX: DYnamic Manipulation FLight EXperiment

DTIC Science & Technology

2013-09-03

thrust per nozzle and minimize propellant mass and tank mass. This study compared carbon dioxide, nitrous oxide, and R134-A. These results were...equations of mo- tion of a space manipulator, showing their top- level, matrix- vector representation to be of iden- tical form to those of a fixed-base...the system inertia matrix, q is the po- sition state vector (consisting of the manipulator joint angles θ, spacecraft attitude quaternion, and

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

View of SSRMS during Expedition Six

NASA Image and Video Library

2003-03-19

ISS006-E-39746 (19 March 2003) --- Backdropped against the blackness of space, the Space Station Remote Manipulator System (SSRMS) or Canadarm2 is pictured in this digital still camera’s view taken from the International Space Station (ISS).

The 23rd Aerospace Mechanisms Symposium

NASA Technical Reports Server (NTRS)

1989-01-01

Technological areas covered include space lubrication, bearings, aerodynamic devices, spacecraft latches, deployment, positioning, and pointing. Devices for Space Station docking and manipulator and teleoperator mechanisms are also described.

Stanford Aerospace Research Laboratory research overview

NASA Technical Reports Server (NTRS)

Ballhaus, W. L.; Alder, L. J.; Chen, V. W.; Dickson, W. C.; Ullman, M. A.

1993-01-01

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator.

Control and measurement of the phase behavior of aqueous solutions using microfluidics

PubMed Central

Shim, Jung-uk; Cristobal, Galder; Link, Darren R.; Thorsen, Todd; Jia, Yanwei; Piattelli, Katie; Fraden, Seth

2008-01-01

A microfluidic device denoted the Phase Chip has been designed to measure and manipulate the phase diagram of multi-component fluid mixtures. The Phase Chip exploits the permeation of water through poly(dimethylsiloxane) (PDMS) in order to controllably vary the concentration of solutes in aqueous nanoliter volume microdrops stored in wells. The permeation of water in the Phase Chip is modeled using the diffusion equation and good agreement between experiment and theory is obtained. The Phase Chip operates by first creating drops of the water/solute mixture whose composition varies sequentially. Next, drops are transported down channels and guided into storage wells using surface tension forces. Finally, the solute concentration of each stored drop is simultaneously varied and measured. Two applications of the Phase Chip are presented. First, the phase diagram of a polymer/salt mixture is measured on-chip and validated off-chip and second, protein crystallization rates are enhanced through the manipulation of the kinetics of nucleation and growth. PMID:17580868

Phase control of squeezed state in double electromagnetically induced transparency system with a loop-transition structure

NASA Astrophysics Data System (ADS)

Li, Yuan; Zhou, Yusheng; Wang, Yong; Ling, Qiang; Chen, Bing; Dou, Yan; Zhang, Wei; Gao, Weiqing; Guo, Zhiqiang; Zhang, Junxiang

2018-03-01

We theoretically study the squeezed probe light passing through a double electromagnetically induced transparency (DEIT) system, in which a microwave field and two coupling lights drive a loop transition. It is shown that the output squeezing can be maintained in both two transparency windows of DEIT, and it can also be manipulated by the relative phase of the three driving fields. The influence of the intensity of applied fields and the optical depth of atoms on the squeezing is also investigated. This study offers possibilities to manipulate the squeezing propagation in atomic media by the phase of electromagnetic fields.

The development of the Canadian Mobile Servicing System Kinematic Simulation Facility

NASA Technical Reports Server (NTRS)

Beyer, G.; Diebold, B.; Brimley, W.; Kleinberg, H.

1989-01-01

Canada will develop a Mobile Servicing System (MSS) as its contribution to the U.S./International Space Station Freedom. Components of the MSS will include a remote manipulator (SSRMS), a Special Purpose Dexterous Manipulator (SPDM), and a mobile base (MRS). In order to support requirements analysis and the evaluation of operational concepts related to the use of the MSS, a graphics based kinematic simulation/human-computer interface facility has been created. The facility consists of the following elements: (1) A two-dimensional graphics editor allowing the rapid development of virtual control stations; (2) Kinematic simulations of the space station remote manipulators (SSRMS and SPDM), and mobile base; and (3) A three-dimensional graphics model of the space station, MSS, orbiter, and payloads. These software elements combined with state of the art computer graphics hardware provide the capability to prototype MSS workstations, evaluate MSS operational capabilities, and investigate the human-computer interface in an interactive simulation environment. The graphics technology involved in the development and use of this facility is described.

A Transportable Gravity Gradiometer Based on Atom Interferometry

NASA Technical Reports Server (NTRS)

Yu, Nan; Thompson, Robert J.; Kellogg, James R.; Aveline, David C.; Maleki, Lute; Kohel, James M.

2010-01-01

A transportable atom interferometer-based gravity gradiometer has been developed at JPL to carry out measurements of Earth's gravity field at ever finer spatial resolutions, and to facilitate high-resolution monitoring of temporal variations in the gravity field from ground- and flight-based platforms. Existing satellite-based gravity missions such as CHAMP and GRACE measure the gravity field via precise monitoring of the motion of the satellites; i.e. the satellites themselves function as test masses. JPL's quantum gravity gradiometer employs a quantum phase measurement technique, similar to that employed in atomic clocks, made possible by recent advances in laser cooling and manipulation of atoms. This measurement technique is based on atomwave interferometry, and individual laser-cooled atoms are used as drag-free test masses. The quantum gravity gradiometer employs two identical atom interferometers as precision accelerometers to measure the difference in gravitational acceleration between two points (Figure 1). By using the same lasers for the manipulation of atoms in both interferometers, the accelerometers have a common reference frame and non-inertial accelerations are effectively rejected as common mode noise in the differential measurement of the gravity gradient. As a result, the dual atom interferometer-based gravity gradiometer allows gravity measurements on a moving platform, while achieving the same long-term stability of the best atomic clocks. In the laboratory-based prototype (Figure 2), the cesium atoms used in each atom interferometer are initially collected and cooled in two separate magneto-optic traps (MOTs). Each MOT, consisting of three orthogonal pairs of counter-propagating laser beams centered on a quadrupole magnetic field, collects up to 10(exp 9) atoms. These atoms are then launched vertically as in an atom fountain by switching off the magnetic field and introducing a slight frequency shift between pairs of lasers to create a moving rest frame for the trapped atoms. While still in this moving-frame molasses, the laser frequencies are further detuned from the atomic resonance (while maintaining this relative frequency shift) to cool the atom cloud's temperature to 2 K or below, corresponding to an rms velocity of less than 2 cm/s. After launch, the cold atoms undergo further state and velocity selection to prepare for atom interferometry. The atom interferometers are then realized using laser-induced stimulated Raman transitions to perform the necessary manipulations of each atom, and the resulting interferometer phase is measured using laser-induced fluorescence for state-normalized detection. More than 20 laser beams with independent controls of frequency, phase, and intensity are required for this measurement sequence. This instrument can facilitate the study of Earth's gravitational field from surface and air vehicles, as well as from space by allowing gravity mapping from a low-cost, single spacecraft mission. In addition, the operation of atom interferometer-based instruments in space offers greater sensitivity than is possible in terrestrial instruments due to the much longer interrogation times available in the microgravity environment. A space-based quantum gravity gradiometer has the potential to achieve sensitivities similar to the GRACE mission at long spatial wavelengths, and will also have resolution similar to GOCE for measurement at shorter length scales.

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.

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.

Definition of satellite servicing technology development missions for early space stations. Volume 2: Technical

NASA Technical Reports Server (NTRS)

1983-01-01

Early space station accommodation, build-up of space station manipulator capability, on-orbit spacecraft assembly test and launch, large antenna structure deployment, service/refurbish satellite, and servicing of free-flying materials processing platform are discussed.

New Factorization Techniques and Fast Serial and Parrallel Algorithms for Operational Space Control of Robot Manipulators

NASA Technical Reports Server (NTRS)

Fijany, Amir; Djouani, Karim; Fried, George; Pontnau, Jean

1997-01-01

In this paper a new factorization technique for computation of inverse of mass matrix, and the operational space mass matrix, as arising in implementation of the operational space control scheme, is presented.

KSC-04PD-2687

NASA Technical Reports Server (NTRS)

2004-01-01

KENNEDY SPACE CENTER, FLA. A shipping container transporting part of the new Orbiter Boom Sensor System (OBSS) is delivered by truck to the Remote Manipulator System lab in the Vehicle Assembly Building (VAB). Once the entire structure has arrived, the OBSS will be assembled and undergo final checkout and testing in the lab prior to being transferred to the Orbiter Processing Facility (OPF) for installation on Space Shuttle Discovery. The 50-foot-long OBSS will be attached to the Remote Manipulator System, or Shuttle arm, and is one of the new safety measures for Return to Flight, equipping the orbiter with cameras and laser systems to inspect the Shuttle's Thermal Protection System while in space. Discovery is slated to fly mission STS-114 once Space Shuttle launches resume. The launch planning window is May 12 to June 3, 2005.

Simulation study on dynamics model of two kinds of on-orbit soft-contact mechanism

NASA Astrophysics Data System (ADS)

Ye, X.; Dong, Z. H.; Yang, F.

2018-05-01

Aiming at the problem that the operating conditions of the space manipulator is harsh and the space manipulator could not bear the large collision momentum, this paper presents a new concept and technical method, namely soft contact technology. Based on ADAMS dynamics software, this paper compares and simulates the mechanism model of on-orbit soft-contact mechanism based on the bionic model and the integrated double joint model. The main purpose is to verify the path planning ability and the momentum buffering ability based on the different design concept mechanism. The simulation results show that both the two mechanism models have the path planning function before the space target contact, and also has the momentum buffer and controllability during the space target contact process.

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.

Human factor roles in design of teleoperator systems

NASA Technical Reports Server (NTRS)

Janow, C.; Malone, T. B.

1973-01-01

Teleoperator systems are considered, giving attention to types of teleoperators, a manned space vehicle attached manipulator, a free-flying teleoperator, a surface exploration roving vehicle, the human factors role in total system design, the manipulator system, the sensor system, the communication system, the control system, and the mobility system. The role of human factors in the development of teleoperator systems is also discussed, taking into account visual systems, an operator control station, and the manipulators.

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

NASA Technical Reports Server (NTRS)

Lee, Sukhan; Kim, Sungbok

1990-01-01

Dual-arm dynamic operation quality measures are presented which quantify the efficiency and capability of generating Cartesian accelerations by two cooperative arms based on the analysis of dual-arm dynamic interactions. Dual-arm dynamic manipulability is defined as the efficiency of generating Cartesian accelerations under the dynamic and kinematic interactions between individual arms and an object under manipulation. The analysis of dual-arm dynamic interactions is based on the so-called Cartesian space agent model of an arm, which represents an individual arm as a force source acting upon a point mass with the effective Cartesian space arm dynamics and an environment or an object under manipulation. The Cartesian space agent model of an arm makes it possible to derive the dynamic and kinematic constraints involved in the transport, assembly and grasping modes of dual-arm cooperation. A task-oriented operational quality measure, (TOQd) is defined by evaluating dual-arm dynamic manipulability in terms of given task requirements. TOQd is used in dual-arm joint configuration optimization. Simulation results are shown. A complete set of forward dynamic equations for a dual-arm system is derived, and dual-arm dynamic operational quality measures for various modes of dual-arm cooperation allowing sliding contacts are established.

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.

The Cutplane - A tool for interactive solid modeling

NASA Technical Reports Server (NTRS)

Edwards, Laurence; Kessler, William; Leifer, Larry

1988-01-01

A geometric modeling system which incorporates a new concept for intuitively and unambiguously specifying and manipulating points or features in three dimensional space is presented. The central concept, the Cutplane, consists of a plane that moves through space under control of a mouse or similar input device. The intersection of the plane and any object is highlighted, and only this highlighted section can be selected for manipulation. Selection is accomplished with a crosshair that is constrained to remain within the plane, so that the relationship between the crosshair and the feature of interest is immediately evident. Although the idea of a section view is not new, previously it has been used as a way to reveal hidden structure, not as a means of manipulating objects or indicating spatial position, as is proposed here.

Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.

1989-01-01

This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Jain, A.; Kreutz-Delgado, K.

1991-01-01

A recently developed spatial operator algebra for manipulator modeling, control, and trajectory design is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and for control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics.

Tools and Functions of Reconfigurable Colloidal Assembly.

PubMed

Solomon, Michael J

2018-02-19

We review work in reconfigurable colloidal assembly, a field in which rapid, back-and-forth transitions between the equilibrium states of colloidal self-assembly are accomplished by dynamic manipulation of the size, shape, and interaction potential of colloids, as well as the magnitude and direction of the fields applied to them. It is distinguished from the study of colloidal phase transitions by the centrality of thermodynamic variables and colloidal properties that are time switchable; by the applicability of these changes to generate transitions in assembled colloids that may be spatially localized; and by its incorporation of the effects of generalized potentials due to, for example, applied electric and magnetic fields. By drawing upon current progress in the field, we propose a matrix classification of reconfigurable colloidal systems based on the tool used and function performed by reconfiguration. The classification distinguishes between the multiple means by which reconfigurable assembly can be accomplished (i.e., the tools of reconfiguration) and the different kinds of structural transitions that can be achieved by it (i.e., the functions of reconfiguration). In the first case, the tools of reconfiguration can be broadly classed as (i) those that control the colloidal contribution to the system entropy-as through volumetric and/or shape changes of the particles; (ii) those that control the internal energy of the colloids-as through manipulation of colloidal interaction potentials; and (iii) those that control the spatially resolved potential energy that is imposed on the colloids-as through the introduction of field-induced phoretic mechanisms that yield colloidal displacement and accumulation. In the second case, the functions of reconfiguration include reversible: (i) transformation between different phases-including fluid, cluster, gel, and crystal structures; (ii) manipulation of the spacing between colloids in crystals and clusters; and (iii) translation, rotation, or shape-change of finite-size objects self-assembled from colloids. With this classification in hand, we correlate the current limits on the spatiotemporal scales for reconfigurable colloidal assembly and identify a set of future research challenges.

Manipulation of electronic phases in Au-nanodots-decorated manganite films by laser illumination

NASA Astrophysics Data System (ADS)

Li, Hui; Zhang, Kaixuan; Wang, Dongli; Xu, Han; Zhou, Haibiao; Fan, Xiaodong; Cheng, Guanghui; Cheng, Long; Lu, Qingyou; Li, Lin; Zeng, Changgan

2018-06-01

Precise manipulation of the electronic phases in strongly correlated oxides offers an avenue to control the macroscopic functionalities, thereby sparking enormous research interests in condensed matter physics. In the present paper, phase-separated La0.33Pr0.34Ca0.33MnO3 (LPCMO) thin films with a fraction of the ferromagnetic metallic phase close to the percolation threshold are successfully prepared, in which the nonvolatile and erasable switching between different electronic states is realized through cooperative effects of Au-nanodots capping and laser illumination. The deposition of Au nanodots on LPCMO thin films leads to the occurrence of a thermally inaccessible nonpercolating state at low temperatures, manifested as the absence of insulator-metal transition as temperature decreases. Such a nonpercolating state can be substantially tuned back to a percolating state by laser illumination in a nonvolatile and erasable way, accompanied by gigantic resistance drops in a wide temperature range. The formation of local oxygen vacancies near Au nanodots and thereby the modulation of mesoscopic electronic texture should be the key factor for the realization of flexible modulation of global transport properties in LPCMO thin films. Our findings pave a way toward the manipulation of physical properties of the electronically phase-separated systems and the design of optically controlled electronic devices.

Hubble Space Telescope nears Shuttle Endeavour

NASA Image and Video Library

1993-12-04

STS061-73-040 (4 Dec 1993) --- Backdropped against the blackness of space, the Hubble Space Telescope (HST) nears the Space Shuttle Endeavour. With the aid of the Remote Manipulator System (RMS), the STS-61 crew members later grappled the spacecraft and berthed it in the cargo bay for five-days of servicing chores by four space walkers.

Behavioral Effects of an Enhanced Enrichment Program for Group-Housed Sooty Mangabeys (Cercocebus atys)

PubMed Central

Crast, Jessica; Bloomsmith, Mollie A; Jonesteller, Trina J

2016-01-01

Evaluating the behavioral effects of enrichment on animals housed in biomedical facilities is necessary to effectively support their care and wellbeing. We tested the cumulative effects of an enhanced enrichment program on sooty mangabey behavior: locomotion, feeding and foraging, manipulating items in the enclosure, social affiliation, aggression, and abnormal behavior. The enhanced enrichment program included the addition of a substrate (timothy hay), widely distributing small pieces of produce and a forage mixture in the hay, adding structures and perching, and increasing the variety of food items, foraging devices, and other manipulable items. We tested 10 groups living in runs (n = 54) by using an ABA experimental design (phase A, standard enrichment; phase B, enhanced enrichment) and Wilcoxon signed-rank tests to compare behavior across phases. During phase B, subjects significantly increased feeding, foraging, and manipulation of items, and they decreased self-grooming, social affiliation, and aggression. Combined enrichment use increased from approximately 10% to 21% of the mangabeys’ time. Enhanced enrichment did not affect locomotion or abnormal behavior. The increases in feeding, foraging, and manipulation during enhanced enrichment were driven primarily by the subjects’ preference for foraging in the hay: it was the most effective component of the program in promoting feeding and foraging behavior, which comprises the majority of wild sooty mangabeys’ daily activity. Developing an effective, species-appropriate, and comprehensive enrichment program is essential to successfully promote the health and wellbeing of captive NHP. PMID:27931313

Behavioral Effects of an Enhanced Enrichment Program for Group-Housed Sooty Mangabeys (Cercocebus atys).

PubMed

Crast, Jessica; Bloomsmith, Mollie A; Jonesteller, Trina J

2016-11-01

Evaluating the behavioral effects of enrichment on animals housed in biomedical facilities is necessary to effectively support their care and wellbeing. We tested the cumulative effects of an enhanced enrichment program on sooty mangabey behavior: locomotion, feeding and foraging, manipulating items in the enclosure, social affiliation, aggression, and abnormal behavior. The enhanced enrichment program included the addition of a substrate (timothy hay), widely distributing small pieces of produce and a forage mixture in the hay, adding structures and perching, and increasing the variety of food items, foraging devices, and other manipulable items. We tested 10 groups living in runs (n = 54) by using an ABA experimental design (phase A, standard enrichment; phase B, enhanced enrichment) and Wilcoxon signed-rank tests to compare behavior across phases. During phase B, subjects significantly increased feeding, foraging, and manipulation of items, and they decreased self-grooming, social affiliation, and aggression. Combined enrichment use increased from approximately 10% to 21% of the mangabeys' time. Enhanced enrichment did not affect locomotion or abnormal behavior. The increases in feeding, foraging, and manipulation during enhanced enrichment were driven primarily by the subjects' preference for foraging in the hay: it was the most effective component of the program in promoting feeding and foraging behavior, which comprises the majority of wild sooty mangabeys' daily activity. Developing an effective, species-appropriate, and comprehensive enrichment program is essential to successfully promote the health and wellbeing of captive NHP.

Development and verification testing of automation and robotics for assembly of space structures

NASA Technical Reports Server (NTRS)

Rhodes, Marvin D.; Will, Ralph W.; Quach, Cuong C.

1993-01-01

A program was initiated within the past several years to develop operational procedures for automated assembly of truss structures suitable for large-aperture antennas. The assembly operations require the use of a robotic manipulator and are based on the principle of supervised autonomy to minimize crew resources. A hardware testbed was established to support development and evaluation testing. A brute-force automation approach was used to develop the baseline assembly hardware and software techniques. As the system matured and an operation was proven, upgrades were incorprated and assessed against the baseline test results. This paper summarizes the developmental phases of the program, the results of several assembly tests, the current status, and a series of proposed developments for additional hardware and software control capability. No problems that would preclude automated in-space assembly of truss structures have been encountered. The current system was developed at a breadboard level and continued development at an enhanced level is warranted.

