Novel robotic catheter manipulation system integrated with remote magnetic navigation for fully remote ablation of atrial tachyarrhythmias: a two-centre evaluation.

PubMed

Nölker, Georg; Gutleben, Klaus-Jürgen; Muntean, Bogdan; Vogt, Jürgen; Horstkotte, Dieter; Dabiri Abkenari, Lara; Akca, Ferdi; Szili-Torok, Tamas

2012-12-01

Studies have shown that remote magnetic navigation is safe and effective for ablation of atrial arrhythmias, although optimal outcomes often require frequent manual manipulation of a circular mapping catheter. The Vdrive robotic system ('Vdrive') was designed for remote navigation of circular mapping catheters to enable a fully remote procedure. This study details the first human clinical experience with remote circular catheter manipulation in the left atrium. This was a prospective, multi-centre, non-randomized consecutive case series that included patients presenting for catheter ablation of left atrial arrhythmias. Remote systems were used exclusively to manipulate both the circular mapping catheter and the ablation catheter. Patients were followed through hospital discharge. Ninety-four patients were included in the study, including 23 with paroxysmal atrial fibrillation (AF), 48 with persistent AF, and 15 suffering from atrial tachycardias. The population was predominately male (77%) with a mean age of 60.5 ± 11.7 years. The Vdrive was used for remote navigation between veins, creation of chamber maps, and gap identification with segmental isolation. The intended acute clinical endpoints were achieved in 100% of patients. Mean case time was 225.9 ± 70.5 min. Three patients (3.2%) crossed over to manual circular mapping catheter navigation. There were no adverse events related to the use of the remote manipulation system. The results of this study demonstrate that remote manipulation of a circular mapping catheter in the ablation of atrial arrhythmias is feasible and safe. Prospective randomized studies are needed to prove efficiency improvements over manual techniques.

Power Extension Package (PEP) system definition extension, orbital service module systems analysis study. Volume 3: PEP analysis and tradeoffs

NASA Technical Reports Server (NTRS)

1979-01-01

The objectives, conclusions, and approaches for accomplishing 19 specific design and analysis activities related to the installation of the power extension package (PEP) into the Orbiter cargo bay are described as well as those related to its deployment, extension, and retraction. The proposed cable handling system designed to transmit power from PEP to the Orbiter by way of the shuttle remote manipulator system is described and a preliminary specification for the gimbal assembly, solar array drive is included.

Project Plan 7930 Cell G PaR Remote Handling System Replacement

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

Kinney, Kathryn A

2009-10-01

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

A computer simulation experiment of supervisory control of remote manipulation. M.S. Thesis

NASA Technical Reports Server (NTRS)

Mccandlish, S. G.

1966-01-01

A computer simulation of a remote manipulation task and a rate-controlled manipulator is described. Some low-level automatic decision making ability which could be used at the operator's discretion to augment his direct continuous control was built into the manipulator. Experiments were made on the effect of transmission delay, dynamic lag, and intermittent vision on human manipulative ability. Delay does not make remote manipulation impossible. Intermittent visual feedback, and the absence of rate information in the display presented to the operator do not seem to impair the operator's performance. A small-capacity visual feedback channel may be sufficient for remote manipulation tasks, or one channel might be time-shared between several operators. In other experiments the operator called in sequence various on-site automatic control programs of the machine, and thereby acted as a supervisor. The supervisory mode of operation has some advantages when the task to be performed is difficult for a human controlling directly.

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.

The effects of spatially displaced visual feedback on remote manipulator performance

NASA Technical Reports Server (NTRS)

Smith, Randy L.; Stuart, Mark A.

1989-01-01

The effects of spatially displaced visual feedback on the operation of a camera viewed remote manipulation task are analyzed. A remote manipulation task is performed by operators exposed to the following different viewing conditions: direct view of the work site; normal camera view; reversed camera view; inverted/reversed camera view; and inverted camera view. The task completion performance times are statistically analyzed with a repeated measures analysis of variance, and a Newman-Keuls pairwise comparison test is administered to the data. The reversed camera view is ranked third out of four camera viewing conditions, while the normal viewing condition is found significantly slower than the direct viewing condition. It is shown that generalization to remote manipulation applications based upon the results of direct manipulation studies are quite useful, but they should be made cautiously.

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.

DEVELOPMENT OF REMOTE HANFORD CONNECTOR GASKET REPLACEMENT TOOLING FOR DWPF

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

Krementz, D.; Coughlin, Jeffrey

2009-05-05

The Defense Waste Processing Facility (DWPF) requested the Savannah River National Laboratory (SRNL) to develop tooling and equipment to remotely replace gaskets in mechanical Hanford connectors to reduce personnel radiation exposure as compared to the current hands-on method. It is also expected that radiation levels will continually increase with future waste streams. The equipment is operated in the Remote Equipment Decontamination Cell (REDC), which is equipped with compressed air, two master-slave manipulators (MSM's) and an electro-mechanical manipulator (EMM) arm for operation of the remote tools. The REDC does not provide access to electrical power, so the equipment must be manuallymore » or pneumatically operated. The MSM's have a load limit at full extension of ten pounds, which limited the weight of the installation tool. In order to remotely replace Hanford connector gaskets several operations must be performed remotely, these include: removal of the spent gasket and retaining ring (retaining ring is also called snap ring), loading the new snap ring and gasket into the installation tool and installation of the new gasket into the Hanford connector. SRNL developed and tested tools that successfully perform all of the necessary tasks. Removal of snap rings from horizontal and vertical connectors is performed by separate air actuated retaining ring removal tools and is manipulated in the cell by the MSM. In order install a new gasket, the snap ring loader is used to load a new snap ring into a groove in the gasket installation tool. A new gasket is placed on the installation tool and retained by custom springs. An MSM lifts the installation tool and presses the mounted gasket against the connector block. Once the installation tool is in position, the gasket and snap ring are installed onto the connector by pneumatic actuation. All of the tools are located on a custom work table with a pneumatic valve station that directs compressed air to the desired tool and vents the tools as needed. Extensive testing of tooling operation was performed in the DWPF manipulator repair shop. This testing allowed the operators to gain confidence before the equipment was exposed to radioactive contamination. The testing also led to multiple design improvements. On July 17 and 29, 2008 the Remote Gasket Replacement Tooling was successfully demonstrated in the REDC at the DWPF of The Savannah River Site.« less

History of remote operations and robotics in nuclear facilities. Robotics and Intelligent Systems Program

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

Herndon, J.N.

1992-05-01

The field of remote technology is continuing to evolve to support man`s efforts to perform tasks in hostile environments. Remote technology has roots which reach into the early history of man. Fireplace pokers, blacksmith`s tongs, and periscopes are examples of the beginnings of remote technology. The technology which we recognize today has evolved over the last 45-plus years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extendedmore » reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Work for space applications has been primarily research oriented with few successful space applications, although the shuttle`s remote manipulator system has been successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus. This document consists of viewgraphs and subtitled figures.« less

History of remote operations and robotics in nuclear facilities

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

Herndon, J.N.

1992-01-01

The field of remote technology is continuing to evolve to support man's efforts to perform tasks in hostile environments. Remote technology has roots which reach into the early history of man. Fireplace pokers, blacksmith's tongs, and periscopes are examples of the beginnings of remote technology. The technology which we recognize today has evolved over the last 45-plus years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extendedmore » reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Work for space applications has been primarily research oriented with few successful space applications, although the shuttle's remote manipulator system has been successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus. This document consists of viewgraphs and subtitled figures.« less

Remote Learning for the Manipulation and Control of Robotic Cells

ERIC Educational Resources Information Center

Goldstain, Ofir; Ben-Gal, Irad; Bukchin, Yossi

2007-01-01

This work proposes an approach to remote learning of robotic cells based on internet and simulation tools. The proposed approach, which integrates remote-learning and tele-operation into a generic scheme, is designed to enable students and developers to set-up and manipulate a robotic cell remotely. Its implementation is based on a dedicated…

An underwater work systems package. [remote handling

NASA Technical Reports Server (NTRS)

Estabrook, N. B.

1975-01-01

A modular unit which is adaptable to several existing deep sea submersibles was developed to extend their working abilities and acquire knowledge of components and techniques for working in the deep sea environment. This work systems package is composed of an aluminum pipe structure on which are mounted two six-function grabber arms, a seven function manipulator, tool suit, 1,000/lb. capacity winch, electrohydraulic power supply, electronics housing, lights, and television. The unit is designed to be operated by itself either remotely or with divers, attached to manned submersibles, or mounted on unmanned cable-controlled submersibles.

Coupler for remote manipulators

NASA Technical Reports Server (NTRS)

Rudmann, A. A.

1980-01-01

Reliable, low-cost coupler alines and grasps moving and rotating objects. Coupling mechanism may be used in handling of radio-active materials or in underwater explorations and other remote manipulators.

Space transportation system options for extended duration and power

NASA Technical Reports Server (NTRS)

Loftus, J. P., Jr.

1979-01-01

A modification kit for the Space Transportation System (STS) Orbiter is proposed to provide more power and mission duration for payloads. The power extension package (PEP) - a flexible-substrate solar array deployed on the Space Shuttle Orbiter remote manipulator system - can provide as much as 29 kW total power for durations of 10 to 48 days. The kit is installed only for those flights which require enhanced power or duration. Modifications to the Orbiter thermal control and life support systems to improve heat balance and to reduce consumables are proposed. The changes consist of repositioning the Orbiter forward radiators and replacing the lithium hydroxide scrubber with a regenerable solid amine.

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.

A Review of the Literature on the Open Education Faculty in Turkey 1982-2007. A Revised and Expanded the Fifth Edition

ERIC Educational Resources Information Center

Demiray, Ugur, Ed.; Inceeli, Ayse, Ed.; Candemir, Ozden, Ed.

2008-01-01

Communication technologies have a manipulative power an effect on the field of education in general. These technologies have been increasingly used in education and training for many years to meet different needs. Distance education has proven particularly useful for training people into remote locations who can not attend to the classes at…

Rigid hoist articulated grapple system development for enhanced remote maintenance

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

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

1979-01-01

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

Remotely serviced filter and housing

DOEpatents

Ross, M.J.; Zaladonis, L.A.

1987-07-22

A filter system for a hot cell comprises a housing adapted for input of air or other gas to be filtered, flow of the air through a filter element, and exit of filtered air. The housing is tapered at the top to make it easy to insert a filter cartridge holds the filter element while the air or other gas is passed through the filter element. Captive bolts in trunnion nuts are readily operated by electromechanical manipulators operating power wrenches to secure and release the filter cartridge. The filter cartridge is adapted to make it easy to change a filter element by using a master-slave manipulator at a shielded window station. 6 figs.

Free-flying teleoperator requirements and conceptual design.