Autonomous space processor for orbital debris

NASA Technical Reports Server (NTRS)

Ramohalli, Kumar; Marine, Micky; Colvin, James; Crockett, Richard; Sword, Lee; Putz, Jennifer; Woelfle, Sheri

1991-01-01

The development of an Autonomous Space Processor for Orbital Debris (ASPOD) was the goal. The nature of this craft, which will process, in situ, orbital debris using resources available in low Earth orbit (LEO) is explained. The serious problem of orbital debris is briefly described and the nature of the large debris population is outlined. The focus was on the development of a versatile robotic manipulator to augment an existing robotic arm, the incorporation of remote operation of the robotic arms, and the formulation of optimal (time and energy) trajectory planning algorithms for coordinated robotic arms. The mechanical design of the new arm is described in detail. The work envelope is explained showing the flexibility of the new design. Several telemetry communication systems are described which will enable the remote operation of the robotic arms. The trajectory planning algorithms are fully developed for both the time optimal and energy optimal problems. The time optimal problem is solved using phase plane techniques while the energy optimal problem is solved using dynamic programming.

Earth's horizon

NASA Image and Video Library

2005-07-30

S114-E-6076 (30 July 2005) --- The blackness of space and Earth’s horizon form the backdrop for this view of the extended Space Shuttle Discovery’s remote manipulator system (RMS) robotic arm while docked to the International Space Station during the STS-114 mission.

Performance and measurements of the AGS and Booster beams

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

Weng, W.T.

1996-06-01

In May 1995, the AGS reached its upgrade intensity goal of 6{times}10{sup 13} ppp, the highest world intensity record for a proton synchrotron on a single pulse basis. At the same time, the Booster reached 2.2{times}10{sup 13} ppp surpassing the design goal of 1.5{times}10{sup 13} ppp due to the introduction of second harmonic cavity during injection. The critical accelerator manipulations, such as resonance stopband corrections, second harmonics cavity, direct rf feedback, gamma-transition jump, longitudinal phase space dilution, and transverse instability damping, will be described as well as some beam measurements. Possible future intensity and brightness upgrades will also be reported.more » {copyright} {ital 1996 American Institute of Physics.}« less

Novel schemes for the optimization of the SPARC narrow band THz source

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

Marchetti, B., E-mail: barbara.marchetti@desy.de; Zagorodnov, I.; Bacci, A.

2015-07-15

A pulsed, tunable, narrow band radiation source with frequency in the THz region can be obtained collecting the coherent transition radiation produced by a train of ultra-short electron bunches having picosecond scale inter-distance. In this paper, we review the techniques feasible at the SPARC-LAB test facility to produce and manipulate the requested train of electron bunches and we examine the dynamics of their acceleration and compression. In addition, we show how the performances of the train compression and the radiation intensity and bandwidth can be significantly improved through the insertion of a fourth order harmonic cavity, working in the X-bandmore » and acting as a longitudinal phase space linearizer.« less

Generation of elliptical and circular vector hollow beams with different polarizations by a Mach-Zehnder-type optical path

NASA Astrophysics Data System (ADS)

Wang, Zhizhang; Pei, Chunying; Xia, Meng; Yin, Yaling; Xia, Yong; Yin, Jianping

2018-01-01

We present an experimental approach to convert linearly polarized Gaussian beams into elliptical and circular vector hollow beams (VHBs) with different polarization states. The scheme employed is based on a Mach-Zehnder-type optical path combined with a reflective spatial light modulator (SLM) in each path. The resulting VHBs have radial, azimuthal, and other polarization states. Our studies also show that the size of the generated VHBs remains constant during the propagation in free space over a certain distance, and can be controlled by the axial ratio of the SLM’s binary phase plate. These studies deliver great optical parameters and hold promising applications in the fields of optical trapping and manipulation of particles.

Earth Observation

NASA Image and Video Library

2014-06-27

Earth Observation taken during a day pass by the Expedition 40 crew aboard the International Space Station (ISS). Part of Space Station Remote Manipulator System (SSRMS) is visible. Folder lists this as: the Middle East, Israel.

Keeping you at arm's length: modifying peripersonal space influences interpersonal distance.

PubMed

Quesque, F; Ruggiero, G; Mouta, S; Santos, J; Iachini, T; Coello, Y

2017-07-01

Peripersonal space represents the area around the body where objects are coded in motor terms for the purpose of voluntary goal-directed actions. Previous studies have suggested that peripersonal space is also a safe space linked with our private area, influencing interpersonal space in social contexts. However, whether these two spaces rely on similar embodied processes remains an open issue. In the present study, participants observed a point-light walker (PLW) approaching them from different directions and passing near them at different distances from their right or left shoulder. While approaching, the PLW disappeared at a distance of 2 m and the task for the participants was to estimate if the interpersonal distance, at the time the PLW would have reached their level, was comfortable or not. Between two sessions of comfort judgments, the participants manipulated a 70 cm tool entailing an extension of peripersonal space, or a 10 cm tool entailing no extension of peripersonal space. The results revealed that the comfortable interpersonal distance was larger when the PLW crossed the mid-sagittal plane of the participants than when it approached them laterally, with a concomitant increase of response time. After participants manipulated the long tool, comfortable interpersonal distance increased, but predominantly when the PLW trajectory implied crossing the participants' mid-sagittal plane. This effect was not observed when participants manipulated the short tool. Two control tasks showed that using the long tool modified the reachability (control 1), but not the time to passage (control 2) estimates of PLW stimuli, suggesting that tool use extended peripersonal space without changing perceived visual distances. Overall, the data show that comfortable interpersonal distance is linked to the representation of peripersonal space. As a consequence, increasing peripersonal space through tool use has the immediate consequence that comfortable interpersonal distance from another person also increases, suggesting that interpersonal-comfort space and peripersonal-reaching space share a common motor nature.

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.

Application of model reference adaptive control to a flexible remote manipulator arm

NASA Technical Reports Server (NTRS)

Meldrum, D. R.; Balas, M. J.

1986-01-01

An exact modal state-space representation is derived in detail for a single-link, flexible remote manipulator with a noncollocated sensor and actuator. A direct model following adaptive controller is designed to control the torque at the pinned end of the arm so as to command the free end to track a prescribed sinusoidal motion. Conditions that must be satisfied in order for the controller to work are stated. Simulation results to date are discussed along with the potential of the model following adaptive control scheme in robotics and space environments.

Adaptive control of a Stewart platform-based manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.; Zhou, Zhen-Lei; Campbell, Charles E., Jr.

1993-01-01

A joint-space adaptive control scheme for controlling noncompliant motion of a Stewart platform-based manipulator (SPBM) was implemented in the Hardware Real-Time Emulator at Goddard Space Flight Center. The six-degrees of freedom SPBM uses two platforms and six linear actuators driven by dc motors. The adaptive control scheme is based on proportional-derivative controllers whose gains are adjusted by an adaptation law based on model reference adaptive control and Liapunov direct method. It is concluded that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.

Condenser-free contrast methods for transmitted-light microscopy

PubMed Central

WEBB, K F

2015-01-01

Phase contrast microscopy allows the study of highly transparent yet detail-rich specimens by producing intensity contrast from phase objects within the sample. Presented here is a generalized phase contrast illumination schema in which condenser optics are entirely abrogated, yielding a condenser-free yet highly effective method of obtaining phase contrast in transmitted-light microscopy. A ring of light emitting diodes (LEDs) is positioned within the light-path such that observation of the objective back focal plane places the illuminating ring in appropriate conjunction with the phase ring. It is demonstrated that true Zernike phase contrast is obtained, whose geometry can be flexibly manipulated to provide an arbitrary working distance between illuminator and sample. Condenser-free phase contrast is demonstrated across a range of magnifications (4–100×), numerical apertures (0.13–1.65NA) and conventional phase positions. Also demonstrated is condenser-free darkfield microscopy as well as combinatorial contrast including Rheinberg illumination and simultaneous, colour-contrasted, brightfield, darkfield and Zernike phase contrast. By providing enhanced and arbitrary working space above the preparation, a range of concurrent imaging and electrophysiological techniques will be technically facilitated. Condenser-free phase contrast is demonstrated in conjunction with scanning ion conductance microscopy (SICM), using a notched ring to admit the scanned probe. The compact, versatile LED illumination schema will further lend itself to novel next-generation transmitted-light microscopy designs. The condenser-free illumination method, using rings of independent or radially-scanned emitters, may be exploited in future in other electromagnetic wavebands, including X-rays or the infrared. PMID:25226859

On the manipulability of dual cooperative robots

NASA Technical Reports Server (NTRS)

Chiacchio, P.; Chiaverini, S.; Sciavicco, L.; Siciliano, B.

1989-01-01

The definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed.

Manipulation strategies for massive space payloads

NASA Technical Reports Server (NTRS)

Book, Wayne J.

1991-01-01

The industrial and environmental applications for robots with a relatively large workspace has increased significantly in the last few years. To accommodate the demands, the manipulator is usually designed with long, lightweight links that are inherently flexible. Ongoing research at Georgia Tech into the behavior and design of these flexible links is discussed.

Redundant Manipulator Self-Motion Topology Under Joint Limits with an 8-DOF Case Study

NASA Technical Reports Server (NTRS)

Luck, C. L.; Lee, S.

1993-01-01

This paper investigates the topology of self-motion manifolds for serial redundant manipulators with revolute joints in the presence of joint limits. It is known that the preimages of singular taskpoints divide the configuration space into regions where self-motion manifolds are homotopic.

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.

Local performance optimization for a class of redundant eight-degree-of-freedom manipulators

NASA Technical Reports Server (NTRS)

Williams, Robert L., II

1994-01-01

Local performance optimization for joint limit avoidance and manipulability maximization (singularity avoidance) is obtained by using the Jacobian matrix pseudoinverse and by projecting the gradient of an objective function into the Jacobian null space. Real-time redundancy optimization control is achieved for an eight-joint redundant manipulator having a three-axis spherical shoulder, a single elbow joint, and a four-axis spherical wrist. Symbolic solutions are used for both full-Jacobian and wrist-partitioned pseudoinverses, partitioned null-space projection matrices, and all objective function gradients. A kinematic limitation of this class of manipulators and the limitation's effect on redundancy resolution are discussed. Results obtained with graphical simulation are presented to demonstrate the effectiveness of local redundant manipulator performance optimization. Actual hardware experiments performed to verify the simulated results are also discussed. A major result is that the partitioned solution is desirable because of low computation requirements. The partitioned solution is suboptimal compared with the full solution because translational and rotational terms are optimized separately; however, the results show that the difference is not significant. Singularity analysis reveals that no algorithmic singularities exist for the partitioned solution. The partitioned and full solutions share the same physical manipulator singular conditions. When compared with the full solution, the partitioned solution is shown to be ill-conditioned in smaller neighborhoods of the shared singularities.

Cocrystal formation in solution: Inducing phase transition by manipulating the amount of cocrystallizing agent

NASA Astrophysics Data System (ADS)

Gagniere, Emilie; Mangin, Denis; Puel, François; Valour, Jean-Pierre; Klein, Jean-Paul; Monnier, Olivier

2011-02-01

The purpose of this work was to assess the possibility of inducing solution mediated phase transition (SMPT) by manipulating the amount of the cocrystallizing agent. The cocrystal, composed of an active pharmaceutical ingredient (carbamazepine, CBZ) and its cocrystallizing agent (a vitamin—nicotinamide, NCT), was selected as a model compound. Batch experiments were performed in a stirred vessel. The solute concentrations of both CBZ and NCT were monitored using in situ ATR-FTIR spectroscopy. The introduction of NCT in dry form allowed a shift in the phase diagram, leading to an SMPT from CBZ crystals toward cocrystals. The concentration profiles gave information on the phase transition kinetics, i.e., the kinetics of nucleation, growth and dissolution mechanisms of the solid phases involved. Several situations were analyzed. This procedure could also be used to correct a process deviation that led to CBZ crystals instead of cocrystals.

In situ removal of contamination from soil

DOEpatents

Lindgren, Eric R.; Brady, Patrick V.

1997-01-01

A process of remediation of cationic heavy metal contamination from soil utilizes gas phase manipulation to inhibit biodegradation of a chelating agent that is used in an electrokinesis process to remove the contamination, and further gas phase manipulation to stimulate biodegradation of the chelating agent after the contamination has been removed. The process ensures that the chelating agent is not attacked by bioorganisms in the soil prior to removal of the contamination, and that the chelating agent does not remain as a new contaminant after the process is completed.

In situ removal of contamination from soil

DOEpatents

Lindgren, E.R.; Brady, P.V.

1997-10-14

A process of remediation of cationic heavy metal contamination from soil utilizes gas phase manipulation to inhibit biodegradation of a chelating agent that is used in an electrokinesis process to remove the contamination. The process also uses further gas phase manipulation to stimulate biodegradation of the chelating agent after the contamination has been removed. The process ensures that the chelating agent is not attacked by bioorganisms in the soil prior to removal of the contamination, and that the chelating agent does not remain as a new contaminant after the process is completed. 5 figs.

Microfluidics Transport and Path Control via Programmable Electrowetting on Dielectric

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

Theodore W. Von Bitner, Ph.D.

2002-08-22

This research was conducted in collaboration with Professor Chang-Jin Kim of the University of California, Los Angeles. In phase I, the IOS-UCLA collaboration demonstrated the transport and manipulation of insulting liquid droplets using the principles of EWOD. A postage stamp sized array of electronically addressable Teflon pads, whose surface tension characteristics could be altered on command through computer algorithms, was developed and tested using deionized water as the liquid. Going beyond the tasks originally proposed for Phase I, droplet manipulation was achieved and droplet stability in the EWOD device was examined.

Microscopic Studies of Quantum Phase Transitions in Optical Lattices

NASA Astrophysics Data System (ADS)

Bakr, Waseem S.

2011-12-01

In this thesis, I report on experiments that microscopically probe quantum phase transitions of ultracold atoms in optical lattices. We have developed a "quantum gas microscope" that allowed, for the first time, optical imaging and manipulation of single atoms in a quantum-degenerate gas on individual sites of an optical lattice. This system acts as a quantum simulator of strongly correlated materials, which are currently the subject of intense research because of the technological potential of high--T c superconductors and spintronic materials. We have used our microscope to study the superfluid to Mott insulator transition in bosons and a magnetic quantum phase transition in a spin system. In our microscopic study of the superfluid-insulator transition, we have characterized the on-site number statistics in a space- and time-resolved manner. We observed Mott insulators with fidelities as high as 99%, corresponding to entropies of 0.06kB per particle. We also measured local quantum dynamics and directly imaged the shell structure of the Mott insulator. I report on the first quantum magnetism experiments in optical lattices. We have realized a quantum Ising chain in a magnetic field, and observed a quantum phase transition between a paramagnet and antiferromagnet. We achieved strong spin interactions by encoding spins in excitations of a Mott insulator in a tilted lattice. We detected the transition by measuring the total magnetization of the system across the transition using in-situ measurements as well as the Neel ordering in the antiferromagnetic state using noise-correlation techniques. We characterized the dynamics of domain formation in the system. The spin mapping introduced opens up a new path to realizing more exotic states in optical lattices including spin liquids and quantum valence bond solids. As our system sizes become larger, simulating their physics on classical computers will require exponentially larger resources because of entanglement build-up near a quantum phase transition. We have demonstrated a quantum simulator in which all degrees of freedom can be read out microscopically, allowing the simulation of quantum many-body systems with manageable resources. More generally, the ability to image and manipulate individual atoms in optical lattices opens an avenue towards scalable quantum computation.

P5 Truss installation

NASA Image and Video Library

2006-12-12

S116-E-05764 (11 Dec. 2006) --- The International Space Station's Canadarm2 moves toward the station's new P5 truss section for a hand-off from Space Shuttle Discovery's Remote Manipulator System (RMS) robotic arm.

P5 Truss installation

NASA Image and Video Library

2006-12-12

S116-E-05765 (11 Dec. 2006) --- The International Space Station's Canadarm2 moves toward the station's new P5 truss section for a hand-off from Space Shuttle Discovery's Remote Manipulator System (RMS) robotic arm.

KSC-04PD-2689

NASA Technical Reports Server (NTRS)

2004-01-01

KENNEDY SPACE CENTER, FLA. A shipping container housing part of the new Orbiter Boom Sensor System (OBSS) is lifted from a truck into the Remote Manipulator System lab in the Vehicle Assembly Building (VAB). Once the entire structure has arrived, the OBSS will be assembled and undergo final checkout and testing in the lab prior to being transferred to the Orbiter Processing Facility (OPF) for installation on Space Shuttle Discovery. The 50-foot- long OBSS will be attached to the Remote Manipulator System, or Shuttle arm, and is one of the new safety measures for Return to Flight, equipping the orbiter with cameras and laser systems to inspect the Shuttle's Thermal Protection System while in space. Discovery is slated to fly mission STS-114 once Space Shuttle launches resume. The launch planning window is May 12 to June 3, 2005.

A reprogrammable multifunctional chalcogenide guided-wave lens.

PubMed

Cao, Tun; Wei, Chen-Wei; Cen, Meng-Jia; Guo, Bao; Kim, Yong-June; Zhang, Shuang; Qiu, Cheng-Wei

2018-06-05

The transformation optics (TO) technique, which establishes an equivalence between a curved space and a spatial distribution of inhomogeneous constitutive parameters, has enabled an extraordinary paradigm for manipulating wave propagation. However, extreme constitutive parameters, as well as a static nature, inherently limit the simultaneous achievement of broadband performance, ultrafast reconfigurability and versatile reprogrammable functions. Here, we integrate the TO technique with an active phase-change chalcogenide to achieve a reconfigurable multi-mode guided-wave lens. The lens is made of a Rinehart-shaped curved waveguide with an effective refractive index gradient profile through partially crystallizing Ge2Sb2Te5. Upon changing the bias time of the external voltage imparted to the Ge2Sb2Te5 segments, the refractive index gradient profile can be tuned with a transformative platform for various functions for visible light. The electrically reprogrammable multi-mode guided-wave lens is capable of dynamically acquiring various functionalities with an ultrafast response time. Our findings may offer a significant step forward by providing a universal method to obtain ultrafast and highly versatile guided-wave manipulation, such as in Einstein rings, cloaking, Maxwell fish-eye lenses and Luneburg lenses.

Lassoing saddle splay and the geometrical control of topological defects

NASA Astrophysics Data System (ADS)

Tran, Lisa; Lavrentovich, Maxim O.; Beller, Daniel A.; Li, Ningwei; Stebe, Kathleen J.; Kamien, Randall D.

2016-06-01

Systems with holes, such as colloidal handlebodies and toroidal droplets, have been studied in the nematic liquid crystal (NLC) 4-cyano-4'-pentylbiphenyl (5CB): Both point and ring topological defects can occur within each hole and around the system while conserving the system's overall topological charge. However, what has not been fully appreciated is the ability to manipulate the hole geometry with homeotropic (perpendicular) anchoring conditions to induce complex, saddle-like deformations. We exploit this by creating an array of holes suspended in an NLC cell with oriented planar (parallel) anchoring at the cell boundaries. We study both 5CB and a binary mixture of bicyclohexane derivatives (CCN-47 and CCN-55). Through simulations and experiments, we study how the bulk saddle deformations of each hole interact to create defect structures, including an array of disclination lines, reminiscent of those found in liquid-crystal blue phases. The line locations are tunable via the NLC elastic constants, the cell geometry, and the size and spacing of holes in the array. This research lays the groundwork for the control of complex elastic deformations of varying length scales via geometrical cues in materials that are renowned in the display industry for their stability and easy manipulability.

Effect of motor dynamics on nonlinear feedback robot arm control

NASA Technical Reports Server (NTRS)

Tarn, Tzyh-Jong; Li, Zuofeng; Bejczy, Antal K.; Yun, Xiaoping

1991-01-01

A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometric control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance.

Development of the selection and manipulation of self-generated thoughts in adolescence.

PubMed

Dumontheil, Iroise; Hassan, Bano; Gilbert, Sam J; Blakemore, Sarah-Jayne

2010-06-02

The ability to select and manipulate self-generated (stimulus-independent, SI), as opposed to stimulus-oriented (SO), information, in a controlled and flexible way has previously only been studied in adults. This ability is thought to rely in part on the rostrolateral prefrontal cortex (RLPFC), which continues to mature anatomically during adolescence. We investigated (1) the development of this ability behaviorally, (2) the associated functional brain development, and (3) the link between functional and structural maturation. Participants classified according to their shape letters either presented visually (SO phases) or that they generated in their head by continuing the alphabet sequence (SI phases). SI phases were performed in the presence or absence of distracting letters. A total of 179 participants (7-27 years old) took part in a behavioral study. Resistance to visual distractors exhibited small improvements with age. SI thoughts manipulation and switching between SI and SO thoughts showed steeper performance improvements extending into late adolescence. Thirty-seven participants (11-30 years old) took part in a functional MRI (fMRI) study. SI thought manipulation and switching between SO and SI thought were each associated with brain regions consistently recruited across age. A single frontal brain region in each contrast exhibited decreased activity with age: left inferior frontal gyrus/anterior insula for SI thought manipulation, and right superior RLPFC for switching between SO and SI thoughts. By integrating structural and functional data, we demonstrated that the observed functional changes with age were not purely consequences of structural maturation and thus may reflect the maturation of neurocognitive strategies.