NASA Technical Reports Server (NTRS)

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

1973-01-01

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

Study of modeling and evaluation of remote manipulation tasks with force feedback

NASA Technical Reports Server (NTRS)

Hill, J. W.

1979-01-01

The use of time and motion study methods to evaluate force feedback in remote manipulation tasks are described. Several systems of time measurement derived for industrial workers were studied and adapted for manipulator use. A task board incorporating a set of basic motions was designed and built. Results obtained from two subjects in three manipulation situations for each are reported: a force-reflective manipulator, a unilateral manipulator, and the unaided human hand. The results indicate that: (1) a time-and-motion study techniques are applicable to manipulation; and that (2) force feedback facilitates some motions (notably fitting), but not others (such as positioning).

Charter for Systems Engineer Working Group

NASA Technical Reports Server (NTRS)

Suffredini, Michael T.; Grissom, Larry

2015-01-01

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

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

NASA Technical Reports Server (NTRS)

Hebert, Paul; Ma, Jeremy; Borders, James; Aydemir, Alper; Bajracharya, Max; Hudson, Nicolas; Shankar, Krishna; Karumanchi, Sisir; Douillard, Bertrand; Burdick, Joel

2015-01-01

The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

Remote manipulator system flexibility analysis program: Mission planning, mission analysis, and software formulation

NASA Technical Reports Server (NTRS)

Kumar, L.

1978-01-01

A computer program is described for calculating the flexibility coefficients as arm design changes are made for the remote manipulator system. The coefficients obtained are required as input for a second program which reduces the number of payload deployment and retrieval system simulation runs required to simulate the various remote manipulator system maneuvers. The second program calculates end effector flexibility and joint flexibility terms for the torque model of each joint for any arbitrary configurations. The listing of both programs is included in the appendix.

Studies to design and develop improved remote manipulator systems

NASA Technical Reports Server (NTRS)

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

1973-01-01

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

Satellite services system overview

NASA Technical Reports Server (NTRS)

Rysavy, G.

1982-01-01

The benefits of a satellite services system and the basic needs of the Space Transportation System to have improved satellite service capability are identified. Specific required servicing equipment are discussed in terms of their technology development status and their operative functions. Concepts include maneuverable television systems, extravehicular maneuvering unit, orbiter exterior lighting, satellite holding and positioning aid, fluid transfer equipment, end effectors for the remote manipulator system, teleoperator maneuvering system, and hand and power tools.

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

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

Telerobotic on-orbit remote fluid resupply system

NASA Technical Reports Server (NTRS)

1990-01-01

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

Energy from space; Proceedings of the Symposium on Solar Energy from Space, Vienna, Austria, August 9-21, 1982

NASA Astrophysics Data System (ADS)

Freeman, J. W.

Aspects of solar power generation in space are considered. The subjects discussed include: a vision of future energy from space; solar power satellite concept for utilization of energy from space; the institutional challenge of solar power satellites; system study of the solar power satellite concept; market potential and possible limitations for satellite solar power stations; financing a solar power satellite project; and European questions related to satellite power systems. Also addressed are: options and high payoff choices for transportation; an electric propulsion transportation system from low-earth orbit to geostationary orbit utilizing beamed microwave power; the Canadarm robot arm of the Shuttle Remote Manipulator System; an early experimental solar power satellite; power economical considerations for the integration of terrestrial and extraterrestrial solar generators into existing power generation stations; and space solar power in perspective. For individual items see A84-21477 to A84-21489

Remotely serviced filter and housing

DOEpatents

Ross, Maurice J.; Zaladonis, Larry A.

1988-09-27

A filter system for a hot cell comprises a housing adapted for input of air or other gas to be filtered, flow of the air through a filter element, and exit of filtered air. The housing is tapered at the top to make it easy to insert a filter cartridge using an overhead crane. The filter cartridge holds the filter element while the air or other gas is passed through the filter element. Captive bolts in trunnion nuts are readily operated by electromechanical manipulators operating power wrenches to secure and release the filter cartridge. The filter cartridge is adapted to make it easy to change a filter element by using a master-slave manipulator at a shielded window station.

Study to design and develop remote manipulator system. [computer simulation of human performance

NASA Technical Reports Server (NTRS)

Hill, J. W.; Mcgovern, D. E.; Sword, A. J.

1974-01-01

Modeling of human performance in remote manipulation tasks is reported by automated procedures using computers to analyze and count motions during a manipulation task. Performance is monitored by an on-line computer capable of measuring the joint angles of both master and slave and in some cases the trajectory and velocity of the hand itself. In this way the operator's strategies with different transmission delays, displays, tasks, and manipulators can be analyzed in detail for comparison. Some progress is described in obtaining a set of standard tasks and difficulty measures for evaluating manipulator performance.

Rover Wheel-Actuated Tool Interface

NASA Technical Reports Server (NTRS)

Matthews, Janet; Ahmad, Norman; Wilcox, Brian

2007-01-01

A report describes an interface for utilizing some of the mobility features of a mobile robot for general-purpose manipulation of tools and other objects. The robot in question, now undergoing conceptual development for use on the Moon, is the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) rover, which is designed to roll over gentle terrain or walk over rough or steep terrain. Each leg of the robot is a six-degree-of-freedom general purpose manipulator tipped by a wheel with a motor drive. The tool interface includes a square cross-section peg, equivalent to a conventional socket-wrench drive, that rotates with the wheel. The tool interface also includes a clamp that holds a tool on the peg, and a pair of fold-out cameras that provides close-up stereoscopic images of the tool and its vicinity. The field of view of the imagers is actuated by the clamp mechanism and is specific to each tool. The motor drive can power any of a variety of tools, including rotating tools for helical fasteners, drills, and such clamping tools as pliers. With the addition of a flexible coupling, it could also power another tool or remote manipulator at a short distance. The socket drive can provide very high torque and power because it is driven by the wheel motor.

VIEW OF REMOTE MANIPULATOR SYSTEM LAB, ROOM NO. 1N4, FACING ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

VIEW OF REMOTE MANIPULATOR SYSTEM LAB, ROOM NO. 1N4, FACING SOUTHWEST - Cape Canaveral Air Force Station, Launch Complex 39, Vehicle Assembly Building, VAB Road, East of Kennedy Parkway North, Cape Canaveral, Brevard County, FL

DETAIL VIEW OF TESTING EQUIPMENT, REMOTE MANIPULATOR SYSTEM LAB, ROOM ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

DETAIL VIEW OF TESTING EQUIPMENT, REMOTE MANIPULATOR SYSTEM LAB, ROOM NO. 1N4, FACING SOUTHEAST - Cape Canaveral Air Force Station, Launch Complex 39, Vehicle Assembly Building, VAB Road, East of Kennedy Parkway North, Cape Canaveral, Brevard County, FL

VIEW OF REMOTE MANIPULATOR SYSTEM LAB, ROOM NO. 1N4, FACING ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

VIEW OF REMOTE MANIPULATOR SYSTEM LAB, ROOM NO. 1N4, FACING NORTH - Cape Canaveral Air Force Station, Launch Complex 39, Vehicle Assembly Building, VAB Road, East of Kennedy Parkway North, Cape Canaveral, Brevard County, FL

Overview of Remote Handling Equipment Used for the NPP A1 Decommissioning - 12141

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

Kravarik, K.; Medved, J.; Pekar, A.

The first Czechoslovak NPP A1 was in operation from 1972 to 1977 and it was finally shutdown due to an accident (level 4 according to the INES). The presence of radioactive, toxic or hazardous materials limits personnel access to facilities and therefore it is necessary to use remote handling technologies for some most difficult characterization, retrieval, decontamination and dismantling tasks. The history of remote handling technologies utilization started in nineties when the spent nuclear fuel, including those fuel assemblies damaged during the accident, was prepared for the transport to Russia. Subsequent significant development of remote handling equipment continued during implementationmore » of the NPP A1 decommissioning project - Stage I and ongoing Stage II. Company VUJE, Inc. is the general contractor for both mentioned stages of the decommissioning project. Various remote handling manipulators and robotics arms were developed and used. It includes remotely controlled vehicle manipulator MT-15 used for characterisation tasks in hostile and radioactive environment, special robust manipulator DENAR-41 used for the decontamination of underground storage tanks and multi-purposes robotics arms MT-80 and MT-80A developed for variety of decontamination and dismantling tasks. The heavy water evaporator facility dismantling is the current task performed remotely by robotics arm MT-80. The heavy water evaporator is located inside the main production building in the room No. 220 where loose surface contamination varies from 10 Bq/cm{sup 2} to 1x10{sup 3} Bq/cm{sup 2}, dose rate is up to 1.5 mGy/h and the feeding pipeline contained liquid RAW with high tritium content. Presented manipulators have been designed for broad range of decommissioning tasks. They are used for recognition, sampling, waste retrieval from large underground tanks, decontamination and dismantling of technological equipments. Each of the mentioned fields claims specific requirements on design of manipulator, their operation and control systems as well as tools of manipulators. Precise planning of decontamination and dismantling tasks is necessary for its successful performance by remotely controlled manipulator. The example of the heavy water evaporator demonstrates typical procedure for decommissioning of contaminated technological equipment by remotely controlled manipulators - planning of decommissioning tasks, preparatory tasks, modification of applied tools and design of specific supporting constructions for manipulator and finally decontamination and dismantling themselves. Due to the particularly demanding conditions in highly contaminated A1 NPP, a team of experts with special know-how in the field of decommissioning has grown up, and unique technological equipment enabling effective and safe work in environment with a high radiation level has been developed. (authors)« less

Study to design and develop remote manipulator systems

NASA Technical Reports Server (NTRS)

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

1977-01-01

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

Online Remote Sensing Interface

NASA Technical Reports Server (NTRS)

Lawhead, Joel

2007-01-01

BasinTools Module 1 processes remotely sensed raster data, including multi- and hyper-spectral data products, via a Web site with no downloads and no plug-ins required. The interface provides standardized algorithms designed so that a user with little or no remote-sensing experience can use the site. This Web-based approach reduces the amount of software, hardware, and computing power necessary to perform the specified analyses. Access to imagery and derived products is enterprise-level and controlled. Because the user never takes possession of the imagery, the licensing of the data is greatly simplified. BasinTools takes the "just-in-time" inventory control model from commercial manufacturing and applies it to remotely-sensed data. Products are created and delivered on-the-fly with no human intervention, even for casual users. Well-defined procedures can be combined in different ways to extend verified and validated methods in order to derive new remote-sensing products, which improves efficiency in any well-defined geospatial domain. Remote-sensing products produced in BasinTools are self-documenting, allowing procedures to be independently verified or peer-reviewed. The software can be used enterprise-wide to conduct low-level remote sensing, viewing, sharing, and manipulating of image data without the need for desktop applications.