Chemical manipulation of phase stability and electronic behavior in Cu 4−x Ag x Se 2

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

Olvera, A.; Bailey, T. P.; Uher, C.

Gradual stoichiometric chemical substitution of Cu by Ag in the p-type Cu 2 Se phase enables phase segregation and incremental switching of the electronic transport to n-type behavior for large Ag/Cu ratios.

Chemical manipulation of phase stability and electronic behavior in Cu 4−x Ag x Se 2

DOE PAGES

Olvera, A.; Bailey, T. P.; Uher, C.; ...

2018-01-01

Gradual stoichiometric chemical substitution of Cu by Ag in the p-type Cu 2 Se phase enables phase segregation and incremental switching of the electronic transport to n-type behavior for large Ag/Cu ratios.

Development of 3 DOF manipulator using ER fluid clutches for reduction of collision force

NASA Astrophysics Data System (ADS)

Boku, Kazuhiko; Nakamura, Taro

2009-02-01

.With robots and users more commonly sharing space such as in the fields of medicine and home automation, the possibility of a physical collision has increased, even though many robots use actuators with high-ratio gear trains to minimize the effects of impact. We developed a 3-DOF manipulator having a smart flexible joint using an ER fluid and a sensor-equipped pneumatic cushion. Results of position control and collision experiments using the manipulator demonstrated its effectiveness.

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

Morgansen, K.A.; Pin, F.G.

A new method for mitigating unexpected impact of a redundant manipulator with an object in its environment is presented. Kinematic constraints are utilized with the recently developed method known as Full Space Parameterization (FSP). System performance criterion and constraints are changed at impact to return the end effector to the point of impact and halt the arm. Since large joint accelerations could occur as the manipulator is halted, joint acceleration bounds are imposed to simulate physical actuator limitations. Simulation results are presented for the case of a simple redundant planar manipulator.

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.

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.

Blending Velocities In Task Space In Computing Robot Motions

NASA Technical Reports Server (NTRS)

Volpe, Richard A.

1995-01-01

Blending of linear and angular velocities between sequential specified points in task space constitutes theoretical basis of improved method of computing trajectories followed by robotic manipulators. In method, generalized velocity-vector-blending technique provides relatively simple, common conceptual framework for blending linear, angular, and other parametric velocities. Velocity vectors originate from straight-line segments connecting specified task-space points, called "via frames" and represent specified robot poses. Linear-velocity-blending functions chosen from among first-order, third-order-polynomial, and cycloidal options. Angular velocities blended by use of first-order approximation of previous orientation-matrix-blending formulation. Angular-velocity approximation yields small residual error, quantified and corrected. Method offers both relative simplicity and speed needed for generation of robot-manipulator trajectories in real time.

Techniques for grid manipulation and adaptation. [computational fluid dynamics

NASA Technical Reports Server (NTRS)

Choo, Yung K.; Eisemann, Peter R.; Lee, Ki D.

1992-01-01

Two approaches have been taken to provide systematic grid manipulation for improved grid quality. One is the control point form (CPF) of algebraic grid generation. It provides explicit control of the physical grid shape and grid spacing through the movement of the control points. It works well in the interactive computer graphics environment and hence can be a good candidate for integration with other emerging technologies. The other approach is grid adaptation using a numerical mapping between the physical space and a parametric space. Grid adaptation is achieved by modifying the mapping functions through the effects of grid control sources. The adaptation process can be repeated in a cyclic manner if satisfactory results are not achieved after a single application.

Twist phase-induced characteristics changes of a radially polarized Gaussian Schell-Model beam in a uniaxial crystal orthogonal to the optical axis

NASA Astrophysics Data System (ADS)

Cao, Pengfei; Fu, Wenyu

2017-10-01

Based on the extended Huygens-Fresnel integral formula and unified theory of coherence and polarization, we obtained the cross-spectral density matrix elements for a radially polarized partially coherent twist (RPPCT) beam in a uniaxial crystal. Moreover, compared with free space, we explore numerically the evolution properties of a RPPCT beam in a uniaxial crystal. The calculation results show that the evolution properties of a RPPCT beam in crystals are substantially different from its properties in free space. These properties in crystals are mainly determined by the twist factor and the ratio of extraordinary index to ordinary refractive index. In a uniaxial crystal, the distribution of the intensity of a RPPCT beam all exhibits non-circular symmetry, and these distributions change with twist factor and the ratio of extraordinary index to ordinary refractive index. The twist factor affects their rotation orientation angles, and the ratio of extraordinary index to ordinary refractive index impacts their twisted levels. This novel characteristics can be used for free-space optical communications, particle manipulation and nonlinear optics, where partially coherent beam with controlled profile and twist factor are required.

Manipulating time and space: Collision prediction in peripersonal and extrapersonal space.

PubMed

Iachini, Tina; Ruotolo, Francesco; Vinciguerra, Michela; Ruggiero, Gennaro

2017-09-01

Being able to predict potential collisions is a necessary survival prerequisite for all moving species. Temporal and spatial information is fundamental for this purpose. However, it is not clear yet if the peripersonal (i.e. near) and extrapersonal (i.e. far) distance between our body and the moving objects affects the way in which we can predict possible collisions. In order to assess this, we manipulated independently velocity and path of two balls moving one towards the other in such a way as to collide or not in peripersonal and extrapersonal space. In two experiments, participants had to judge if these balls were to collide or not. The results consistently showed a lower discrimination capacity and a more liberal tendency to predict collisions when the moving balls were in peripersonal space and their velocity was different rather than equal. This did not happen in extrapersonal space. Therefore, peripersonal space was particularly affected by temporal information. The possible link between the motor and anticipatory adaptive function of peripersonal space and collision prediction mechanisms is discussed. Copyright © 2017 Elsevier B.V. All rights reserved.

Surfactant bilayers maintain transmembrane protein activity.

PubMed

Rayan, Gamal; Adrien, Vladimir; Reffay, Myriam; Picard, Martin; Ducruix, Arnaud; Schmutz, Marc; Urbach, Wladimir; Taulier, Nicolas

2014-09-02

In vitro studies of membrane proteins are of interest only if their structure and function are significantly preserved. One approach is to insert them into the lipid bilayers of highly viscous cubic phases rendering the insertion and manipulation of proteins difficult. Less viscous lipid sponge phases are sometimes used, but their relatively narrow domain of existence can be easily disrupted by protein insertion. We present here a sponge phase consisting of nonionic surfactant bilayers. Its extended domain of existence and its low viscosity allow easy insertion and manipulation of membrane proteins. We show for the first time, to our knowledge, that transmembrane proteins, such as bacteriorhodopsin, sarcoplasmic reticulum Ca(2+)ATPase (SERCA1a), and its associated enzymes, are fully active in a surfactant phase. Copyright © 2014 Biophysical Society. Published by Elsevier Inc. All rights reserved.

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.

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).

KENNEDY SPACE CENTER, FLA. - Members of the STS-114 crew take a look at the Japanese Experiment Module (JEM) pressure module in the Space Station Processing Facility. A research laboratory, the pressurized module is the first element of the JEM, named "Kibo" (Hope), to be delivered to KSC. The National Space Development Agency of Japan (NASDA) developed the laboratory at the Tsukuba Space Center near Tokyo and is Japan's primary contribution to the Station. The JEM also includes an exposed facility (platform) for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

NASA Image and Video Library

2003-06-09

KENNEDY SPACE CENTER, FLA. - Members of the STS-114 crew take a look at the Japanese Experiment Module (JEM) pressure module in the Space Station Processing Facility. A research laboratory, the pressurized module is the first element of the JEM, named "Kibo" (Hope), to be delivered to KSC. The National Space Development Agency of Japan (NASDA) developed the laboratory at the Tsukuba Space Center near Tokyo and is Japan's primary contribution to the Station. The JEM also includes an exposed facility (platform) for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

Analysis on the Load Carrying Mechanism Integrated as Heterogeneous Co-operative Manipulator in a Walking Wheelchair

NASA Astrophysics Data System (ADS)

Rajay Vedaraj, I. S.; Jain, Ritika; Rao, B. V. A.

2014-07-01

After industrial robots came into existence during 1960, the technology of robotics with the design and analysis of robots in various forms in industries as well as in domestic applications were developed. Nowadays, along with the automotive sector the robots are producing a great impact in the form of quality and production rate to register their existence reliable in various other sectors also. Robotic technology has undergone various phase translations from being tortured as humanoids to the present day manipulators. Depending upon the various forms of its existence, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective though both have various drawbacks in design and the kinematic analysis. The versatility of robots can be increased by making them work in an environment where the same work volume is shared by more than one manipulator. This work volume can be identified as co-operative work volume of those manipulators. Here the interference of manipulators in the work volume of other manipulators is possible and is made obstacle free. The main advantage of co-operative manipulators is that when a number of independent manipulators are put together in a cooperative work envelope the efficiency and ability to perform tasks is greatly enhanced. The main disadvantage of the co-operative manipulators lies in the complication of its design even for a simple application, in almost all fields. In this paper, a cooperative design of robot manipulators to work in co-operative work environment is done and analysed for its efficacy. In the industrial applications when robotic manipulators are put together in more numbers, the trajectory planning becomes the tough task in the work cell. Proper design can remove the design defects of the cooperative manipulators and can be utilized in a more efficient way. In the proposed research paper an analysis is made on such a type of cooperative manipulator used for climbing stairs with three leg design and anlaysis were also done on the mechanism integrated to the system. Kinematics of the legs are analysed separately and the legs are designed to carry a maximum of 175kgs, which is sustained by the center leg and shared by the dual wing legs equally during the walking phase. In the proposed design, screwjack mechanism is used as the central leg to share the load and thus the analysis on the load sharing capability of the whole system is analysed and concluded in terms of failure modes.

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.

SPACE PROPULSION SYSTEM PHASED-MISSION PROBABILITY ANALYSIS USING CONVENTIONAL PRA METHODS

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

Curtis Smith; James Knudsen

As part of a series of papers on the topic of advance probabilistic methods, a benchmark phased-mission problem has been suggested. This problem consists of modeling a space mission using an ion propulsion system, where the mission consists of seven mission phases. The mission requires that the propulsion operate for several phases, where the configuration changes as a function of phase. The ion propulsion system itself consists of five thruster assemblies and a single propellant supply, where each thruster assembly has one propulsion power unit and two ion engines. In this paper, we evaluate the probability of mission failure usingmore » the conventional methodology of event tree/fault tree analysis. The event tree and fault trees are developed and analyzed using Systems Analysis Programs for Hands-on Integrated Reliability Evaluations (SAPHIRE). While the benchmark problem is nominally a "dynamic" problem, in our analysis the mission phases are modeled in a single event tree to show the progression from one phase to the next. The propulsion system is modeled in fault trees to account for the operation; or in this case, the failure of the system. Specifically, the propulsion system is decomposed into each of the five thruster assemblies and fed into the appropriate N-out-of-M gate to evaluate mission failure. A separate fault tree for the propulsion system is developed to account for the different success criteria of each mission phase. Common-cause failure modeling is treated using traditional (i.e., parametrically) methods. As part of this paper, we discuss the overall results in addition to the positive and negative aspects of modeling dynamic situations with non-dynamic modeling techniques. One insight from the use of this conventional method for analyzing the benchmark problem is that it requires significant manual manipulation to the fault trees and how they are linked into the event tree. The conventional method also requires editing the resultant cut sets to obtain the correct results. While conventional methods may be used to evaluate a dynamic system like that in the benchmark, the level of effort required may preclude its use on real-world problems.« less

Teleoperator systems for manned space missions

NASA Technical Reports Server (NTRS)

Interian, A.

1972-01-01

The development of remote mechanical systems to augment man's capabilities in our manned space effort is considered. A teleoperator system extends man's innate intelligence and sensory capabilities to distant hostile and hazardous environments through a manipulator-equipped spacecraft and an RF link. Examined are space teleoperator system applications in the space station/space shuttle program, which is where the most immediate need exists and the potential return is greatest.

Space Shuttle Discovery (STS-124) Landing

NASA Image and Video Library

2008-06-14

The space shuttle Discovery touches down at 11:15 a.m. EDT, Saturday, June 14, 2008, at the Kennedy Space Center in Florida. During the 13-day mission, Discovery and the crew of STS-124 delivered new components of the Japanese Experiment Module, or Kibo, to the International Space Station and the Canadian-built Special Purpose Dextrous Manipulator to the International Space Station. Photo Credit: (NASA/Bill Ingalls)

Research on modeling and motion simulation of a spherical space robot with telescopic manipulator based on virtual prototype technology

NASA Astrophysics Data System (ADS)

Shi, Chengkun; Sun, Hanxu; Jia, Qingxuan; Zhao, Kailiang

2009-05-01

For realizing omni-directional movement and operating task of spherical space robot system, this paper describes an innovated prototype and analyzes dynamic characteristics of a spherical rolling robot with telescopic manipulator. Based on the Newton-Euler equations, the kinematics and dynamic equations of the spherical robot's motion are instructed detailedly. Then the motion simulations of the robot in different environments are developed with ADAMS. The simulation results validate the mathematics model of the system. And the dynamic model establishes theoretical basis for the latter job.

Metasurface with interfering Fano resonance: manipulating transmission wave with high efficiency.

PubMed

Su, Zhaoxian; Song, Kun; Yin, Jianbo; Zhao, Xiaopeng

2017-06-15

We proposed a novel strategy to design a deep subwavelength metasurface with full 2π transmission phase modulation and high transmission efficiency by applying resonators with interfering Fano resonance. Theoretical investigation demonstrates that the transmission efficiency of the resonators depends on the direct transmission coefficient, direct reflection coefficient, and Q factor. When an impedance layer is added in the resonators, the direct transmission and direct reflection coefficients can be facilely manipulated so that the span of the transmission phase around the resonance frequency can be extended to 2π. As a result, we can continuously adjust the transmission phase from 0 to 2π through changing the geometric parameters of the resonators and construct a deep subwavelength metasurface with the resonators to manipulate the transmission wave with high efficiency. We also find that a layer of grating can be used as the impedance layer to change direct transmission and direct reflection in the actual design of the metasurface. The proposed strategy may provide effective guidance to design a deep subwavelength metasurface for controlling a transmitted wave with high efficiency.

On a model of the processes of maintaining a technological area by a manipulator

NASA Astrophysics Data System (ADS)

Ghukasyan, A. A.; Ordyan, A. Ya

2018-04-01

The research refers to the results of mathematical modeling of the process of maintaining a technological area which consists of unstable or fixed objects (targets) and a controlled multi-link manipulator [1–9]. It is assumed that, in the maintenance process, the dynamic characteristics and the phase vector of the manipulator state can change at certain finite times depending on the mass of the cargo or instrument [10, 11]. Some controllability problems are investigated in the case where the manipulator motion on each maintenance interval is described by linear differential equations with constant coefficients and the motions of the objects are given.

Near-field plasmonic beam engineering with complex amplitude modulation based on metasurface

NASA Astrophysics Data System (ADS)

Song, Xu; Huang, Lingling; Sun, Lin; Zhang, Xiaomeng; Zhao, Ruizhe; Li, Xiaowei; Wang, Jia; Bai, Benfeng; Wang, Yongtian

2018-02-01

Metasurfaces have recently intrigued extensive interest due to their ability to locally manipulate electromagnetic waves, which provide great feasibility for tailoring both propagation waves and surface plasmon polaritons (SPPs). Manipulation of SPPs with arbitrary complex fields is an important issue in integrated nanophotonics due to their capability of guiding waves with subwavelength footprints. Here, an approach with metasurfaces composed of nanoaperture arrays is proposed and experimentally demonstrated which can effectively manipulate the complex amplitude of SPPs in the near-field regime. Tailoring the azimuthal angles of individual nanoapertures and simultaneously tuning their geometric parameters, the phase and amplitude are controlled based on the Pancharatnam-Berry phases and their individual transmission coefficients. For the verification of the concept, Airy plasmons and axisymmetric Airy-SPPs are generated. The results of numerical simulations and near-field imaging are consistent with each other. Besides the rigorous simulations, we applied a 2D dipole analysis for additional analysis. This strategy of complex amplitude manipulation with metasurfaces can be used for potential applications in plasmonic beam shaping, integrated optoelectronic systems, and surface wave holography.

Proceedings of the NASA Conference on Space Telerobotics, volume 1

NASA Technical Reports Server (NTRS)

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

1989-01-01

The theme of the Conference was man-machine collaboration in space. Topics addressed include: redundant manipulators; man-machine systems; telerobot architecture; remote sensing and planning; navigation; neural networks; fundamental AI research; and reasoning under uncertainty.

Extended RMS

NASA Image and Video Library

2005-08-02

ISS011-E-11416 (2 August 2005) --- A line of thunderstorms form the backdrop for this view of the extended Space Shuttle Discovery’;s remote manipulator system (RMS) robotic arm while docked to the International Space Station during the STS-114 mission.

Dragon Spacecraft grappled by SSRMS

NASA Image and Video Library

2014-04-20

View of the SpaceX Dragon Commercial Resupply Services-3 (CRS-3) spacecraft grappled by the Canadarm2 Space Station Remote Manipulator System (SSRMS) during Expedition 39. Image was released by released by flight engineer 3 (FE3) on Instagram.

Characterization and control of self-motions in redundant manipulators

NASA Technical Reports Server (NTRS)

Burdick, J.; Seraji, Homayoun

1989-01-01

The presence of redundant degrees of freedom in a manipulator structure leads to a physical phenomenon known as a self-motion, which is a continuous motion of the manipulator joints that leaves the end-effector motionless. In the first part of the paper, a global manifold mapping reformulation of manipulator kinematics is reviewed, and the inverse kinematic solution for redundant manipulators is developed in terms of self-motion manifolds. Global characterizations of the self-motion manifolds in terms of their number, geometry, homotopy class, and null space are reviewed using examples. Much previous work in redundant manipulator control has been concerned with the redundancy resolution problem, in which methods are developed to determine, or resolve, the motion of the joints in order to achieve end-effector trajectory control while optimizing additional objective functions. Redundancy resolution problems can be equivalently posed as the control of self-motions. Alternatives for redundancy resolution are briefly discussed.

KSC-2010-1316

NASA Image and Video Library

2010-01-18

CAPE CANAVERAL, Fla. - In Orbiter Processing Facility 1 at NASA's Kennedy Space Center in Florida, technicians install the orbiter boom sensor system, or OBSS, in space shuttle Atlantis' payload bay across from the remote manipulator system arm. The OBSS' inspection boom assembly, or IBA, is removed from the arm every other processing flow for a detailed inspection. After five consecutive flights, all IBA internal components are submitted to a thorough electrical checkout in the Remote Manipulator System Lab. The 50-foot-long OBSS attaches to the end of the shuttle’s robotic arm and supports the cameras and laser systems used to inspect the shuttle’s thermal protection system while in space. Atlantis is next slated to deliver an Integrated Cargo Carrier and Russian-built Mini Research Module to the International Space Station on the STS-132 mission. Launch is targeted for May 14. Photo credit: NASA/Jim Grossmann

Initial Validation of Robotic Operations for In-Space Assembly of a Large Solar Electric Propulsion Transport Vehicle

NASA Technical Reports Server (NTRS)

Komendera, Erik E.; Dorsey, John T.

2017-01-01

Developing a capability for the assembly of large space structures has the potential to increase the capabilities and performance of future space missions and spacecraft while reducing their cost. One such application is a megawatt-class solar electric propulsion (SEP) tug, representing a critical transportation ability for the NASA lunar, Mars, and solar system exploration missions. A series of robotic assembly experiments were recently completed at Langley Research Center (LaRC) that demonstrate most of the assembly steps for the SEP tug concept. The assembly experiments used a core set of robotic capabilities: long-reach manipulation and dexterous manipulation. This paper describes cross-cutting capabilities and technologies for in-space assembly (ISA), applies the ISA approach to a SEP tug, describes the design and development of two assembly demonstration concepts, and summarizes results of two sets of assembly experiments that validate the SEP tug assembly steps.