Study of design and control of remote manipulators. Part 2: Vibration considerations in manipulator design

NASA Technical Reports Server (NTRS)

Book, W. J.

1973-01-01

An investigation is reported involving a mathematical procedure using 4 x 4 transformation matrices for analyzing the vibrations of flexible manipulators. Previous studies with the procedure are summarized and the method is extended to include flexible joints as well as links, and to account for the effects of various power transmission schemes. A systematic study of the allocation of structural material and the placement of components such as motors and gearboxes was undertaken using the analytical tools developed. As one step in this direction the variables which relate the vibration parameters of the arm to the task and environment of the arm were isolated and nondimensionalized. The 4 x 4 transformation matrices were also used to develop analytical expressions for the terms of the complete 6 x 6 compliance matrix for the case of two flexible links joined by a rotating joint, flexible about its axis of rotation.

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.

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).

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.

Systems and methods for dismantling a nuclear reactor

DOEpatents

Heim, Robert R; Adams, Scott Ryan; Cole, Matthew Denver; Kirby, William E; Linnebur, Paul Damon

2014-10-28

Systems and methods for dismantling a nuclear reactor are described. In one aspect the system includes a remotely controlled heavy manipulator ("manipulator") operatively coupled to a support structure, and a control station in a non-contaminated portion of a workspace. The support structure provides the manipulator with top down access into a bioshield of a nuclear reactor. At least one computing device in the control station provides remote control to perform operations including: (a) dismantling, using the manipulator, a graphite moderator, concrete walls, and a ceiling of the bioshield, the manipulator being provided with automated access to all internal portions of the bioshield; (b) loading, using the manipulator, contaminated graphite blocks from the graphite core and other components from the bioshield into one or more waste containers; and (c) dispersing, using the manipulator, dust suppression and contamination fixing spray to contaminated matter.

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.

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.

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

NASA Technical Reports Server (NTRS)

Turnbull, J. F.

1983-01-01

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

Space Shuttle power extension package

NASA Technical Reports Server (NTRS)

Loftus, J. P., Jr.; Craig, J. W.

1980-01-01

A modification kit for the Space Transportation System (STS) Orbiter is proposed to provide more power and mission duration for payloads. The power extension package (PEP), a flexible-substrate solar array deployed on the Space Shuttle Orbiter remote manipulator system, can provide as much as 29 kW total power for durations of 10 to 48 days. The kit is installed only for those flights which require enhanced power or duration. The PEP is made possible by development of the flexible-substrate array technology and, in itself, contributes to the technology base for the use of large area solar cells. Modifications to the Orbiter thermal control and life support systems to improve heat balance and to reduce consumables are proposed. The changes consist of repositioning the Orbiter forward radiators and replacing the lithium hydroxide scrubber with a regenerable solid amine.

Earth orbital teleoperator visual system evaluation program

NASA Technical Reports Server (NTRS)

Shields, N. L., Jr.; Kirkpatrick, M., III; Frederick, P. N.; Malone, T. B.

1975-01-01

Empirical tests of range estimation accuracy and resolution, via television, under monoptic and steroptic viewing conditions are discussed. Test data are used to derive man machine interface requirements and make design decisions for an orbital remote manipulator system. Remote manipulator system visual tasks are given and the effects of system parameters of these tasks are evaluated.

LDEF grappled by remote manipulator system (RMS) during STS-32 retrieval

NASA Image and Video Library

1990-01-20

This view taken through overhead window W7 on Columbia's, Orbiter Vehicle (OV) 102's, aft flight deck shows the Long Duration Exposure Facility (LDEF) in the grasp of the remote manipulator system (RMS) during STS-32 retrieval activities. Other cameras at eye level were documenting the bus-sized spacecraft at various angles as the RMS manipulated LDEF for a lengthy photo survey. The glaring celestial body in the upper left is the sun with the Earth's surface visible below.

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.

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

PubMed

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

1994-07-01

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

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).

Facile fabrication of a near-infrared responsive nanocarrier for spatiotemporally controlled chemo-photothermal synergistic cancer therapy

NASA Astrophysics Data System (ADS)

Wan, Hao; Zhang, Yi; Liu, Zheyi; Xu, Guiju; Huang, Guang; Ji, Yongsheng; Xiong, Zhichao; Zhang, Quanqing; Dong, Jing; Zhang, Weibing; Zou, Hanfa

2014-07-01

Remote-controlled nanocarriers for drug delivery are of great promise to provide timely, sensitive and spatiotemporally selective treatments for cancer therapy. Due to convenient and precise manipulation, deep penetration through tissues and excellent biocompatibility, near-infrared (NIR) irradiation is a preferred external stimulus for triggering the release of loaded drugs. In this work, for spatiotemporally controlled chemo-photothermal synergistic cancer therapy, a NIR responsive nanocarrier was fabricated using reduced graphene oxide nanosheets (rNGO) decorated with mesoporous silica shell and the subsequent functionalization of the thermoresponsive polymer brushes (pNIPAM-co-pAAm) at the outlet of the silica pore channels. rNGO, which combined with the mesoporous silica shell provide a high loading capacity for anticancer drugs (doxorubicin, DOX), was assigned to sense NIR irradiation for the manipulation of pNIPAM-co-pAAm valve to control the diffusion of loaded DOX. Under NIR irradiation, rNGO would generate heat, which could not only elevate the surrounding temperature over the low critical solution temperature (LCST) of pNIPAM-co-pAAm to open the thermoresponsive polymer valve and promote the diffusion of DOX, but also kill the cancer cells through the hypothermia effect. By manipulating NIR irradiation, the nanocarrier exhibited efficiently controlled release of loaded DOX both in the buffer and in living HeLa cells (the model cancer cells), providing powerful and site-targeted treatments, which can be attributed to synergistic effects of chemo-photothermal therapy. To sum up, this novel nanocarrier is an excellent drug delivery platform in remote-controlled chemo-photothermal synergistic cancer therapy via NIR irradiation.Remote-controlled nanocarriers for drug delivery are of great promise to provide timely, sensitive and spatiotemporally selective treatments for cancer therapy. Due to convenient and precise manipulation, deep penetration through tissues and excellent biocompatibility, near-infrared (NIR) irradiation is a preferred external stimulus for triggering the release of loaded drugs. In this work, for spatiotemporally controlled chemo-photothermal synergistic cancer therapy, a NIR responsive nanocarrier was fabricated using reduced graphene oxide nanosheets (rNGO) decorated with mesoporous silica shell and the subsequent functionalization of the thermoresponsive polymer brushes (pNIPAM-co-pAAm) at the outlet of the silica pore channels. rNGO, which combined with the mesoporous silica shell provide a high loading capacity for anticancer drugs (doxorubicin, DOX), was assigned to sense NIR irradiation for the manipulation of pNIPAM-co-pAAm valve to control the diffusion of loaded DOX. Under NIR irradiation, rNGO would generate heat, which could not only elevate the surrounding temperature over the low critical solution temperature (LCST) of pNIPAM-co-pAAm to open the thermoresponsive polymer valve and promote the diffusion of DOX, but also kill the cancer cells through the hypothermia effect. By manipulating NIR irradiation, the nanocarrier exhibited efficiently controlled release of loaded DOX both in the buffer and in living HeLa cells (the model cancer cells), providing powerful and site-targeted treatments, which can be attributed to synergistic effects of chemo-photothermal therapy. To sum up, this novel nanocarrier is an excellent drug delivery platform in remote-controlled chemo-photothermal synergistic cancer therapy via NIR irradiation. Electronic supplementary information (ESI) available. See DOI: 10.1039/c4nr01044b

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.

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

ELECTRONIC MASTER SLAVE MANIPULATOR

DOEpatents

Goertz, R.C.; Thompson, Wm.M.; Olsen, R.A.

1958-08-01

A remote control manipulator is described in which the master and slave arms are electrically connected to produce the desired motions. A response signal is provided in the master unit in order that the operator may sense a feel of the object and may not thereby exert such pressures that would ordinarily damage delicate objects. This apparatus will permit the manipulation of objects at a great distance, that may be viewed over a closed TV circuit, thereby permitting a remote operator to carry out operations in an extremely dangerous area with complete safety.

Effect of lidocaine on inflammation in equine jejunum subjected to manipulation only and remote to intestinal segments subjected to ischemia.

PubMed

Bauck, Anje G; Grosche, Astrid; Morton, Alison J; Graham, A Sarah; Vickroy, Thomas W; Freeman, David E

2017-08-01

OBJECTIVE To examine effects of continuous rate infusion of lidocaine on transmural neutrophil infiltration in equine intestine subjected to manipulation only and remote to ischemic intestine. ANIMALS 14 healthy horses. PROCEDURES Ventral midline celiotomy was performed (time 0). Mild ischemia was induced in segments of jejunum and large colon. A 1-m segment of jejunum was manipulated by massaging the jejunal wall 10 times. Horses received lidocaine (n = 7) or saline (0.9% NaCl) solution (7) throughout anesthesia. Biopsy specimens were collected and used to assess tissue injury, neutrophil influx, cyclooxygenase expression, and hypoxia-inducible factor 1α (HIF-1α) expression at 0, 1, and 4 hours after manipulation and ischemia. Transepithelial resistance (TER) and mannitol flux were measured by use of Ussing chambers. RESULTS Lidocaine did not consistently decrease neutrophil infiltration in ischemic, manipulated, or control tissues at 4 hours. Lidocaine significantly reduced circular muscle and overall scores for cyclooxygenase-2 expression in manipulated tissues. Manipulated tissues had significantly less HIF-1α expression at 4 hours than did control tissues. Mucosa from manipulated and control segments obtained at 4 hours had lower TER and greater mannitol flux than did control tissues at 0 hours. Lidocaine did not significantly decrease calprotectin expression. Severity of neutrophil infiltration was similar in control, ischemic, and manipulated tissues at 4 hours. CONCLUSIONS AND CLINICAL RELEVANCE Manipulated jejunum did not have a significantly greater increase in neutrophil infiltration, compared with 4-hour control (nonmanipulated) jejunum remote to sites of manipulation, ischemia, and reperfusion. Lidocaine did not consistently reduce neutrophil infiltration in jejunum.

STS-39 SPAS-II IBSS is grappled by remote manipulator system (RMS)

NASA Image and Video Library

1991-05-06

STS039-19-015 (28 April- 6 May 1991) --- This STS-39 35mm scene shows the Strategic Defense Initiative Organization (SDIO) Shuttle Pallet Satellite (SPAS-II) on the end of the remote manipulator system (RMS) end effector. During the eight-day flight, SPAS collected data in both a free-flying mode and while attached to the RMS.

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.