Taxonomy based analysis of force exchanges during object grasping and manipulation

PubMed Central

Martin-Brevet, Sandra; Jarrassé, Nathanaël; Burdet, Etienne

2017-01-01

The flexibility of the human hand in object manipulation is essential for daily life activities, but remains relatively little explored with quantitative methods. On the one hand, recent taxonomies describe qualitatively the classes of hand postures for object grasping and manipulation. On the other hand, the quantitative analysis of hand function has been generally restricted to precision grip (with thumb and index opposition) during lifting tasks. The aim of the present study is to fill the gap between these two kinds of descriptions, by investigating quantitatively the forces exerted by the hand on an instrumented object in a set of representative manipulation tasks. The object was a parallelepiped object able to measure the force exerted on the six faces and its acceleration. The grasping force was estimated from the lateral force and the unloading force from the bottom force. The protocol included eleven tasks with complementary constraints inspired by recent taxonomies: four tasks corresponding to lifting and holding the object with different grasp configurations, and seven to manipulating the object (rotation around each of its axis and translation). The grasping and unloading forces and object rotations were measured during the five phases of the actions: unloading, lifting, holding or manipulation, preparation to deposit, and deposit. The results confirm the tight regulation between grasping and unloading forces during lifting, and extend this to the deposit phase. In addition, they provide a precise description of the regulation of force exchanges during various manipulation tasks spanning representative actions of daily life. The timing of manipulation showed both sequential and overlapping organization of the different sub-actions, and micro-errors could be detected. This phenomenological study confirms the feasibility of using an instrumented object to investigate complex manipulative behavior in humans. This protocol will be used in the future to investigate upper-limb dexterity in patients with sensory-motor impairments. PMID:28562617

Direct adaptive control of manipulators in Cartesian space

NASA Technical Reports Server (NTRS)

Seraji, H.

1987-01-01

A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.

Liquid phase deposition of a space-durable, antistatic SnO₂ coating on Kapton.

PubMed

Gotlib-Vainstein, Katya; Gouzman, Irina; Girshevitz, Olga; Bolker, Asaf; Atar, Nurit; Grossman, Eitan; Sukenik, Chaim N

2015-02-18

Polyimides are widely used in thermal blankets covering the external surfaces of spacecrafts due to their space durability and their thermo-optical properties. However, they are susceptible to atomic oxygen (AO) erosion, the main hazard of low Earth orbit (LEO), and to electrical charging. This work demonstrates that liquid phase deposition (LPD) of 100 nm of tin oxide creates a protective coating on Kapton polyimide that has good adherence and is effective in preventing AO-induced surface erosion and in reducing electrical charging. The as-deposited tin oxide induces no significant changes in the original thermo-optical properties of the polymer and is effective in preventing electrostatic discharge (ESD). The durability of the oxide coating under AO attack was studied using oxygen RF plasma. The AO exposure did not result in any significant changes in surface morphology, thermo-optical, mechanical, and electrical properties of the tin oxide-coated Kapton. The erosion yield of tin oxide-coated Kapton was negligible after exposure to 6.4 × 10(20) O atoms·cm(-2) of LEO equivalent AO fluence, indicating a complete protection of Kapton by the LPD deposited coating. Moreover, the tin oxide coating is flexible enough so that its electrical conductivity stays within the desired range of antistatic materials despite mechanical manipulations. The advantages of liquid phase deposited oxides in terms of their not being line of site limited are well established. We now extend these advantages to coatings that reduce electrostatic discharge while still providing a high level of protection from AO erosion.

Space Shuttle Discovery (STS-124) Lands

NASA Image and Video Library

2008-06-14

NASA Associate Administrator for Space Operations Bill Gerstenmaier watches the space shuttle Discovery touch down at 11:15 a.m. EDT, Saturday, June 14, 2008, at the Kennedy Space Center in Florida. During the 13-day mission, Discovery and the crew of STS-124 delivered new components of the Japanese Experiment Module, or Kibo, to the International Space Station and the Canadian-built Special Purpose Dextrous Manipulator to the International Space Station. Photo Credit: (NASA/Bill Ingalls)

Fitness cost of incubation in great tits (Parus major) is related to clutch size

PubMed Central

de Heij, Maaike E; van den Hout, Piet J; Tinbergen, Joost M

2006-01-01

Life-history theory predicts that parents produce the number of offspring that maximizes their fitness. In birds, natural selection on parental decisions regarding clutch size may act during egg laying, incubation or nestling phase. To study the fitness consequences of clutch size during the incubation phase, we manipulated the clutch sizes during this phase only in three breeding seasons and measured the fitness consequences on the short and the long term. Clutch enlargement did not affect the offspring fitness of the manipulated first clutches, but fledging probability of the subsequent clutch in the same season was reduced. Parents incubating enlarged first clutches provided adequate care for the offspring of their first clutches during the nestling phase, but paid the price when caring for the offspring of their second clutch. Parents that incubated enlarged first clutches had lower local survival in the 2 years when the population had a relatively high production of second clutches, but not in the third year when there was a very low production of second clutches. During these 2 years, the costs of incubation were strong enough to change positive selection, as established by brood size manipulations in this study population, into stabilizing selection through the negative effect of incubation on parental fitness. PMID:16928638

Structured light generation by magnetic metamaterial half-wave plates at visible wavelength

NASA Astrophysics Data System (ADS)

Zeng, Jinwei; Luk, Ting S.; Gao, Jie; Yang, Xiaodong

2017-12-01

Metamaterial or metasurface unit cells functioning as half-wave plates play an essential role for realizing ideal Pancharatnam-Berry phase optical elements capable of tailoring light phase and polarization as desired. Complex light beam manipulation through these metamaterials or metasurfaces unveils new dimensions of light-matter interactions for many advances in diffraction engineering, beam shaping, structuring light, and holography. However, the realization of metamaterial or metasurface half-wave plates in visible spectrum range is still challenging mainly due to its specific requirements of strong phase anisotropy with amplitude isotropy in subwavelength scale. Here, we propose magnetic metamaterial structures which can simultaneously exploit the electric field and magnetic field of light for achieving the nanoscale half-wave plates at visible wavelength. We design and demonstrate the magnetic metamaterial half-wave plates in linear grating patterns with high polarization conversion purity in a deep subwavelength thickness. Then, we characterize the equivalent magnetic metamaterial half-wave plates in cylindrical coordinate as concentric-ring grating patterns, which act like an azimuthal half-wave plate and accordingly exhibit spatially inhomogeneous polarization and phase manipulations including spin-to-orbital angular momentum conversion and vector beam generation. Our results show potentials for realizing on-chip beam converters, compact holograms, and many other metamaterial devices for structured light beam generation, polarization control, and wavefront manipulation.

Assembly Platform For Use In Outer Space

NASA Technical Reports Server (NTRS)

Rao, Niranjan S.; Buddington, Patricia A.

1995-01-01

Report describes conceptual platform or framework for use in assembling other structures and spacecraft in outer space. Consists of three fixed structural beams comprising central beam and two cross beams. Robotic manipulators spaced apart on platform to provide telerobotic operation of platform by either space-station or ground crews. Platform and attached vehicles function synergistically to achieve maximum performance for intended purposes.

The lid of the container for the Mobile Base System, part of the Canadian arm, is prepared for remov

NASA Technical Reports Server (NTRS)

2000-01-01

Inside the Space Station Processing Facility, workers prepare to remove the lid of a container holding the Mobile Base System (MBS). The MBS is part of the Canadian Space Agency's Space Station Remote Manipulator System (SSRMS), which is part of the payload on mission STS-100 to the International Space Station.

Limiting effects in double EEX beamline

NASA Astrophysics Data System (ADS)

Ha, G.; Power, J. G.; Conde, M.; Doran, D. S.; Gai, W.

2017-07-01

The double emittance exchange (EEX) beamline is suggested to overcome the large horizontal emittance and transverse jitter issues associated with the single EEX beamline while preserving its powerful phase-space manipulation capability. However, the double EEX beamline also has potential limitations due to coherent synchrotron radiation (CSR) and transverse jitter. The former limitation arises because double EEX uses twice as many bending magnets as single EEX which means stronger CSR effects degrading the beam quality. The latter limitation arises because a longitudinal jitter in front of the first EEX beamline is converted into a transverse jitter in the middle section (between the EEX beamlines) which can cause beam loss or beam degradation. In this paper, we numerically explore the effects of these two limitations on the emittance and beam transport.

Stabilizing detached Bridgman melt crystal growth: Model-based nonlinear feedback control

NASA Astrophysics Data System (ADS)

Yeckel, Andrew; Daoutidis, Prodromos; Derby, Jeffrey J.

2012-12-01

The dynamics and operability limits of a nonlinear-proportional-integral controller designed to stabilize detached vertical Bridgman crystal growth are studied. The manipulated variable is the pressure difference between upper and lower vapor spaces, and the controlled variable is the gap width at the triple-phase line. The controller consists of a model-based nonlinear component coupled with a standard proportional-integral controller. The nonlinear component is based on a capillary model of shape stability. Perturbations to gap width, pressure difference, wetting angle, and growth angle are studied under both shape stable and shape unstable conditions. The nonlinear-PI controller allows a wider operating range of gain than a standard PI controller used alone, is easier to tune, and eliminates solution multiplicity from closed-loop operation.

GHz laser-free time-resolved transmission electron microscopy: A stroboscopic high-duty-cycle method

DOE PAGES

Qiu, Jiaqi; Zhu, Yimei; Ha, Gwanghui; ...

2015-11-10

In this study, a device and a method for producing ultrashort electron pulses with GHz repetition rates via pulsing an input direct current (dc) electron beam are provided. The device and the method are based on an electromagnetic-mechanical pulser (EMMP) that consists of a series of transverse deflecting cavities and magnetic quadrupoles. The EMMP modulates and chops the incoming dc electron beam and converts it into pico- and sub-pico-second electron pulse sequences (pulse trains) at >1 GHz repetition rates, as well as controllably manipulates the resulting pulses. Ultimately, it leads to negligible electron pulse phase-space degradation compared to the incomingmore » dc beam parameters. The temporal pulse length and repetition rate for the EMMP can be continuously tunable over wide ranges.« less

Acoustically induced oscillation and rotation of a large drop in space

NASA Astrophysics Data System (ADS)

Jacobi, N.; Croonquist, A. P.; Elleman, D. D.; Wang, T. G.

1982-03-01

A 2.5 cm diameter water drop was successfully deployed and manipulated in a triaxial acoustic resonance chamber during a 240 sec low-gravity SPAR rocket flight. Oscillation and rotation were induced by modulating and phase shifting the signals to the speakers. Portions of the film record were digitized and analyzed. Spectral analysis brought out the n = 2, 3, 4 free oscillation modes of the drop, its very low-frequency center-of-mass motion in the acoustic potential well, and the forced oscillation frequency. The drop boundaries were least-square fitted to general ellipses, providing eccentricities of the distorted drop. The normalized equatorial area of the rotating drop was plotted vs a rotational parameter, and was in excellent agreement with values derived from the theory of equilibrium shapes of rotating liquid drops.

Experimental Realization of a Thermal Squeezed State of Levitated Optomechanics

NASA Astrophysics Data System (ADS)

Rashid, Muddassar; Tufarelli, Tommaso; Bateman, James; Vovrosh, Jamie; Hempston, David; Kim, M. S.; Ulbricht, Hendrik

2016-12-01

We experimentally squeeze the thermal motional state of an optically levitated nanosphere by fast switching between two trapping frequencies. The measured phase-space distribution of the center of mass of our particle shows the typical shape of a squeezed thermal state, from which we infer up to 2.7 dB of squeezing along one motional direction. In these experiments the average thermal occupancy is high and, even after squeezing, the motional state remains in the remit of classical statistical mechanics. Nevertheless, we argue that the manipulation scheme described here could be used to achieve squeezing in the quantum regime if preceded by cooling of the levitated mechanical oscillator. Additionally, a higher degree of squeezing could, in principle, be achieved by repeating the frequency-switching protocol multiple times.

Circular, confined distribution for charged particle beams

DOEpatents

Garnett, Robert W.; Dobelbower, M. Christian

1995-01-01

A charged particle beam line is formed with magnetic optics that manipulate the charged particle beam to form the beam having a generally rectangular configuration to a circular beam cross-section having a uniform particle distribution at a predetermined location. First magnetic optics form a charged particle beam to a generally uniform particle distribution over a square planar area at a known first location. Second magnetic optics receive the charged particle beam with the generally square configuration and affect the charged particle beam to output the charged particle beam with a phase-space distribution effective to fold corner portions of the beam toward the core region of the beam. The beam forms a circular configuration having a generally uniform spatial particle distribution over a target area at a predetermined second location.

Circular, confined distribution for charged particle beams

DOEpatents

Garnett, R.W.; Dobelbower, M.C.

1995-11-21

A charged particle beam line is formed with magnetic optics that manipulate the charged particle beam to form the beam having a generally rectangular configuration to a circular beam cross-section having a uniform particle distribution at a predetermined location. First magnetic optics form a charged particle beam to a generally uniform particle distribution over a square planar area at a known first location. Second magnetic optics receive the charged particle beam with the generally square configuration and affect the charged particle beam to output the charged particle beam with a phase-space distribution effective to fold corner portions of the beam toward the core region of the beam. The beam forms a circular configuration having a generally uniform spatial particle distribution over a target area at a predetermined second location. 26 figs.

Beam tuning and bunch length measurement in the bunch compression operation at the cERL

NASA Astrophysics Data System (ADS)

Honda, Y.; Shimada, M.; Miyajima, T.; Hotei, T.; Nakamura, N.; Kato, R.; Obina, T.; Takai, R.; Harada, K.; Ueda, A.

2017-12-01

Realization of a short bunch beam by manipulating the longitudinal phase space distribution with a finite longitudinal dispersion following an off-crest acceleration is a widely used technique. The technique was applied in a compact test accelerator of an energy-recovery linac scheme for compressing the bunch length at the return loop. A diagnostic system utilizing coherent transition radiation was developed for the beam tuning and for estimating the bunch length. By scanning the beam parameters, we experimentally found the best condition for the bunch compression. The RMS bunch length of 250 ±50 fs was obtained at a bunch charge of 2 pC. This result confirmed the design and the tuning procedure of the bunch compression operation for the future energy-recovery linac (ERL).

Mode-Selective Photon Counting Via Quantum Frequency Conversion Using Spectrally-Engineered Pump Pulses

NASA Astrophysics Data System (ADS)

Manurkar, Paritosh

Most of the existing protocols for quantum communication operate in a two-dimensional Hilbert space where their manipulation and measurement have been routinely investigated. Moving to higher-dimensional Hilbert spaces is desirable because of advantages in terms of longer distance communication capabilities, higher channel capacity and better information security. We can exploit the spatio-temporal degrees of freedom for the quantum optical signals to provide the higher-dimensional signals. But this necessitates the need for measurement and manipulation of multidimensional quantum states. To that end, there have been significant theoretical studies based on quantum frequency conversion (QFC) in recent years even though the experimental progress has been limited. QFC is a process that allows preservation of the quantum information while changing the frequency of the input quantum state. It has deservedly garnered a lot of attention because it serves as the connecting bridge between the communications band (C-band near 1550 nm) where the fiber-optic infrastructure is already established and the visible spectrum where high efficiency single-photon detectors and optical memories have been demonstrated. In this experimental work, we demonstrate mode-selective frequency conversion as a means to measure and manipulate photonic signals occupying d -dimensional Hilbert spaces where d=2 and 4. In the d=2 case, we demonstrate mode contrast between two temporal modes (TMs) which serves as the proof-of-concept demonstration. In the d=4 version, we employ six different TMs for our detailed experimental study. These TMs also include superposition modes which are a crucial component in many quantum key distribution protocols. Our method is based on producing pump pulses which allow us to upconvert the TM of interest while ideally preserving the other modes. We use MATLAB simulations to determine the pump pulse shapes which are subsequently produced by controlling the amplitude and phase of each spectral frequency from an optical frequency comb. The latter is generated using a cascaded configuration of phase and amplitude modulators. We characterize the mode selectivity using classical signals by arranging the six TMs into two orthogonal signal sets. Furthermore, we also demonstrate that mode selectivity is preserved if we use sub-photon signals (weak coherent light). Thus, this work supports the idea that QFC has the basic properties needed for advanced multi-dimensional quantum measurements given that we have demonstrated for the first time the ability to move to high dimensions (d=4), measure coherent superposition modes, and measure sub-photon signal levels. In addition to mode-selective photon counting, we also experimentally demonstrate a method of reshaping optical pulses based on QFC. Such a method has the potential to serve as the interface between quantum memories and the existing fiber infrastructure. At the same time, it can be employed in all-optical systems for optical signal regeneration.

Precise and programmable manipulation of microbubbles by two-dimensional standing surface acoustic waves

NASA Astrophysics Data System (ADS)

Meng, Long; Cai, Feiyan; Chen, Juanjuan; Niu, Lili; Li, Yanming; Wu, Junru; Zheng, Hairong

2012-04-01

A microfluidic device is developed to transport microbubbles (MBs) along a desired trajectory in fluid by introducing the phase-shift to a planar standing surface acoustic wave (SSAW). The radiation force of SSAW due to the acoustic pressure gradient modulated by a phase-shift can move MBs to anticipated potential wells in a programmable manner. The resolution of the transportation is approximately 2.2 µm and the estimated radiation force on the MBs is on the order of 10-9 N. This device can be used for manipulation of bioparticles, cell sorting, tissue engineering, and other biomedical applications.

Femtosecond pulse shaping using the geometric phase.

PubMed

Gökce, Bilal; Li, Yanming; Escuti, Michael J; Gundogdu, Kenan

2014-03-15

We demonstrate a femtosecond pulse shaper that utilizes polarization gratings to manipulate the geometric phase of an optical pulse. This unique approach enables circular polarization-dependent shaping of femtosecond pulses. As a result, it is possible to create coherent pulse pairs with orthogonal polarizations in a 4f pulse shaper setup, something until now that, to our knowledge, was only achieved via much more complex configurations. This approach could be used to greatly simplify and enhance the functionality of multidimensional spectroscopy and coherent control experiments, in which multiple coherent pulses are used to manipulate quantum states in materials of interest.

Theoretical linear approach to the combined man-manipulator system in manual control of an aircraft

NASA Technical Reports Server (NTRS)

Brauser, K.

1981-01-01

An approach to the calculation of the dynamic characteristics of the combined man manipulator system in manual aircraft control was derived from a model of the neuromuscular system. This model combines the neuromuscular properties of man with the physical properties of the manipulator system which is introduced as pilot manipulator model into the manual aircraft control. The assumption of man as a quasilinear and time invariant control operator adapted to operating states, depending on the flight phases, of the control system gives rise to interesting solutions of the frequency domain transfer functions of both the man manipulator system and the closed loop pilot aircraft control system. It is shown that it is necessary to introduce the complete precision pilot manipulator model into the closed loop pilot aircraft transfer function in order to understand the well known handling quality criteria, and to derive these criteria directly from human operator properties.

A Modular, Reusable Latch and Decking System for Securing Payloads During Launch and Planetary Surface Transport

NASA Technical Reports Server (NTRS)

Doggett, William R.; Dorsey, John T.; Jones, Thomas C.; King, Bruce D.; Mikulas, Martin M.