Development of remote crane system for use inside small argon hot-cell

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

Lee, Jong Kwang; Park, Byung Suk; Yu, Seung-Nam

2013-07-01

In this paper, we describe the design of a novel crane system for the use in a small argon hot-cell where only a pair of master-slave manipulators (MSM) is available for the remote maintenance of the crane. To increase the remote maintainability in the space-limited environment, we devised a remote actuation mechanism in which electrical parts consisting of a servo-motor, a position sensor, and two limit switches located inside the workspace of the MSM transmit power to the mechanical parts located in the ceiling. Even though the design concept does not provide thoroughly sufficient solution because the mechanical parts aremore » placed out of the MSM's workspace, the durability of mechanical parts can be easily increased if they have a high safety margin. Therefore, the concept may be one of the best solutions for our special crane system. In addition, we developed a servo-control system based on absolute positioning technology; therefore, it is possible for us to perform the given tasks more safely through an automatic operation. (authors)« less

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.

Robotic positioning of standard electrophysiology catheters: a novel approach to catheter robotics.

PubMed

Knight, Bradley; Ayers, Gregory M; Cohen, Todd J

2008-05-01

Robotic systems have been developed to manipulate and position electrophysiology (EP) catheters remotely. One limitation of existing systems is their requirement for specialized catheters or sheaths. We evaluated a system (Catheter Robotics Remote Catheter Manipulation System [RCMS], Catheter Robotics, Inc., Budd Lake, New Jersey) that manipulates conventional EP catheters placed through standard introducer sheaths. The remote controller functions much like the EP catheter handle, and the system permits repeated catheter disengagement for manual manipulation without requiring removal of the catheter from the body. This study tested the hypothesis that the RCMS would be able to safely and effectively position catheters at various intracardiac sites and obtain thresholds and electrograms similar to those obtained with manual catheter manipulation. Two identical 7 Fr catheters (Blazer II; Boston Scientific Corp., Natick, Massachusetts) were inserted into the right femoral veins of 6 mongrel dogs through separate, standard 7 Fr sheaths. The first catheter was manually placed at a right ventricular endocardial site. The second catheter handle was placed in the mating holder of the RCMS and moved to approximately the same site as the first catheter using the Catheter Robotics RCMS. The pacing threshold was determined for each catheter. This sequence was performed at 2 right atrial and 2 right ventricular sites. The distance between the manually and robotically placed catheters tips was measured, and pacing thresholds and His-bundle recordings were compared. The heart was inspected at necropsy for signs of cardiac perforation or injury. Compared to manual positioning, remote catheter placement produced the same pacing threshold at 7/24 sites, a lower threshold at 11/24 sites, and a higher threshold at only 6/24 sites (p > 0.05). The average distance between catheter tips was 0.46 +/- 0.32 cm (median 0.32, range 0.13-1.16 cm). There was no difference between right atrial and right ventricular sites (p > 0.05). His-bundle electrograms were equal in amplitude and timing. Further, the remote navigation catheter was able to be disengaged, manually manipulated, then reengaged in the robot without issue. There was no evidence of perforation. The Catheter Robotics remote catheter manipulation system, which uses conventional EP catheters and introducer sheaths, appears to be safe and effective at directing EP catheters to intracardiac sites and achieving pacing thresholds and electrograms equivalent to manually placed catheters. Further clinical studies are needed to confirm these observations.

PaR Tensile Truss for Nuclear Decontamination and Decommissioning - 12467

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

Doebler, Gary R.

2012-07-01

Remote robotics and manipulators are commonly used in nuclear decontamination and decommissioning (D and D) processes. D and D robots are often deployed using rigid telescoping masts in order to apply and counteract side loads. However, for very long vertical reaches (15 meters or longer) and high lift capacities, a telescopic is usually not practical due to the large cross section and weight required to make the mast stiff and resist seismic forces. For those long vertical travel applications, PaR Systems has recently developed the Tensile Truss, a rigid, hoist-driven 'structure' that employs six independent wire rope hoists to achievemore » long vertical reaches. Like a mast, the Tensile Truss is typically attached to a bridge-mounted trolley and is used as a platform for robotic manipulators and other remotely operated tools. For suspended, rigid deployment of D and D tools with very long vertical reaches, the Tensile Truss can be a better alternative than a telescoping mast. Masts have length limitations that can make them impractical or unworkable as lengths increase. The Tensile Truss also has the added benefits of increased safety, ease of decontamination, superior stiffness and ability to withstand excessive side loading. A Tensile Truss system is currently being considered for D and D operations and spent fuel recovery at the Fukushima Daiichi Nuclear Power Plant in Japan. This system will deploy interchangeable tools such as underwater hydraulic manipulators, hydraulic shears and crushers, grippers and fuel grapples. (authors)« less

Simple geometric algorithms to aid in clearance management for robotic mechanisms

NASA Technical Reports Server (NTRS)

Copeland, E. L.; Ray, L. D.; Peticolas, J. D.

1981-01-01

Global geometric shapes such as lines, planes, circles, spheres, cylinders, and the associated computational algorithms which provide relatively inexpensive estimates of minimum spatial clearance for safe operations were selected. The Space Shuttle, remote manipulator system, and the Power Extension Package are used as an example. Robotic mechanisms operate in quarters limited by external structures and the problem of clearance is often of considerable interest. Safe clearance management is simple and suited to real time calculation, whereas contact prediction requires more precision, sophistication, and computational overhead.