2011-01-01

Efficient handling of payloads destined for a planetary surface, such as the moon or mars, requires robust systems to secure the payloads during transport on the ground, in space and on the planetary surface. In addition, mechanisms to release the payloads need to be reliable to ensure successful transfer from one vehicle to another. An efficient payload handling strategy must also consider the devices available to support payload handling. Cranes used for overhead lifting are common to all phases of payload handling on Earth. Similarly, both recent and past studies have demonstrated that devices with comparable functionality will be needed to support lunar outpost operations. A first generation test-bed of a new high performance device that provides the capabilities of both a crane and a robotic manipulator, the Lunar Surface Manipulation System (LSMS), has been designed, built and field tested and is available for use in evaluating a system to secure payloads to transportation vehicles. A payload handling approach must address all phases of payload management including: ground transportation, launch, planetary transfer and installation in the final system. In addition, storage may be required during any phase of operations. Each of these phases requires the payload to be lifted and secured to a vehicle, transported, released and lifted in preparation for the next transportation or storage phase. A critical component of a successful payload handling approach is a latch and associated carrier system. The latch and carrier system should minimize requirements on the: payload, carrier support structure and payload handling devices as well as be able to accommodate a wide range of payload sizes. In addition, the latch should; be small and lightweight, support a method to apply preload, be reusable, integrate into a minimal set of hard-points and have manual interfaces to actuate the latch should a problem occur. A latching system which meets these requirements has been designed and fabricated and will be described in detail. This latching system works in conjunction with a payload handling device such as the LSMS, and the LSMS has been used to test first generation latch and carrier hardware. All tests have been successful during the first phase of operational evaluations. Plans for future tests of first generation latch and carrier hardware with the LSMS are also described.

A Modular, Reusable Latch and Decking System for Securing Payloads During Launch and Planetary Surface Transport

NASA Technical Reports Server (NTRS)

Doggett, William R.; Dorsey, John T.; Jones, Thomas C.; King, Bruce D.; Mikulas, Martin M.

2010-01-01

Efficient handling of payloads destined for a planetary surface, such as the moon or Mars, requires robust systems to secure the payloads during transport on the ground, in-space and on the planetary surface. In addition, mechanisms to release the payloads need to be reliable to ensure successful transfer from one vehicle to another. An efficient payload handling strategy must also consider the devices available to support payload handling. Cranes used for overhead lifting are common to all phases of payload handling on Earth. Similarly, both recent and past studies have demonstrated that devices with comparable functionality will be needed to support lunar outpost operations. A first generation test-bed of a new high performance device that provides the capabilities of both a crane and a robotic manipulator, the Lunar Surface Manipulation System (LSMS), has been designed, built and field tested and is available for use in evaluating a system to secure payloads to transportation vehicles. National Institute of Aerospace, Hampton Va 23662 A payload handling approach must address all phases of payload management including: ground transportation, launch, planetary transfer and installation in the final system. In addition, storage may be required during any phase of operations. Each of these phases requires the payload to be lifted and secured to a vehicle, transported, released and lifted in preparation for the next transportation or storage phase. A critical component of a successful payload handling approach is a latch and associated carrier system. The latch and carrier system should minimize requirements on the: payload, carrier support structure and payload handling devices as well as be able to accommodate a wide range of payload sizes. In addition, the latch should; be small and lightweight, support a method to apply preload, be reusable, integrate into a minimal set of hard-points and have manual interfaces to actuate the latch should a problem occur. A latching system which meets these requirements has been designed and fabricated and will be described in detail. This latching system works in conjunction with a payload handling device such as the LSMS, and the LSMS has been used to test first generation latch and carrier hardware. All tests have been successful during the first phase of operational evaluations. Plans for future tests of first generation latch and carrier hardware with the LSMS are also described.

Obstacle avoidance handling and mixed integer predictive control for space robots

NASA Astrophysics Data System (ADS)

Zong, Lijun; Luo, Jianjun; Wang, Mingming; Yuan, Jianping

2018-04-01

This paper presents a novel obstacle avoidance constraint and a mixed integer predictive control (MIPC) method for space robots avoiding obstacles and satisfying physical limits during performing tasks. Firstly, a novel kind of obstacle avoidance constraint of space robots, which needs the assumption that the manipulator links and the obstacles can be represented by convex bodies, is proposed by limiting the relative velocity between two closest points which are on the manipulator and the obstacle, respectively. Furthermore, the logical variables are introduced into the obstacle avoidance constraint, which have realized the constraint form is automatically changed to satisfy different obstacle avoidance requirements in different distance intervals between the space robot and the obstacle. Afterwards, the obstacle avoidance constraint and other system physical limits, such as joint angle ranges, the amplitude boundaries of joint velocities and joint torques, are described as inequality constraints of a quadratic programming (QP) problem by using the model predictive control (MPC) method. To guarantee the feasibility of the obtained multi-constraint QP problem, the constraints are treated as soft constraints and assigned levels of priority based on the propositional logic theory, which can realize that the constraints with lower priorities are always firstly violated to recover the feasibility of the QP problem. Since the logical variables have been introduced, the optimization problem including obstacle avoidance and system physical limits as prioritized inequality constraints is termed as MIPC method of space robots, and its computational complexity as well as possible strategies for reducing calculation amount are analyzed. Simulations of the space robot unfolding its manipulator and tracking the end-effector's desired trajectories with the existence of obstacles and physical limits are presented to demonstrate the effectiveness of the proposed obstacle avoidance strategy and MIPC control method of space robots.

Description of European Space Agency (ESA) Remote Manipulator (RM) System Breadboard Currently Under Development for Demonstration of Critical Technology Foreseen to be Used in the Mars Sample Receiving Facility (MSRF)

NASA Astrophysics Data System (ADS)

Vrublevskis, J.; Duncan, S.; Berthoud, L.; Bowman, P.; Hills, R.; McCulloch, Y.; Pisla, D.; Vaida, C.; Gherman, B.; Hofbaur, M.; Dieber, B.; Neythalath, N.; Smith, C.; van Winnendael, M.; Duvet, L.

2018-04-01

In order to avoid the use of 'double walled' gloves, a haptic feedback Remote Manipulation (RM) system rather than a gloved isolator is needed inside a Double Walled Isolator (DWI) to handle a sample returned from Mars.

Influence of motivating operations and discriminative stimuli on challenging behavior maintained by positive reinforcement.

PubMed

Edrisinha, Chaturi; O'Reilly, Mark; Sigafoos, Jeff; Lancioni, Giulio; Choi, Ha Young

2011-01-01

We examined the effects of an establishing operation (EO) and abolishing operation (AO) on stimulus control of challenging behavior. Two participants with developmental disabilities and challenging behavior participated. In Phase I, a functional analysis was conducted to identify the consequences maintaining challenging behavior. In Phase II, a discrimination between SD and SΔ was trained. In Phase III, pre-session MOs (i.e., EO and AO conditions) were arranged to assess their effects on challenging behavior. Finally in Phase IV, in addition to manipulating pre-session MOs the challenging behavior was evaluated under extinction in both SD and SΔ conditions. Results indicated that in the context of extinction when pre-session EO and AO conditions were manipulated, responding not only became differentiated but was higher in both SD and SΔ conditions in the pre-session EO condition when compared to the pre-session AO condition. Published by Elsevier Ltd.

The Mobile Base System, part of the Canadian arm, is revealed inside the container

NASA Technical Reports Server (NTRS)

2000-01-01

With the lid removed, the wrapped Mobile Base System (MBS) is revealed inside its transport container. The MBS is part of the Canadian Space Agency's Space Station Remote Manipulator System (SSRMS), which is part of the payload on mission STS-100 to the International Space Station.

Space station needs, attributes and architectural options study. Volume 7-4B: Data book, architecture, technology and programmatics, part B

NASA Technical Reports Server (NTRS)

1983-01-01

The remote manipulating system, the pointing control system, and the external radiator for the core module of the space station are discussed. The principal interfaces for four basic classes of user and transportation vehicles or facilities associated with the space station were examined.

Japanese Space Flyer Unit (SFU) satellite rendezvous

NASA Image and Video Library

1996-01-20

STS072-720-042 (13 Jan. 1996) --- The crew members captured this 70mm view of the Japanese Space Flyer Unit (SFU) just prior to the jettisoning of the solar panels. Later, they used the Remote Manipulator System (RMS) to latch onto the satellite and berth it in the Space Shuttle Endeavour’s aft cargo bay.

Endeavour backdropped against space with Sun displaying rayed effect

NASA Image and Video Library

1993-12-09

STS061-105-024 (2-13 Dec. 1993) --- One of Endeavour's space walkers captured this view of Endeavour backdropped against the blackness of space, with the Sun displaying a rayed effect. The extended Remote Manipulator System (RMS) arm that the astronaut was standing on is seen on the left side of the view.

Investigation on microfluidic particles manipulation by holographic 3D tracking strategies

NASA Astrophysics Data System (ADS)

Cacace, Teresa; Paturzo, Melania; Memmolo, Pasquale; Vassalli, Massimo; Fraldi, Massimiliano; Mensitieri, Giuseppe; Ferraro, Pietro

2017-06-01

We demonstrate a 3D holographic tracking method to investigate particles motion in a microfluidic channel while unperturbed while inducing their migration through microfluidic manipulation. Digital holography (DH) in microscopy is a full-field, label-free imaging technique able to provide quantitative phase-contrast. The employed 3D tracking method is articulated in steps. First, the displacements along the optical axis are assessed by numerical refocusing criteria. In particular, an automatic refocusing method to recover the particles axial position is implemented employing a contrast-based refocusing criterion. Then, the transverse position of the in-focus object is evaluated through quantitative phase map segmentation methods and centroid-based 2D tracking strategy. The introduction of DH is thus suggested as a powerful approach for control of particles and biological samples manipulation, as well as a possible aid to precise design and implementation of advanced lab-on-chip microfluidic devices.

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.

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.

Evaluation of a Shape Memory Alloy Reinforced Annuloplasty Band for Minimally Invasive Mitral Valve Repair

PubMed Central

Purser, Molly F.; Richards, Andrew L.; Cook, Richard C.; Osborne, Jason A.; Cormier, Denis R.; Buckner, Gregory D.

2013-01-01

Purpose An in vitro study using explanted porcine hearts was conducted to evaluate a novel annuloplasty band, reinforced with a two-phase, shape memory alloy, designed specifically for minimally invasive mitral valve repair. Description In its rigid (austenitic) phase, this band provides the same mechanical properties as the commercial semi-rigid bands. In its compliant (martensitic) phase, this band is flexible enough to be introduced through an 8-mm trocar and is easily manipulated within the heart. Evaluation In its rigid phase, the prototype band displayed similar mechanical properties to commercially available semi-rigid rings. Dynamic flow testing demonstrated no statistical differences in the reduction of mitral valve regurgitation. In its flexible phase, the band was easily deployed through an 8-mm trocar, robotically manipulated and sutured into place. Conclusions Experimental results suggest that the shape memory alloy reinforced band could be a viable alternative to flexible and semi-rigid bands in minimally invasive mitral valve repair. PMID:19766827

Broadband two-dimensional electronic spectroscopy in an actively phase stabilized pump-probe configuration.

PubMed

Zhu, Weida; Wang, Rui; Zhang, Chunfeng; Wang, Guodong; Liu, Yunlong; Zhao, Wei; Dai, Xingcan; Wang, Xiaoyong; Cerullo, Giulio; Cundiff, Steven; Xiao, Min

2017-09-04

We introduce a novel configuration for two-dimensional electronic spectroscopy (2DES) that combines the partially collinear pump-probe geometry with active phase locking. We demonstrate the method on a solution sample of CdSe/ZnS nanocrystals by employing two non-collinear optical parametric amplifiers as the pump and probe sources. The two collinear pump pulse replicas are created using a Mach-Zehnder interferometer phase stabilized by active feedback electronics. Taking the advantage of separated paths of the two pump pulses in the interferometer, we improve the signal-to-noise ratio with double modulation of the individual pump beams. In addition, a quartz wedge pair manipulates the phase difference between the two pump pulses, enabling the recovery of the rephasing and non-rephasing signals. Our setup integrates many advantages of available 2DES techniques with robust phase stabilization, ultrafast time resolution, two-color operation, long delay scan, individual polarization manipulation and the ease of implementation.

A technique to calibrate spatial light modulator for varying phase response over its spatial regions

NASA Astrophysics Data System (ADS)

Gupta, Deepak K.; Tata, B. V. R.; Ravindran, T. R.

2018-05-01

Holographic Optical Tweezers (HOTs) employ the technique of beam shaping and holography in an optical manipulation system to create a multitude of focal spots for simultaneous trapping and manipulation of sub-microscopic particles. The beam shaping is accomplished by the use of a phase only liquid crystal spatial light modulator (SLM). The efficiency and the uniformity in the generated traps greatly depend on the phase response behavior of SLMs. In addition the SLMs are found to show different phase response over its different spatial regions, due to non-flat structure of SLMs. Also the phase responses are found to vary over different spatial regions due to non-uniform illumination (Gaussian profile of incident laser). There are various techniques to calibrate for the varying phase response by characterizing the phase modulation at various sub-sections. We present a simple and fast technique to calibrate the SLM suffering with spatially varying phase response. We divide the SLM into many sub-sections and optimize the brightness and gamma of each sub-section for maximum diffraction efficiency. This correction is incorporated in the Weighted Gerchberg Saxton (WGS) algorithm for generation of holograms.

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.

RMS arm extended over Earth view

NASA Image and Video Library

2005-08-02

ISS011-E-11414 (2 August 2005) --- A line of thunderstorms form the backdrop for this view of the extended Space Shuttle Discovery’s remote manipulator system (RMS) robotic arm while docked to the International Space Station during the STS-114 mission.

Inside School Spaces: Rethinking the Hidden Dimension.

ERIC Educational Resources Information Center

Sitton, Thad

1980-01-01

Considers the spatial arrangements of public schools as culturally derived characteristics that reflect particular traditional expectations in regard to the learning process and teacher student interactions. Discusses fixed spatial arrangements as well as the territorial manipulation of school space by students. (GC)

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.

Tension Stiffened and Tendon Actuated Manipulator

NASA Technical Reports Server (NTRS)

Dorsey, John T. (Inventor); Mercer, Charles D. (Inventor); Ganoe, George G. (Inventor); Doggett, William R. (Inventor); King, Bruce D. (Inventor); Jones, Thomas C. (Inventor); Corbin, Cole K. (Inventor)

2015-01-01

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

The servicing aid tool: A teleoperated robotics system for space applications

NASA Technical Reports Server (NTRS)

Dorman, Keith W.; Pullen, John L.; Keksz, William O.; Eismann, Paul H.; Kowalski, Keith A.; Karlen, James P.

1994-01-01

The Servicing Aid Tool (SAT) is a teleoperated, force-reflecting manipulation system designed for use on the Space Shuttle. The system will assist Extravehicular Activity (EVA) servicing of spacecraft such as the Hubble Space Telescope. The SAT stands out from other robotics development programs in that special attention was given to provide a low-cost, space-qualified design which can easily and inexpensively be reconfigured and/or enhanced through the addition of existing NASA funded technology as that technology matures. SAT components are spaceflight adaptations of existing ground-based designs from Robotics Research Corporation (RRC), the leading supplier of robotics systems to the NASA and university research community in the United States. Fairchild Space is the prime contractor and provides the control electronics, safety system, system integration, and qualification testing. The manipulator consists of a 6-DOF Slave Arm mounted on a 1-DOF Positioning Link in the shuttle payload bay. The Slave Arm is controlled via a highly similar, 6-DOF, force-reflecting Master Arm from Schilling Development, Inc. This work is being performed under contract to the Goddard Space Flight Center Code, Code 442, Hubble Space Telescope Flight Systems and Servicing Project.

Mobile remote manipulator vehicle system

NASA Technical Reports Server (NTRS)

Bush, Harold G. (Inventor); Mikulas, Martin M., Jr. (Inventor); Wallsom, Richard E. (Inventor); Jensen, J. Kermit (Inventor)

1987-01-01

A mobile remote manipulator system is disclosed for assembly, repair and logistics transport on, around and about a space station square bay truss structure. The vehicle is supported by a square track arrangement supported by guide pins integral with the space station truss structure and located at each truss node. Propulsion is provided by a central push-pull drive mechanism that extends out from the vehicle one full structural bay over the truss and locks drive rods into the guide pins. The draw bar is now retracted and the mobile remote manipulator system is pulled onto the next adjacent structural bay. Thus, translation of the vehicle is inchworm style. The drive bar can be locked onto two guide pins while the extendable draw bar is within the vehicle and then push the vehicle away one bay providing bidirectional push-pull drive. The track switches allow the vehicle to travel in two orthogonal directions over the truss structure which coupled with the bidirectional drive, allow movement in four directions on one plane. The top layer of this trilayered vehicle is a logistics platform. This platform is capable of 369 degees of rotation and will have two astronaut foot restraint platforms and a space crane integral.

Self mobile space manipulator project

NASA Technical Reports Server (NTRS)

Brown, H. Ben; Friedman, Mark; Xu, Yangsheng; Kanade, Takeo

1992-01-01

A relatively simple, modular, low mass, low cost robot is being developed for space EVA that is large enough to be independently mobile on a space station or platform exterior, yet versatile enough to accomplish many vital tasks. The robot comprises two long flexible links connected by a rotary joint, with 2-DOF 'wrist' joints and grippers at each end. It walks by gripping pre-positioned attachment points, such as trusswork nodes, and alternately shifting its base of support from one foot (gripper) to the other. The robot can perform useful tasks such as visual inspection, material transport, and light assembly by manipulating objects with one gripper, while stabilizing itself with the other. At SOAR '90, we reported development of 1/3 scale robot hardware, modular trusswork to serve as a locomotion substrate, and a gravity compensation system to allow laboratory tests of locomotion strategies on the horizontal face of the trusswork. In this paper, we report on project progress including the development of: (1) adaptive control for automatic adjustment to loads; (2) enhanced manipulation capabilities; (3) machine vision, including the use of neural nets, to guide autonomous locomotion; (4) locomotion between orthogonal trusswork faces; and (5) improved facilities for gravity compensation and telerobotic control.

Method and apparatus for configuration control of redundant robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun (Inventor)

1991-01-01

A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics is disclosed. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motion of the manipulator, which is an essential requirement for repetitive operations. The control law is simple and computationally very fast, and does not require either the complex manipulator dynamic model or the complicated inverse kinematic transformation. The configuration control scheme can alternatively be implemented in joint space.

Earth Observations taken by Expedition 26 Crew

NASA Image and Video Library

2010-12-21

ISS026-E-011834 (21 Dec. 2010) --- This photo, recorded by an Expedition 26 crewmember on the International Space Station, features two components of the Mobile Servicing System on the orbital outpost. Part of the Station Remote Manipulator System?s arm (Canadarm2) is visible at left. Dextre (right), also known as the Special Purpose Dexterous Manipulator (SPDM), is a two armed robot.

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.

Archambault uses communication equipment in the U.S. Laboratory during Joint Operations

NASA Image and Video Library

2007-06-12

S117-E-07097 (12 June 2007) --- Astronaut Lee Archambault, STS-117 pilot, uses a communication system near the controls of the Space Station Remote Manipulator System (SSRMS) or Canadarm2 in the Destiny laboratory of the International Space Station during flight day five activities while Space Shuttle Atlantis was docked with the station.

Review on structured optical field generated from array beams

NASA Astrophysics Data System (ADS)

Hou, Tianyue; Zhou, Pu; Ma, Yanxing; Zhi, Dong

2018-03-01

Structured optical field (SOF), which includes vortex beams, non-diffraction beams, cylindrical vector beams and so on, has been under intensive investigation theoretically and experimentally in recent years. Generally, current research focus on the extraordinary properties (non-diffraction propagation, helical wavefront, rotation of electrical field, et al), which can be widely applied in micro-particle manipulation, super-resolution imaging, free-space communication and so on. There are mainly two technical routes, that is, inner-cavity and outer-cavity (spatial light modulators, diffractive phase holograms, q-plates). To date, most of the SOFs generated from both technical routes involves with single monolithic beam. As a novel technical route, SOF based on array beams has the advantage in more flexible freedom degree and power scaling potential. In this paper, research achievements in SOF generation based on array beams are arranged and discussed in detail. Moreover, experiment of generating exotic beam by array beams is introduced, which illustrates that SOF generated from array beams is theoretically valid and experimentally feasible. SOF generated from array beams is also beneficial for capacity increasing and data receiving for free-space optical communication systems at long distance.

Development of an Automated Seed Sowing and Induced Germination System for Space Flight Application

NASA Technical Reports Server (NTRS)

Heyenga, A. G.; Kliss, Mark

1995-01-01

The successful utilization of higher plants in space flight is likely to require the effective transition of plants through all phases of growth and development. A particularly sensitive and critical stage in this cycle is seed germination. The present inflight capability to manipulate seed from a state of dormancy to germination and the performance of such activity under aseptic conditions is extremely limited. An Automated Sowing Mechanism (ASM) has been designed to address this area of science and technology. The self-contained system is readily compatible with the existing Shuttle middeck locker Plant Growth Unit (PGU) and planned Plant Growth Facility (PGF), presenting an opportunity to extend the experimental capability of these systems. The ASM design encompasses the controlled transition of seed from a dry to hydrated state utilizing solid media substrate as the source of water and nutrient support. System activation has been achieved with both photo and timing mechanisms. Controlled induced germination and development of various plant species has been achieved in ground-based trials. The system is presently being prepared for a KC-135 flight test.

Deterministic reshaping of single-photon spectra using cross-phase modulation.

PubMed

Matsuda, Nobuyuki

2016-03-01

The frequency conversion of light has proved to be a crucial technology for communication, spectroscopy, imaging, and signal processing. In the quantum regime, it also offers great potential for realizing quantum networks incorporating disparate physical systems and quantum-enhanced information processing over a large computational space. The frequency conversion of quantum light, such as single photons, has been extensively investigated for the last two decades using all-optical frequency mixing, with the ultimate goal of realizing lossless and noiseless conversion. I demonstrate another route to this target using frequency conversion induced by cross-phase modulation in a dispersion-managed photonic crystal fiber. Owing to the deterministic and all-optical nature of the process, the lossless and low-noise spectral reshaping of a single-photon wave packet in the telecommunication band has been readily achieved with a modulation bandwidth as large as 0.4 THz. I further demonstrate that the scheme is applicable to manipulations of a nonclassical frequency correlation, wave packet interference, and entanglement between two photons. This approach presents a new coherent frequency interface for photons for quantum information processing.

Deterministic reshaping of single-photon spectra using cross-phase modulation

PubMed Central

Matsuda, Nobuyuki

2016-01-01

The frequency conversion of light has proved to be a crucial technology for communication, spectroscopy, imaging, and signal processing. In the quantum regime, it also offers great potential for realizing quantum networks incorporating disparate physical systems and quantum-enhanced information processing over a large computational space. The frequency conversion of quantum light, such as single photons, has been extensively investigated for the last two decades using all-optical frequency mixing, with the ultimate goal of realizing lossless and noiseless conversion. I demonstrate another route to this target using frequency conversion induced by cross-phase modulation in a dispersion-managed photonic crystal fiber. Owing to the deterministic and all-optical nature of the process, the lossless and low-noise spectral reshaping of a single-photon wave packet in the telecommunication band has been readily achieved with a modulation bandwidth as large as 0.4 THz. I further demonstrate that the scheme is applicable to manipulations of a nonclassical frequency correlation, wave packet interference, and entanglement between two photons. This approach presents a new coherent frequency interface for photons for quantum information processing. PMID:27051862

Oxygen-enabled control of Dzyaloshinskii-Moriya Interaction in ultra-thin magnetic films.

PubMed

Belabbes, Abderrezak; Bihlmayer, Gustav; Blügel, Stefan; Manchon, Aurélien

2016-04-22

The search for chiral magnetic textures in systems lacking spatial inversion symmetry has attracted a massive amount of interest in the recent years with the real space observation of novel exotic magnetic phases such as skyrmions lattices, but also domain walls and spin spirals with a defined chirality. The electrical control of these textures offers thrilling perspectives in terms of fast and robust ultrahigh density data manipulation. A powerful ingredient commonly used to stabilize chiral magnetic states is the so-called Dzyaloshinskii-Moriya interaction (DMI) arising from spin-orbit coupling in inversion asymmetric magnets. Such a large antisymmetric exchange has been obtained at interfaces between heavy metals and transition metal ferromagnets, resulting in spin spirals and nanoskyrmion lattices. Here, using relativistic first-principles calculations, we demonstrate that the magnitude and sign of DMI can be entirely controlled by tuning the oxygen coverage of the magnetic film, therefore enabling the smart design of chiral magnetism in ultra-thin films. We anticipate that these results extend to other electronegative ions and suggest the possibility of electrical tuning of exotic magnetic phases.

Oxygen-enabled control of Dzyaloshinskii-Moriya Interaction in ultra-thin magnetic films

PubMed Central

Belabbes, Abderrezak; Bihlmayer, Gustav; Blügel, Stefan; Manchon, Aurélien

2016-01-01

The search for chiral magnetic textures in systems lacking spatial inversion symmetry has attracted a massive amount of interest in the recent years with the real space observation of novel exotic magnetic phases such as skyrmions lattices, but also domain walls and spin spirals with a defined chirality. The electrical control of these textures offers thrilling perspectives in terms of fast and robust ultrahigh density data manipulation. A powerful ingredient commonly used to stabilize chiral magnetic states is the so-called Dzyaloshinskii-Moriya interaction (DMI) arising from spin-orbit coupling in inversion asymmetric magnets. Such a large antisymmetric exchange has been obtained at interfaces between heavy metals and transition metal ferromagnets, resulting in spin spirals and nanoskyrmion lattices. Here, using relativistic first-principles calculations, we demonstrate that the magnitude and sign of DMI can be entirely controlled by tuning the oxygen coverage of the magnetic film, therefore enabling the smart design of chiral magnetism in ultra-thin films. We anticipate that these results extend to other electronegative ions and suggest the possibility of electrical tuning of exotic magnetic phases. PMID:27103448

Orbital angular momentum mode groups multiplexing transmission over 2.6-km conventional multi-mode fiber.

PubMed

Zhu, Long; Wang, Andong; Chen, Shi; Liu, Jun; Mo, Qi; Du, Cheng; Wang, Jian

2017-10-16

Twisted light carrying orbital angular momentum (OAM) is a special kind of structured light that has a helical phase front, a phase singularity, and a doughnut intensity profile. Beyond widespread developments in manipulation, microscopy, metrology, astronomy, nonlinear and quantum optics, OAM-carrying twisted light has seen emerging application of optical communications in free space and specially designed fibers. Instead of specialty fibers, here we show the direct use of a conventional graded-index multi-mode fiber (MMF) for OAM communications. By exploiting fiber-compatible mode exciting and filtering elements, we excite the first four OAM mode groups in an MMF. We demonstrate 2.6-km MMF transmission using four data-carrying OAM mode groups (OAM 0,1 , OAM +1,1 /OAM -1,1 , OAM +2,1 , OAM +3,1 ). Moreover, we demonstrate two data-carrying OAM mode groups multiplexing transmission over the 2.6-km MMF with low-level crosstalk free of multiple-input multiple-output digital signal processing (MIMO-DSP). The demonstrations may open up new perspectives to fiber-based OAM communication/non-communication applications using already existing conventional fibers.

Multi-beam reflections with flexible control of polarizations by using anisotropic metasurfaces

NASA Astrophysics Data System (ADS)

Ma, Hui Feng; Liu, Yan Qing; Luan, Kang; Cui, Tie Jun

2016-12-01

We propose a method to convert linearly polarized incident electromagnetic waves fed by a single source into multi-beam reflections with independent control of polarizations based on anisotropic metasurface at microwave frequencies. The metasurface is composed of Jerusalem Cross structures and grounded plane spaced by a dielectric substrate. By designing the reflection-phase distributions of the anisotropic metasurface along the x and y directions, the x- and y-polarized incident waves can be manipulated independently to realize multi-beam reflections. When the x- and y-polarized reflected beams are designed to the same direction with equal amplitude, the polarization state of the beam will be only controlled by the phase difference between the x- and y-polarized reflected waves. Three examples are presented to show the multi-beam reflections with flexible control of polarizations by using anisotropic metasurfaces and excellent performance. Particularly, we designed, fabricated, and measured an anisotropic metasurface for two reflected beams with one linearly polarized and the other circularly polarized. The measurement results have good agreement with the simulations in a broad bandwidth.

Multi-beam reflections with flexible control of polarizations by using anisotropic metasurfaces

PubMed Central

Ma, Hui Feng; Liu, Yan Qing; Luan, Kang; Cui, Tie Jun

2016-01-01

We propose a method to convert linearly polarized incident electromagnetic waves fed by a single source into multi-beam reflections with independent control of polarizations based on anisotropic metasurface at microwave frequencies. The metasurface is composed of Jerusalem Cross structures and grounded plane spaced by a dielectric substrate. By designing the reflection-phase distributions of the anisotropic metasurface along the x and y directions, the x- and y-polarized incident waves can be manipulated independently to realize multi-beam reflections. When the x- and y-polarized reflected beams are designed to the same direction with equal amplitude, the polarization state of the beam will be only controlled by the phase difference between the x- and y-polarized reflected waves. Three examples are presented to show the multi-beam reflections with flexible control of polarizations by using anisotropic metasurfaces and excellent performance. Particularly, we designed, fabricated, and measured an anisotropic metasurface for two reflected beams with one linearly polarized and the other circularly polarized. The measurement results have good agreement with the simulations in a broad bandwidth. PMID:28000734

Exobiology, SETI, von Neumann and geometric phase control.

PubMed

Hansson, P A

1995-11-01

The central difficulties confronting us at present in exobiology are the problems of the physical forces which sustain three-dimensional organisms, i.e., how one dimensional systems with only nearest interaction and two dimensional ones with its regular vibrations results in an integrated three-dimensional functionality. For example, a human lung has a dimensionality of 2.9 and thus should be measured in m2.9. According to thermodynamics, the first life-like system should have a small number of degrees of freedom, so how can evolution, via cycles of matter, lead to intelligence and theoretical knowledge? Or, more generally, what mechanisms constrain and drive this evolution? We are now on the brink of reaching an understanding below the photon level, into the domain where quantum events implode to the geometric phase which maintains the history of a quantum object. Even if this would exclude point to point communication, it could make it possible to manipulate the molecular level from below, in the physical scale, and result in a new era of geometricised engineering. As such, it would have a significant impact on space exploration and exobiology.

HAL/S programmer's guide. [space shuttle flight software language

NASA Technical Reports Server (NTRS)

Newbold, P. M.; Hotz, R. L.

1974-01-01

HAL/S is a programming language developed to satisfy the flight software requirements for the space shuttle program. The user's guide explains pertinent language operating procedures and described the various HAL/S facilities for manipulating integer, scalar, vector, and matrix data types.

View of the extended SSRMS or Canadarm2 with cloudy view in the background

NASA Image and Video Library

2003-01-09

ISS006-E-16947 (9 January 2003) --- The Space Station Remote Manipulator System (SSRMS) or Canadarm2 is pictured over the Bahama Islands in this digital still camera's view taken from the International Space Station (ISS).

A Survey and Experimental Evaluation of Proximity Sensors for Space Robotics

NASA Technical Reports Server (NTRS)

Volpe, Richard

1993-01-01

This paper provides an overview of our selction process for proximity sensors for manipulator collison avoidance. Five categories of sensors have been considered for this use in space operations: Intensity of reflection, triangulation, time of flight, capacitive, and iductive.

Various view with fish-eye lens of STS-103 crew on aft flight deck

NASA Image and Video Library

2000-01-28

STS103-375-027 (19 - 27 December 1999).--- Astronaut Jean-Francois Clervoy, mission specialist representing the European Space Agency (ESA), controls Discovery's remote manipulator system (RMS) robot arm during operations.with the Hubble Space Telescope (HST).

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).

KENNEDY SPACE CENTER, FLA. - The JEM Pressurized Module is seen in the hold of the ship that carried it from Japan. The National Space Development Agency of Japan (NASDA) built the laboratory at the Tsukuba Space Center near Tokyo. The Pressurized Module is the first element of the JEM, Japan’s primary contribution to the space station, to be delivered to KSC. It will enhance the unique research capabilities of the orbiting complex by providing an additional shirt-sleeve environment for astronauts to conduct science experiments. The JEM also includes two logistics modules, an exposed pallet for space environment experiments and a robotic manipulator system that are still under construction in Japan. The various JEM components will be assembled in space over the course of three space shuttle missions.

NASA Image and Video Library

2003-05-30

KENNEDY SPACE CENTER, FLA. - The JEM Pressurized Module is seen in the hold of the ship that carried it from Japan. The National Space Development Agency of Japan (NASDA) built the laboratory at the Tsukuba Space Center near Tokyo. The Pressurized Module is the first element of the JEM, Japan’s primary contribution to the space station, to be delivered to KSC. It will enhance the unique research capabilities of the orbiting complex by providing an additional shirt-sleeve environment for astronauts to conduct science experiments. The JEM also includes two logistics modules, an exposed pallet for space environment experiments and a robotic manipulator system that are still under construction in Japan. The various JEM components will be assembled in space over the course of three space shuttle missions.

Backscattered EM-wave manipulation using low cost 1-bit reflective surface at W-band

NASA Astrophysics Data System (ADS)

Taher Al-Nuaimi, Mustafa K.; Hong, Wei; He, Yejun

2018-04-01

The design of low cost 1-bit reflective (non-absorptive) surfaces for manipulation of backscattered EM-waves and radar cross section (RCS) reduction at W-band is presented in this article. The presented surface is designed based on the reflection phase cancellation principle. The unit cell used to compose the proposed surface has an obelus (division symbol of short wire and two disks above and below) like shape printed on a grounded dielectric material. Using this unit cell, surfaces that can efficiently manipulate the backscattered RCS pattern by using the proposed obelus-shaped unit cell (as ‘0’ element) and its mirrored unit cell (as ‘1’ element) in one surface with a 180°  ±  35° reflection phase difference between their reflection phases are designed. The proposed surfaces can generate various kinds of backscattered RCS patterns, such as single, three, or four lobes or even a low-level (reduced RCS) diffused reflection pattern when those two unit cells are distributed randomly across the surface aperture. For experimental characterization purposes, a 50  ×  50 mm2 surface is fabricated and measured.

STS-31 MS McCandless and MS Sullivan during JSC WETF underwater simulation

NASA Image and Video Library

1990-03-05

This overall view shows STS-31 Mission Specialist (MS) Bruce McCandless II (left) and MS Kathryn D. Sullivan making a practice space walk in JSC's Weightless Environment Training Facility (WETF) Bldg 29 pool. McCandless works with a mockup of the remote manipulator system (RMS) end effector which is attached to a grapple fixture on the Hubble Space Telescope (HST) mockup. Sullivan manipulates HST hardware on the Support System Module (SSM) forward shell. SCUBA-equipped divers monitor the extravehicular mobility unit (EMU) suited crewmembers during this simulated extravehicular activity (EVA). No EVA is planned for the Hubble Space Telescope (HST) deployment, but the duo has trained for contingencies which might arise during the STS-31 mission aboard Discovery, Orbiter Vehicle (OV) 103. Photo taken by NASA JSC photographer Sheri Dunnette.

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.

STS-31 MS McCandless and MS Sullivan during JSC WETF underwater simulation

NASA Technical Reports Server (NTRS)

1990-01-01

This overall view shows STS-31 Mission Specialist (MS) Bruce McCandless II (left) and MS Kathryn D. Sullivan making a practice space walk in JSC's Weightless Environment Training Facility (WETF) Bldg 29 pool. McCandless works with a mockup of the remote manipulator system (RMS) end effector which is attached to a grapple fixture on the Hubble Space Telescope (HST) mockup. Sullivan manipulates HST hardware on the Support System Module (SSM) forward shell. SCUBA-equipped divers monitor the extravehicular mobility unit (EMU) suited crewmembers during this simulated extravehicular activity (EVA). No EVA is planned for the Hubble Space Telescope (HST) deployment, but the duo has trained for contingencies which might arise during the STS-31 mission aboard Discovery, Orbiter Vehicle (OV) 103. Photo taken by NASA JSC photographer Sheri Dunnette.

Prospects and applications near ferroelectric quantum phase transitions: a key issues review.

PubMed

Chandra, P; Lonzarich, G G; Rowley, S E; Scott, J F

2017-11-01

The emergence of complex and fascinating states of quantum matter in the neighborhood of zero temperature phase transitions suggests that such quantum phenomena should be studied in a variety of settings. Advanced technologies of the future may be fabricated from materials where the cooperative behavior of charge, spin and current can be manipulated at cryogenic temperatures. The progagating lattice dynamics of displacive ferroelectrics make them appealing for the study of quantum critical phenomena that is characterized by both space- and time-dependent quantities. In this key issues article we aim to provide a self-contained overview of ferroelectrics near quantum phase transitions. Unlike most magnetic cases, the ferroelectric quantum critical point can be tuned experimentally to reside at, above or below its upper critical dimension; this feature allows for detailed interplay between experiment and theory using both scaling and self-consistent field models. Empirically the sensitivity of the ferroelectric T c 's to external and to chemical pressure gives practical access to a broad range of temperature behavior over several hundreds of Kelvin. Additional degrees of freedom like charge and spin can be added and characterized systematically. Satellite memories, electrocaloric cooling and low-loss phased-array radar are among possible applications of low-temperature ferroelectrics. We end with open questions for future research that include textured polarization states and unusual forms of superconductivity that remain to be understood theoretically.

Prospects and applications near ferroelectric quantum phase transitions: a key issues review

NASA Astrophysics Data System (ADS)

Chandra, P.; Lonzarich, G. G.; Rowley, S. E.; Scott, J. F.

2017-11-01

The emergence of complex and fascinating states of quantum matter in the neighborhood of zero temperature phase transitions suggests that such quantum phenomena should be studied in a variety of settings. Advanced technologies of the future may be fabricated from materials where the cooperative behavior of charge, spin and current can be manipulated at cryogenic temperatures. The progagating lattice dynamics of displacive ferroelectrics make them appealing for the study of quantum critical phenomena that is characterized by both space- and time-dependent quantities. In this key issues article we aim to provide a self-contained overview of ferroelectrics near quantum phase transitions. Unlike most magnetic cases, the ferroelectric quantum critical point can be tuned experimentally to reside at, above or below its upper critical dimension; this feature allows for detailed interplay between experiment and theory using both scaling and self-consistent field models. Empirically the sensitivity of the ferroelectric T c’s to external and to chemical pressure gives practical access to a broad range of temperature behavior over several hundreds of Kelvin. Additional degrees of freedom like charge and spin can be added and characterized systematically. Satellite memories, electrocaloric cooling and low-loss phased-array radar are among possible applications of low-temperature ferroelectrics. We end with open questions for future research that include textured polarization states and unusual forms of superconductivity that remain to be understood theoretically.

High precision redundant robotic manipulator

DOEpatents

Young, Kar-Keung David

1998-01-01

A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degreed of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns.

Electrochemical Processes Enhanced by Acoustic Liquid Manipulation

NASA Technical Reports Server (NTRS)

Oeftering, Richard C.

2004-01-01

Acoustic liquid manipulation is a family of techniques that employ the nonlinear acoustic effects of acoustic radiation pressure and acoustic streaming to manipulate the behavior of liquids. Researchers at the NASA Glenn Research Center are exploring new methods of manipulating liquids for a variety of space applications, and we have found that acoustic techniques may also be used in the normal Earth gravity environment to enhance the performance of existing fluid processes. Working in concert with the NASA Commercial Technology Office, the Great Lakes Industrial Technology Center, and Alchemitron Corporation (Elgin, IL), researchers at Glenn have applied nonlinear acoustic principles to industrial applications. Collaborating with Alchemitron Corporation, we have adapted the devices to create acoustic streaming in a conventional electroplating process.

Integrated optical modulator manipulating the polarization and rotation handedness of Orbital Angular Momentum states.

PubMed

Mousavi, S Faezeh; Nouroozi, Rahman; Vallone, Giuseppe; Villoresi, Paolo

2017-06-19

Recent studies demonstrated that the optical channels encoded by Orbital Angular Momentum (OAM) are capable candidates for improving the next generation of communication systems. OAM states can enhance the capacity and security of high-dimensional communication channels in both classical and quantum regimes based on optical fibre and free space. Hence, fast and precise control of the beams encoded by OAM can provide their commercial applications in the compatible communication networks. Integrated optical devices are good miniaturized options to perform this issue. This paper proposes a numerically verified integrated high-frequency electro-optical modulator for manipulation of the guided modes encoded in both OAM and polarization states. The proposed modulator is designed as an electro-optically active Lithium Niobate (LN) core photonic wire with silica as its cladding in a LN on Insulator (LNOI) configuration. It consists of two successive parts; a phase shifter to reverse the rotation handedness of the input OAM state and a polarization converter to change the horizontally polarized OAM state to the vertically polarized one. It is shown that all four possible output polarization-OAM encoded states can be achieved with only 6 V and 7 V applied voltages to the electrodes in the two parts of the modulator.

Lassoing saddle splay and the geometrical control of topological defects

PubMed Central

Tran, Lisa; Lavrentovich, Maxim O.; Beller, Daniel A.; Li, Ningwei; Stebe, Kathleen J.; Kamien, Randall D.

2016-01-01

Systems with holes, such as colloidal handlebodies and toroidal droplets, have been studied in the nematic liquid crystal (NLC) 4-cyano-4′-pentylbiphenyl (5CB): Both point and ring topological defects can occur within each hole and around the system while conserving the system’s overall topological charge. However, what has not been fully appreciated is the ability to manipulate the hole geometry with homeotropic (perpendicular) anchoring conditions to induce complex, saddle-like deformations. We exploit this by creating an array of holes suspended in an NLC cell with oriented planar (parallel) anchoring at the cell boundaries. We study both 5CB and a binary mixture of bicyclohexane derivatives (CCN-47 and CCN-55). Through simulations and experiments, we study how the bulk saddle deformations of each hole interact to create defect structures, including an array of disclination lines, reminiscent of those found in liquid-crystal blue phases. The line locations are tunable via the NLC elastic constants, the cell geometry, and the size and spacing of holes in the array. This research lays the groundwork for the control of complex elastic deformations of varying length scales via geometrical cues in materials that are renowned in the display industry for their stability and easy manipulability. PMID:27222582

Assembly considerations for large reflectors

NASA Technical Reports Server (NTRS)

Bush, H.

1988-01-01

The technologies developed at LaRC in the area of erectable instructures are discussed. The information is of direct value to the Large Deployable Reflector (LDR) because an option for the LDR backup structure is to assemble it in space. The efforts in this area, which include development of joints, underwater assembly simulation tests, flight assembly/disassembly tests, and fabrication of 5-meter trusses, led to the use of the LaRC concept as the baseline configuration for the Space Station Structure. The Space Station joint is linear in the load and displacement range of interest to Space Station; the ability to manually assemble and disassemble a 45-foot truss structure was demonstrated by astronauts in space as part of the ACCESS Shuttle Flight Experiment. The structure was built in 26 minutes 46 seconds, and involved a total of 500 manipulations of untethered hardware. Also, the correlation of the space experience with the neutral buoyancy simulation was very good. Sections of the proposed 5-meter bay Space Station truss have been built on the ground. Activities at LaRC have included the development of mobile remote manipulator systems (which can traverse the Space Station 5-meter structure), preliminary LDR sun shield concepts, LDR construction scenarios, and activities in robotic assembly of truss-type structures.

Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm

NASA Astrophysics Data System (ADS)

Wang, Mingming; Luo, Jianjun; Fang, Jing; Yuan, Jianping

2018-03-01

The existence of the path dependent dynamic singularities limits the volume of available workspace of free-floating space robot and induces enormous joint velocities when such singularities are met. In order to overcome this demerit, this paper presents an optimal joint trajectory planning method using forward kinematics equations of free-floating space robot, while joint motion laws are delineated with application of the concept of reaction null-space. Bézier curve, in conjunction with the null-space column vectors, are applied to describe the joint trajectories. Considering the forward kinematics equations of the free-floating space robot, the trajectory planning issue is consequently transferred to an optimization issue while the control points to construct the Bézier curve are the design variables. A constrained differential evolution (DE) scheme with premature handling strategy is implemented to find the optimal solution of the design variables while specific objectives and imposed constraints are satisfied. Differ from traditional methods, we synthesize null-space and specialized curve to provide a novel viewpoint for trajectory planning of free-floating space robot. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) kinematically redundant manipulator mounted on a free-floating spacecraft and demonstrate the feasibility and effectiveness of the proposed method.

KSC-2013-2998

NASA Image and Video Library

2013-06-29

CAPE CANAVERAL, Fla. -- Inside the new "Space Shuttle Atlantis" facility at the Kennedy Space Center Visitor Complex in Florida, guests gather around the spacecraft on display with payload bay doors open and remote manipulator system robot arm extended. The new $100 million facility includes interactive exhibits that tell the story of the 30-year Space Shuttle Program and highlight the future of space exploration. The "Space Shuttle Atlantis" exhibit formally opened to the public on June 29, 2013.Photo credit: NASA/Jim Grossmann

KSC-2013-2997

NASA Image and Video Library

2013-06-29

CAPE CANAVERAL, Fla. -- Inside the new "Space Shuttle Atlantis" facility at the Kennedy Space Center Visitor Complex in Florida, 40 astronauts posed with the spacecraft on display with payload bay doors open and remote manipulator system robot arm extended. The new $100 million facility includes interactive exhibits that tell the story of the 30-year Space Shuttle Program and highlight the future of space exploration. The "Space Shuttle Atlantis" exhibit formally opened to the public on June 29, 2013.Photo credit: NASA/Jim Grossmann

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-115 Mission Specialist Joseph Tanner (second from left, foreground) works with technicians to learn more about the Japanese Experiment Module (JEM), known as Kibo. The JEM consists of six components: two research facilities - the Pressurized Module and the Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. Equipment familiarization is a routine part of astronaut training and launch preparations.

NASA Image and Video Library

2003-10-22

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-115 Mission Specialist Joseph Tanner (second from left, foreground) works with technicians to learn more about the Japanese Experiment Module (JEM), known as Kibo. The JEM consists of six components: two research facilities - the Pressurized Module and the Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. Equipment familiarization is a routine part of astronaut training and launch preparations.

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-115 Mission Specialist Joseph Tanner (center, foreground) works with technicians to learn more about the Japanese Experiment Module (JEM), known as Kibo. The JEM consists of six components: two research facilities - the Pressurized Module and the Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. Equipment familiarization is a routine part of astronaut training and launch preparations.

NASA Image and Video Library

2003-10-22

KENNEDY SPACE CENTER, FLA. - In the Space Station Processing Facility, STS-115 Mission Specialist Joseph Tanner (center, foreground) works with technicians to learn more about the Japanese Experiment Module (JEM), known as Kibo. The JEM consists of six components: two research facilities - the Pressurized Module and the Exposed Facility; a Logistics Module attached to each of them; a Remote Manipulator System; and an Inter-Orbit Communication System unit. Kibo also has a scientific airlock through which experiments are transferred and exposed to the external environment of space. The various components of JEM will be assembled in space over the course of three Space Shuttle missions. Equipment familiarization is a routine part of astronaut training and launch preparations.

An Experimental Evaluation of Hyperactivity and Food Additives. 1977-Phase II.

ERIC Educational Resources Information Center

Harley, J. Preston; And Others

Phase II of a study on the effectiveness of B. Feingold's recommended diet for hyperactive children involved the nine children (mean age 9 years) who had shown the "best" response to diet manipulation in Phase I. Each child served as his own control and was challenged with specified amounts of placebo and artificial color containing food…

Investigation and Feasibility Assessment of TOPAZ-2 Derivations for Space Power Applications

NASA Technical Reports Server (NTRS)

Parlos, Alexander G.; Peddicord, Kenneth L.

1998-01-01

The ability to provide continuous power at significant levels is of utmost importance for many space missions, from simple satellite operations to manned Mars missions. One of the main problems faced in delivering solar or chemical space power in the tens of kW range, is the increasingly massive nature of the power source and the costs associated with its launch, operation and maintenance. A national program had been initiated to study the feasibility of using certain advanced technologies in developing an efficient lightweight space power source. The starting point for these studies has been the Russian TOPAZ-2 space reactor system, with the ultimate goal to aid in the development of a TOPAZ-2 derivative which will be ready for flight by the year 2000. The main objective of this project has been to perform feasibility assessment and trade studies which would allow the development of an advanced space nuclear power system based on the in-core thermionic fuel element technology currently used in the Russian TOPAZ-2 reactor. Two of the important considerations in developing the concept are: (1) compliance of the current TOPAZ-2 and of any advanced designs with U.S. nuclear safety expectations, and (2) compliance of the design with the seven years lifetime requirement. The project was composed of two major phases. The initial phase of the project has concentrated on understanding the TOPAZ-2 thermionic reactor in sufficient detail to allow several follow-on tasks. The primary interest during this first phase has been given on identifying the potential of the TOPAZ-2 design for further improvements. The second phase of the project has focused on the feasibility of a TOPAZ-2 system capable of delivering 30-50 kWe. Towards the elimination of single-point failures in the load voltage regulation system an active voltage regulator has been designed to be used in conjunction with the available shunt load voltage regulator. The possible use of a dual-loop, model-based adaptive control system for load-following in the TOPAZ-2 has also been investigated. The objective of this fault-tolerant, autonomous control system is to deliver the demanded electric power at the desired voltage level, by appropriately manipulating the neutron power through the control drums. As a result, sufficient thermal power is produced to meet the required demand in the presence of dynamically changing system operating conditions and potential sensor failures. The designed controller is proposed for use in combination with the currently available shunt regulators, or as a back-up controller when other means of power system control, including some of the sensors, fail.

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.

Locomotor activity and non-photic influences on circadian clocks.

PubMed

Mrosovsky, N

1996-08-01

Some of the main themes in this review are as follows. 1. The notion that non-photic zeitgebers are weak needs re-examining. Phase-shifts to some non-photic manipulations can be as large as those to light pulses. 2. As well as being able to phase-shift and entrain free-running rhythms, non-photic events have a number of other effects: these include after-effects of entrainment, period changes, and promotion of splitting. 3. The critical variable for non-photic shifting is unknown. Locomotor activity is more likely to be an index of some other necessary state rather than being causal itself. This index may be better when tendencies to move are channelled into easily measured behaviours like wheel-running. 4. Given ignorance about the critical variable, quantification of activity may be the best presently available measure of zeitgeber intensity. Therefore, the behaviour during non-photic manipulations must be examined as carefully as the shifts themselves. When no phase-shifting follows manipulations such as IGL lesions or serotonin depletion, if the animals are inactive, then little can be inferred. 5. Lack of information on the critical variable(s) for non-photic shifting makes it problematic to compare data from studies using different non-photic manipulations. However, the presence of locomotor activity (or its correlate) does appear to be necessary for triazolam to produce shifts. 6. Novelty-induced wheel-running in hamsters depends on the NPY projection from the IGL to SCN. It remains to be determined how important NPY is in other species or in clock-resetting by other manipulations, but methods are now available to study this. 7. Interactions between photic and non-photic zeitgebers remain virtually unexplored, but it is evident that photic and non-photic stimuli can attenuate the phase-shifting effects of each other. Interactions are not purely additive or predictable from PRCs. 8. The circadian system does more than synchronize free-running rhythms to the solar day. Its non-photic functions and their interactions with photic inputs probably account for some of the anatomical complexity of circadian circuitry.

Microgravity

NASA Image and Video Library

1998-08-10

Lisa Crawford, a graduate research assistant from the University of Toledo, works with Laurel Karr of Marshall Space Flight Center (MSFC) in the molecular biology laboratory. They are donducting genetic manipulation of bacteria and yeast for the production of large amount of desired protein. Photo credit: NASA/Marshall Space Flight Center (MSFC)

International Space Station (ISS)

NASA Image and Video Library

2006-07-08

The shadows of astronauts Piers J. Sellers and Michael E. Fossum, STS-121 mission specialists, who are anchored to the Space Shuttle Discovery's Remote Manipulator System/Orbiter Boom Sensor System (RMS/OBSS) foot restraint, are visible against a shuttle's payload bay door during a session of extravehicular activity (EVA).

New Crop Selection

NASA Technical Reports Server (NTRS)

Bhuiyan, Ruqayah H.; Spencer, Lashelle; Wheeler, Ray; Romeyn, Matthew

2018-01-01

For extended space flight, reliable food supplies are a necessity. Most of the food products consumed by astronauts today are stored for flight via freeze drying. Fresh food is needed to supplement known national deficiencies in the stored food diet (Cooper et al.). This is so because stored foods can lose nutritional value. Fresh food is the answer to the nutritional demands of space flight. Kennedy Space Center's Utilization and Life Sciences Office (UB-A), under the Exploration Research and Technology Program (UB), conducts research on plant growth and development under International Space Station (ISS) conditions. UB-A analyzes the growth responses of leafy greens in microgravity and through the manipulation of environmental conditions (CO2 levels, light intensity, relative humidity, and water delivery). By manipulating growing conditions researchers can optimize food production using minimal/restricted resources. The New Crop Selection experiments are testing the suitability of leafy crops to ISS conditions. Results from this study showed that 'Dragoon' Lettuce and 'Red Russian' Kale have the largest fresh mass.

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Volume 1: Study results

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

A variety of artificial intelligence techniques which could be used with regard to NASA space applications and robotics were evaluated. The techniques studied were decision tree manipulators, problem solvers, rule based systems, logic programming languages, representation language languages, and expert systems. The overall structure of a robotic simulation tool was defined and a framework for that tool developed. Nonlinear and linearized dynamics equations were formulated for n link manipulator configurations. A framework for the robotic simulation was established which uses validated manipulator component models connected according to a user defined configuration.

Polarity establishment, morphogenesis, and cultured plant cells in space

NASA Technical Reports Server (NTRS)

Krikorian, Abraham D.

1989-01-01

Plant development entails an orderly progression of cellular events both in terms of time and geometry. There is only circumstantial evidence that, in the controlled environment of the higher plant embryo sac, gravity may play a role in embryo development. It is still not known whether or not normal embryo development and differentiation in higher plants can be expected to take place reliably and efficiently in the micro g space environment. It seems essential that more attention be given to studying aspects of reproductive biology in order to be confident that plants will survive seed to seed to seed in a space environment. Until the time arrives when successive generations of plants can be grown, the best that can be done is utilize the most appropriate systems and begin, piece meal, to accumulate information on important aspects of plant reproduction. Cultured plant cells can play an important role in these activities since they can be grown so as to be morphogenetically competent, and thus can simulate those embryogenic events more usually identified with fertilized eggs in the embryo sac of the ovule in the ovary. Also, they can be manipulated with relative ease. The extreme plasticity of such demonstrably totipotent cell systems provides a means to test environmental effects such as micro g on a potentially free-running entity. The successful manipulation and management of plant cells and propagules in space also has significance for exploitation of biotechnologies in space since such systems, perforce, are an important vehicle whereby many genetic engineering manipulations are achieved.

A new approach to global control of redundant manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

Spin manipulation and spin-lattice interaction in magnetic colloidal quantum dots

NASA Astrophysics Data System (ADS)

Moro, Fabrizio; Turyanska, Lyudmila; Granwehr, Josef; Patanè, Amalia

2014-11-01

We report on the spin-lattice interaction and coherent manipulation of electron spins in Mn-doped colloidal PbS quantum dots (QDs) by electron spin resonance. We show that the phase memory time,TM , is limited by Mn-Mn dipolar interactions, hyperfine interactions of the protons (1H) on the QD capping ligands with Mn ions in their proximity (<1 nm), and surface phonons originating from thermal fluctuations of the capping ligands. In the low Mn concentration limit and at low temperature, we achieve a long phase memory time constant TM˜0.9 μ s , thus enabling the observation of Rabi oscillations. Our findings suggest routes to the rational design of magnetic colloidal QDs with phase memory times exceeding the current limits of relevance for the implementation of QDs as qubits in quantum information processing.

Progress towards a space-borne quantum gravity gradiometer

NASA Technical Reports Server (NTRS)

Yu, Nan; Kohel, James M.; Ramerez-Serrano, Jaime; Kellogg, James R.; Lim, Lawrence; Maleki, Lute

2004-01-01

Quantum interferometer gravity gradiometer for 3D mapping is a project for developing the technology of atom interferometer-based gravity sensor in space. The atom interferometer utilizes atomic particles as free fall test masses to measure inertial forces with unprecedented sensitivity and precision. It also allows measurements of the gravity gradient tensor components for 3D mapping of subsurface mass distribution. The overall approach is based on recent advances of laser cooling and manipulation of atoms in atomic and optical physics. Atom interferometers have been demonstrated in research laboratories for gravity and gravity gradient measurements. In this approach, atoms are first laser cooled to micro-kelvin temperatures. Then they are allowed to freefall in vacuum as true drag-free test masses. During the free fall, a sequence of laser pulses is used to split and recombine the atom waves to realize the interferometric measurements. We have demonstrated atom interferometer operation in the Phase I period, and we are implementing the second generation for a complete gradiometer demonstration unit in the laboratory. Along with this development, we are developing technologies at component levels that will be more suited for realization of a space instrument. We will present an update of these developments and discuss the future directions of the quantum gravity gradiometer project.

The SLAC linac as used in the SLC collider

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

Seeman, J.T.; Abrams, G.; Adolphsen, C.

The linac of the SLAC Linear Collider (SLC) must accelerate three high intensity bunches on each linac pulse from 1.2 GeV to 50 GeV with minimal increase of the small transverse emittance. The procedures and adjustments used to obtain this goal are outlined. Some of the accelerator parameters and components which interact are the beam energy, transverse position, component alignment, RF manipulation, feedback systems, quadrupole lattice, BNS damping, energy spectra, phase space matching, collimation, instrumentation and modelling. The method to bring these interdependent parameters collectively into specification has evolved over several years. This review is ordered in the sequence whichmore » is used to turn on the linac from a cold start and produce acceptable beams for the final focus and collisions. Approximate time estimates for the various activities are given. 21 refs.« less

OAST Space Theme Workshop. Volume 2: Theme summary. 2: Space industrialization (no. 8). A. Theme statement. B. 26 April 1976 presentation. C. Summary statement. D. Initiative action (form 5)

NASA Technical Reports Server (NTRS)

1976-01-01

Enabling technology needs and other requirements to support space industrialization include: large space structures; fabrication and joining processes; single stage to orbit and heavy lift launch vehicles; nuclear and solar space power systems; robotics, manipulators, and teleoperators; biotechnology in space; artificial gravity; the utilization of lunar materials for construction; and the extraction of oxygen and metals from lunar resources. New initiatives (FY 1978) directly supportive or partly related to space industrialization are listed.

View of the Columbia's remote manipulator system

NASA Image and Video Library

1982-03-30

STS003-09-444 (22-30 March 1982) --- The darkness of space provides the backdrop for this scene of the plasma diagnostics package (PDR) experiment in the grasp of the end effector or ?hand? of the remote manipulator system (RMS) arm, and other components of the Office of Space Sciences (OSS-1) package in the aft section of the Columbia?s cargo hold. The PDP is a compact, comprehensive assembly of electromagnetic and particle sensors that will be used to study the interaction of the orbiter with its surrounding environment; to test the capabilities of the shuttle?s remote manipulator system; and to carry out experiments in conjunction with the fast pulse electron generator of the vehicle charging and potential experiment, another experiment on the OSS-1 payload pallet. This photograph was exposed with a 70mm handheld camera by the astronaut crew of STS-3, with a handheld camera aimed through the flight deck?s aft window. Photo credit: NASA

Extended RMS

NASA Image and Video Library

2005-07-30

S114-E-6077 (30 July 2005) --- The blackness of space and Earth’s horizon form the backdrop for this view while Space Shuttle Discovery was docked to the International Space Station during the STS-114 mission. A portion of Discovery’s remote manipulator system (RMS) robotic arm is visible at lower right and a section of the Station’s truss is visible top frame.

Kotov and Williams with SSRMS arm training session in Node 1 / Unity module

NASA Image and Video Library

2007-04-18

ISS014-E-19587 (17 April 2007) --- Cosmonaut Oleg V. Kotov (foreground), Expedition 15 flight engineer representing Russia's Federal Space Agency, and astronaut Sunita L. Williams, flight engineer, participate in a Space Station Remote Manipulator System (SSRMS) training session using the Robotic Onboard Trainer (ROBOT) simulator in the Unity node of the International Space Station.

[The relation of workspace and installation space of epicyclic kinematics with six degrees of freedom].

PubMed

Pott, Peter P; Schwarz, Markus L R

2007-10-01

The kinematics of a robotic device significantly determines its installation space when it comes to technical realisation. With regard to the deployment of robotic manipulators in surgery, manipulators with a preferably small installation space are needed. This study describes six versions of novel epicyclic kinematics with six degrees of freedom (DOF). At first, the kinematics functionality was analysed using Gruebler's formula. Subsequently, the quantitative determination of the relation of workspace and installation space was performed using Matlab algorithms. To qualitatively describe the shape of the workspace, the Matlab visualisation features were utilised. For comparison, the well-known Hexapod was used. The assessed kinematics had 6-DOF-functionality. It became apparent that one version of the epicyclic kinematics having two 3-DOF disk systems mounted in a parallel way featured a particularly good relation of workspace and installation space. Compared to the Hexapod, this is approximately four times better. The shape of the workspaces of all epicyclic kinematics assessed was convex and compact. It could be shown that a novel epicyclic kinematics has a notably advantageous relation of workspace and installation space. Apparently, it seems to be well suited for the deployment in robotic machines for surgical procedures.

KENNEDY SPACE CENTER, FLA. - The container with the Japanese Experiment Module (JEM)’s pressurized module is inside the Space Station Processing Facility. The National Space Development Agency of Japan (NASDA) developed the laboratory at the Tsukuba Space Center near Tokyo. The Pressurized Module is the first element of the JEM, named "Kibo" (Hope), to be delivered to KSC. The JEM is Japan's primary contribution to the Station. It will enhance the unique research capabilities of the orbiting complex by providing an additional environment for astronauts to conduct science experiments. The JEM also includes an exposed facility (platform) for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

NASA Image and Video Library

2003-06-06

KENNEDY SPACE CENTER, FLA. - The container with the Japanese Experiment Module (JEM)’s pressurized module is inside the Space Station Processing Facility. The National Space Development Agency of Japan (NASDA) developed the laboratory at the Tsukuba Space Center near Tokyo. The Pressurized Module is the first element of the JEM, named "Kibo" (Hope), to be delivered to KSC. The JEM is Japan's primary contribution to the Station. It will enhance the unique research capabilities of the orbiting complex by providing an additional environment for astronauts to conduct science experiments. The JEM also includes an exposed facility (platform) for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

KENNEDY SPACE CENTER, FLA. - The truck transporting the Pressurized Module of the Japanese Experiment Module (JEM) to KSC’s Space Station Processing Facility arrives on Center. The National Space Development Agency of Japan (NASDA) developed the laboratory at the Tsukuba Space Center near Tokyo. The Pressurized Module is the first element of the JEM, named "Kibo" (Hope), to be delivered to KSC. The JEM is Japan's primary contribution to the Station. It will enhance the unique research capabilities of the orbiting complex by providing an additional environment for astronauts to conduct science experiments. The JEM also includes an exposed facility (platform) for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

NASA Image and Video Library

2003-06-04

KENNEDY SPACE CENTER, FLA. - The truck transporting the Pressurized Module of the Japanese Experiment Module (JEM) to KSC’s Space Station Processing Facility arrives on Center. The National Space Development Agency of Japan (NASDA) developed the laboratory at the Tsukuba Space Center near Tokyo. The Pressurized Module is the first element of the JEM, named "Kibo" (Hope), to be delivered to KSC. The JEM is Japan's primary contribution to the Station. It will enhance the unique research capabilities of the orbiting complex by providing an additional environment for astronauts to conduct science experiments. The JEM also includes an exposed facility (platform) for space environment experiments, a robotic manipulator system, and two logistics modules. The various JEM components will be assembled in space over the course of three Shuttle missions.

Microscopy of the interacting Harper-Hofstadter model in the few-body limit

NASA Astrophysics Data System (ADS)

Tai, M. Eric; Lukin, Alexander; Rispoli, Matthew; Schittko, Robert; Menke, Tim; Borgnia, Dan; Preiss, Philipp; Grusdt, Fabian; Kaufman, Adam; Greiner, Markus

2017-04-01

The interplay of magnetic fields and interacting particles can lead to exotic phases of matter exhibiting topological order and high degrees of spatial entanglement. While these phases were discovered in a solid-state setting, recent techniques have enabled the realization of gauge fields in systems of ultracold neutral atoms, offering a new experimental paradigm for studying these novel states of matter. This complementary platform holds promise for exploring exotic physics in fractional quantum Hall systems due to the microscopic manipulation and precision possible in cold atom systems. However, these experiments thus far have mostly explored the regime of weak interactions. Here, we show how strong interactions can modify the propagation of particles in a 2 × N , real-space ladder governed by the Harper-Hofstadter model. We observe inter-particle interactions affect the populating of chiral bands, giving rise to chiral dynamics whose multi-particle correlations indicate both bound and free-particle character. The novel form of interaction-induced chirality observed in these experiments demonstrates the essential ingredients for future investigations of highly entangled topological phases of many-body systems. We are supported by Grants from the National Science Foundation, Gordon and Betty Moore Foundation's EPiQS Initiative, an Air Force Office of Scientific Research MURI program, an Army Research Office MURI program, and the NSF GRFP (MNR).

Non-invasive three-dimension control of light between turbid layers using a surface quasi-point light source for precorrection.

PubMed

Qiao, Mu; Liu, Honglin; Pang, Guanghui; Han, Shensheng

2017-08-29

Manipulating light non-invasively through inhomogeneous media is an attractive goal in many disciplines. Wavefront shaping and optical phase conjugation can focus light to a point. Transmission matrix method can control light on multiple output modes simultaneously. Here we report a non-invasive approach which enables three-dimension (3D) light control between two turbid layers. A digital optical phase conjugation mirror measured and conjugated the diffused wavefront, which originated from a quasi-point source on the front turbid layer and passed through the back turbid layer. And then, because of memory effect, the phase-conjugated wavefront could be used as a carrier wave to transport a pre-calculated wavefront through the back turbid layer. The pre-calculated wavefront could project a desired 3D light field inside the sample, which, in our experiments, consisted of two 220-grid ground glass plates spaced by a 20 mm distance. The controllable range of light, according to the memory effect, was calculated to be 80 mrad in solid angle and 16 mm on z-axis. Due to the 3D light control ability, our approach may find applications in photodynamic therapy and optogenetics. Besides, our approach can also be combined with ghost imaging or compressed sensing to achieve 3D imaging between turbid layers.

Particle trapping and manipulation using hollow beam with tunable size generated by thermal nonlinear optical effect

NASA Astrophysics Data System (ADS)

He, Bo; Cheng, Xuemei; Zhang, Hui; Chen, Haowei; Zhang, Qian; Ren, Zhaoyu; Ding, Shan; Bai, Jintao

2018-05-01

We report micron-sized particle trapping and manipulation using a hollow beam of tunable size, which was generated by cross-phase modulation via the thermal nonlinear optical effect in an ethanol medium. The results demonstrated that the particle can be trapped stably in air for hours and manipulated in millimeter range with micrometer-level accuracy by modulating the size of the hollow beam. The merits of flexibility in tuning the beam size and simplicity in operation give this method great potential for the in situ study of individual particles in air.

Delayed Senescence

NASA Technical Reports Server (NTRS)

2004-01-01

Researcher Dr. Yi Li developed a technique to manipulate certain characteristics of plant growth such as anit-senescence. For example, the tobacco leaf was clipped from a transgenic plant (right), and a wildtype plant (left). During ground-based laboratory studies, both leaves were left in a darkened area for 4 months. When retrieved, the wildtype plant leaf was dried-out and the transgenic leaf remained fresh and green. A variation of this technology that involves manipulating plant hormones has been conducted in space-based studies on tomato plants through BioServe Space Technologies. The transport and distribution of auxin, an important plant hormone has shown to be influenced by microgravity, which could lead to improving the quality of fruits and vegetables grown on Earth.

A mobile robot system for ground servicing operations on the space shuttle

NASA Astrophysics Data System (ADS)

Dowling, K.; Bennett, R.; Blackwell, M.; Graham, T.; Gatrall, S.; O'Toole, R.; Schempf, H.

1992-11-01

A mobile system for space shuttle servicing, the Tessellator, has been configured, designed and is currently being built and integrated. Robot tasks include chemical injection and inspection of the shuttle's thermal protection system. This paper outlines tasks, rationale, and facility requirements for the development of this system. A detailed look at the mobile system and manipulator follow with a look at mechanics, electronics, and software. Salient features of the mobile robot include omnidirectionality, high reach, high stiffness and accuracy with safety and self-reliance integral to all aspects of the design. The robot system is shown to meet task, facility, and NASA requirements in its design resulting in unprecedented specifications for a mobile-manipulation system.

A mobile robot system for ground servicing operations on the space shuttle

NASA Technical Reports Server (NTRS)

Dowling, K.; Bennett, R.; Blackwell, M.; Graham, T.; Gatrall, S.; O'Toole, R.; Schempf, H.

1992-01-01

A mobile system for space shuttle servicing, the Tessellator, has been configured, designed and is currently being built and integrated. Robot tasks include chemical injection and inspection of the shuttle's thermal protection system. This paper outlines tasks, rationale, and facility requirements for the development of this system. A detailed look at the mobile system and manipulator follow with a look at mechanics, electronics, and software. Salient features of the mobile robot include omnidirectionality, high reach, high stiffness and accuracy with safety and self-reliance integral to all aspects of the design. The robot system is shown to meet task, facility, and NASA requirements in its design resulting in unprecedented specifications for a mobile-manipulation system.

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.

Microgravity

NASA Image and Video Library

2004-04-15

Researcher Dr. Yi Li developed a technique to manipulate certain characteristics of plant growth such as anit-senescence. For example, the tobacco leaf was clipped from a transgenic plant (right), and a wildtype plant (left). During ground-based laboratory studies, both leaves were left in a darkened area for 4 months. When retrieved, the wildtype plant leaf was dried-out and the transgenic leaf remained fresh and green. A variation of this technology that involves manipulating plant hormones has been conducted in space-based studies on tomato plants through BioServe Space Technologies. The transport and distribution of auxin, an important plant hormone has shown to be influenced by microgravity, which could lead to improving the quality of fruits and vegetables grown on Earth.

Computer coordination of limb motion for locomotion of a multiple-armed robot for space assembly

NASA Technical Reports Server (NTRS)

Klein, C. A.; Patterson, M. R.

1982-01-01

Consideration is given to a possible robotic system for the construction of large space structures, which may be described as a multiple general purpose arm manipulator vehicle that can walk over the structure under construction to a given site for further work. A description is presented of the locomotion of such a vehicle, modeling its arms in terms of a currently available industrial manipulator. It is noted that for whatever maximum speed of operation is chosen, rapid changes in robot velocity create situations in which already-selected handholds are no longer practical. A step is added to the 'free gait' walking algorithm in order to solve this problem.

Some methods to regulate low-bias negative differential resistance in σ barrier separating nanoscale molecular transport systems

NASA Astrophysics Data System (ADS)

Shen, Ji-Mei; Liu, Jing; Min, Yi; Zhou, Li-Ping

2016-12-01

Using the first-principles method which combines the nonequilibrium Green’s function (NEGF) with density functional theory (DFT), the role of defect, dopant, barrier length and geometric deformation for low-bias negative differential resistance (NDR) in two capped armchair carbon nanotubes (CNTs) sandwiching σ barrier are systematically analyzed. We found that this method can regulate the negative differential resistance (NDR) effects such as current peak and peak position. The adjusting mechanism may originate from orbital interaction and orbital reconstruction. Our calculations try to manipulate the transport characteristics in energy space by simply manipulating the structure in real space, which may promise the potential applications in nanomolecular-electronics in the future.

1st EVA - MS Smith and Grunsfeld during RSU changeout

NASA Image and Video Library

2000-01-26

STS103-331-013 (19-27 December 1999) --- Astronauts John M. Grunsfeld (right) and Steven L. Smith share space on the end of the remote manipulator system (RMS) as they change out gyroscopes, contained in rate sensor units (RSU) inside the Hubble Space Telescope (HST).

EVA 2 activity on Flight Day 5 to service the Hubble Space Telescope

NASA Image and Video Library

1997-02-15

S82-E-5404 (15 Feb. 1997) --- Astronaut Gregory J. Harbaugh on the Remote Manipulator System (RMS) with the Fine Guidance Sensor (FGS), during the repair of the Hubble Space Telescope (HST). This view was taken with an Electronic Still Camera (ESC).

SSRMS

NASA Image and Video Library

2013-07-26

View of Space Station Remote Manipulator System (SSRMS) extended arm with a dark,cloudy Earth in the background. Photo was taken by an Expedition 36 crew member on board the International Space Station (ISS). Per Twitter message: #CanadaArm2 poised and ready to support capture of #HTV4 in just a couple weeks.

Magnetic manipulation of topological states in p-wave superconductors

NASA Astrophysics Data System (ADS)

Mercaldo, Maria Teresa; Cuoco, Mario; Kotetes, Panagiotis

2018-05-01

Substantial experimental investigation has provided evidence for spin-triplet pairing in diverse classes of materials and in a variety of artificial heterostructures. One of the fundamental challenges in this framework is how to manipulate the topological behavior of p-wave superconductors (PSC). In this work we investigate the magnetic field response of one-dimensional (1d) PSCs and we focus on the relation between the structure of the Cooper pair spin-configuration and the occurrence of topological phases with an enhanced number N of Majorana fermions per edge. The topological phase diagram, consisting of phases harboring Majorana modes, becomes significantly modified when one tunes the strength of the applied field, the direction of the d-vector and allows for long range hopping amplitudes in the 1d PSC. We find transitions between phases with different number N of Majorana fermions per edge and we show how they can be both induced by a variation of the hopping strength and a spin rotation of d.

Amphibian and reptile community response to coarse woody debris manipulations in upland loblolly pine (Pinus taeda) forests.

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

Owens, Audrey, K.; Moseley, Kurtis, R.; McCay, Timothy, S.

2008-07-01

Coarse woody debris (CWD) has been identified as a key microhabitat component for groups that are moisture and temperature sensitive such as amphibians and reptiles. However, few experimental manipulations have quantitatively assessed amphibian and reptile response to varying CWD volumes within forested environments. We assessed amphibian and reptile response to large-scale, CWD manipulation within managed loblolly pine stands in the southeastern Coastal Plain of the United States from 1998 to 2005. Our study consisted of two treatment phases: Phase I treatments included downed CWD removal (removal of all downed CWD), all CWD removal (removal of all downed and standing CWD),more » pre-treatment snag, and control; Phase II treatments included downed CWD addition (downed CWD volume increased 5-fold), snag addition (standing CWD volume increased 10-fold), all CWD removal (all CWD removed), and control. Amphibian and anuran capture rates were greater in control than all CWD removal plots during study Phase I. In Phase II, reptile diversity and richness were greater in downed CWD addition and all CWD removal than snag addition treatments. Capture rate of Rana sphenocephala was greater in all CWD removal treatment than downed CWD addition treatment. The dominant amphibian and snake species captured are adapted to burrowing in sandy soil or taking refuge under leaf litter. Amphibian and reptile species endemic to upland southeastern Coastal Plain pine forests may not have evolved to rely on CWD because the humid climate and short fire return interval have resulted in historically low volumes of CWD.« less

MS Hadfield and MS Parazynski raise the SSRMS from the SLP during an EVA for STS-100

NASA Image and Video Library

2001-04-22

STS100-714-015 (22 April 2001) --- Astronauts Scott E. Parazynski (center frame) and Chris A. Hadfield (partially obscured) prepare to unpack the new Space Station Remote Manipulator System (SSRMS) or Canadarm2 during the first of two STS-100 space walks. Hadfield represents the Canadian Space Agency (CSA). The image was exposed with a 70mm camera from inside the Space Shuttle Endeavour's crew cabin.

Space Life Sciences Research: The Importance of Long-Term Space Experiments

NASA Technical Reports Server (NTRS)

1993-01-01

This report focuses on the scientific importance of long-term space experiments for the advancement of biological science and the benefit of humankind. It includes a collection of papers that explore the scientific potential provided by the capability to manipulate organisms by removing a force that has been instrumental in the evolution and development of all organisms. Further, it provides the scientific justification for why the long-term space exposure that can be provided by a space station is essential to conduct significant research.

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.

Novel metaphor comprehension: Semantic neighbourhood density interacts with concreteness.

PubMed

Al-Azary, Hamad; Buchanan, Lori

2017-02-01

Previous research suggests that metaphor comprehension is affected both by the concreteness of the topic and vehicle and their semantic neighbours (Kintsch, 2000; Xu, 2010). However, studies have yet to manipulate these 2 variables simultaneously. To that end, we composed novel metaphors manipulated on topic concreteness and semantic neighbourhood density (SND) of topic and vehicle. In Experiment 1, participants rated the metaphors on the suitability (e.g. sensibility) of their topic-vehicle pairings. Topic concreteness interacted with SND such that participants rated metaphors from sparse semantic spaces to be more sensible than those from dense semantic spaces and preferred abstract topics over concrete topics only for metaphors from dense semantic spaces. In Experiments 2 and 3, we used presentation deadlines and found that topic concreteness and SND affect the online processing stages associated with metaphor comprehension. We discuss how the results are aligned with established psycholinguistic models of metaphor comprehension.

Manipulating one-way space wave and its refraction by time-reversal and parity symmetry breaking

PubMed Central

Poo, Yin; He, Cheng; Xiao, Chao; Lu, Ming-Hui; Wu, Rui-Xin; Chen, Yan-Feng

2016-01-01

One-way transmission and negative refraction are the exotic wave properties founded in photonic crystals which attract a great attention due to their promising applications in photonic devices. How to integrate such two phenomena in one material or device is interesting and valuable. In this work, we theoretically and experimentally demonstrate that one-way electromagnetic space wave can be realized by means of two-dimensional magnetic photonic crystals. Simultaneously breaking the time-reversal and parity symmetries of the magnetic photonic crystals designed, we observe oblique incident space wave propagating one-way in the magnetic photonic crystals with positive or negative refraction occurring at interfaces, which can be manipulated upon the incident angle and operating frequency. Our work may offer a potential platform to realize some exotic photoelectronic and microwave devices such as one-way imaging and one-way cloaking. PMID:27387438

Applications of telecommunication technology for optical instrumentation with an emphasis on space-time duality

NASA Astrophysics Data System (ADS)

van Howe, James William

Telecommunication technology has often been applied to areas of science and engineering seemingly unrelated to communication systems. Innovations such as electronic amplifiers, the transistor, digital coding, optical fiber, and the laser, which all had roots in communication technology, have been implemented in devices from bar-code scanners to fiber endoscopes for medical procedures. In the same way, the central theme of the work in the following chapters has been to borrow both the concepts and technology of telecommunications systems to develop novel optical instrumentation for non-telecom pursuits. This work particularly leverages fiber-integrated electro-optic phase modulators to apply custom phase profiles to ultrafast pulses for control and manipulation. Such devices are typically used in telecom transmitters to encode phase data onto optical pulses (differential phase-shift keying), or for chirped data transmission. We, however, use electro-optic phase modulators to construct four novel optical devices: (1) a programmable ultrafast optical delay line with record scanning speed for applications in optical metrology, interferometry, or broad-band phase arrays, (2) a multiwavelength pulse generator for real-time optical sampling of electronic waveforms, (3) a simple femtosecond pulse generator for uses in biomedical imaging or ultrafast spectroscopy, and (4) a nonlinear phase compensator to increase the energy of fiber-amplified ultrashort pulse systems. In addition, we describe a fifth instrument which makes use of a higher-order mode fiber, similar in design to dispersion compensating fibers used for telecom. Through soliton self-frequency shift in the higher-order mode fiber, we can broadly-tune the center frequency of ultrashort pulses in energy regimes useful for biomedical imaging or ultrafast spectroscopy. The advantages gained through using telecom components in each of these systems are the simplicity and robustness of all-fiber configurations, high-speed operation, and electronic control of signals. Finally, we devote much attention to the paradigm of space-time duality and temporal imaging which allows the electro-optic phase modulators used in our instrumentation to be framed as temporal analogs of diffractive optical elements such as lenses and prisms. We show how the concepts of "time-lenses" and "time-prisms" give an intuitive understanding of our work as well as insight for the general development of optical instrumentation.

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.

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Kreutz, K.; Jain, A.

1989-01-01

A spatial operator algebra for modeling the control and trajectory design of manipulation is discussed, with emphasis on its analytical formulation and implementation in the Ada programming language. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of the manipulator. Inversion is obtained using techniques of recursive filtering and smoothing. The operator alegbra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and control and trajectory design algorithms. Implementable recursive algorithms can be immediately derived from the abstract operator expressions by inspection, thus greatly simplifying the transition from an abstract problem formulation and solution to the detailed mechanization of a specific algorithm.

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.