EVA 3 - Linnehan and Grunsfeld install new PCU

NASA Image and Video Library

2002-03-06

STS109-E-5660 (6 March 2002) --- Astronauts John M. Grunsfeld (top) and Richard M. Linnehan participate in a 6 hour, 48 minute space walk designed to install a new Power Control Unit (PCU) on the Hubble Space Telescope (HST). The two went on to replace the original unit launched with the telescope in April 1990. Grunsfeld is on the end of Columbia's Remote Manipulator System (RMS) robotic arm, controlled from inside the crew cabin by astronaut Nancy J. Currie. The image was recorded with a digital still camera.

VEHICLE FOR SLAVE ROBOT

DOEpatents

Goertz, R.C.; Lindberg, J.F.

1962-01-30

A reeling device is designed for an electrical cable supplying power to the slave slde of a remote control manipulator mounted on a movable vehicle. As the vehicle carries the slave side about in a closed room, the device reels the cable in and out to maintain a variable length of the cable between the vehicle and a cable inlet in the wall of the room. The device also handles a fixed length of cable between the slave side and the vehicle, in spite of angular movement of the slave side with respect to the vehicle. (AEC)

A Modular Soft Robotic Wrist for Underwater Manipulation.

PubMed

Kurumaya, Shunichi; Phillips, Brennan T; Becker, Kaitlyn P; Rosen, Michelle H; Gruber, David F; Galloway, Kevin C; Suzumori, Koichi; Wood, Robert J

2018-04-19

This article presents the development of modular soft robotic wrist joint mechanisms for delicate and precise manipulation in the harsh deep-sea environment. The wrist consists of a rotary module and bending module, which can be combined with other actuators as part of a complete manipulator system. These mechanisms are part of a suite of soft robotic actuators being developed for deep-sea manipulation via submersibles and remotely operated vehicles, and are designed to be powered hydraulically with seawater. The wrist joint mechanisms can also be activated with pneumatic pressure for terrestrial-based applications, such as automated assembly and robotic locomotion. Here we report the development and characterization of a suite of rotary and bending modules by varying fiber number and silicone hardness. Performance of the complete soft robotic wrist is demonstrated in normal atmospheric conditions using both pneumatic and hydraulic pressures for actuation and under high ambient hydrostatic pressures equivalent to those found at least 2300 m deep in the ocean. This rugged modular wrist holds the potential to be utilized at full ocean depths (>10,000 m) and is a step forward in the development of jointed underwater soft robotic arms.

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.

Spacecraft automatic umbilical system

NASA Technical Reports Server (NTRS)

Goldin, R. W.; Jacquemin, G. G.; Johnson, W. H.

1981-01-01

An umbilical system design is described that incorporates all the features specified for a power system to payload interconnect capability. A proof-of-concept prototype of the umbilical system was built to determine experimentally the suitability of the threading characteristics of the ram mechanism and to verify freedom from cross threading. It is concluded that Berthing systems that utilize remote manipulator systems (RMS) can be simplified by using RMS targets, closed circuit TV cameras, tie into the RMS control system, and grapple-fixture and end-effector-like capture and secure mechanisms. To effect a remotely controlled umbilical interconnect in proximity with a manned spacecraft and to provide for extravehicular activity backup and maintenance capabilities, 18 different mechanisms are found to be necessary. The weight impact of proving for maintenance capability in a large multiple connector umbilical system was found to be in the order of +60 percent.

Automatic mobile device synchronization and remote control system for high-performance medical applications.

PubMed

Constantinescu, L; Kim, J; Chan, C; Feng, D

2007-01-01

The field of telemedicine is in need of generic solutions that harness the power of small, easily carried computing devices to increase efficiency and decrease the likelihood of medical errors. Our study resolved to build a framework to bridge the gap between handheld and desktop solutions by developing an automated network protocol that wirelessly propagates application data and images prepared by a powerful workstation to handheld clients for storage, display and collaborative manipulation. To this end, we present the Mobile Active Medical Protocol (MAMP), a framework capable of nigh-effortlessly linking medical workstation solutions to corresponding control interfaces on handheld devices for remote storage, control and display. The ease-of-use, encapsulation and applicability of this automated solution is designed to provide significant benefits to the rapid development of telemedical solutions. Our results demonstrate that the design of this system allows an acceptable data transfer rate, a usable framerate for diagnostic solutions and enough flexibility to enable its use in a wide variety of cases. To this end, we also present a large-scale multi-modality image viewer as an example application based on the MAMP.

Shuttle remote manipulator system mission preparation and operations

NASA Technical Reports Server (NTRS)

Smith, Ernest E., Jr.

1989-01-01

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

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.

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

PubMed Central

Gao, Junyao; Zhao, Fangzhou; Liu, Yi

2017-01-01

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

High Level Waste Remote Handling Equipment in the Melter Cave Support Handling System at the Hanford Waste Treatment Plant

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

Bardal, M.A.; Darwen, N.J.

2008-07-01

Cold war plutonium production led to extensive amounts of radioactive waste stored in tanks at the Department of Energy's (DOE) Hanford site. Bechtel National, Inc. is building the largest nuclear Waste Treatment Plant in the world located at the Department of Energy's Hanford site to immobilize the millions of gallons of radioactive waste. The site comprises five main facilities; Pretreatment, High Level Waste vitrification, Low Active Waste vitrification, an Analytical Lab and the Balance of Facilities. The pretreatment facilities will separate the high and low level waste. The high level waste will then proceed to the HLW facility for vitrification.more » Vitrification is a process of utilizing a melter to mix molten glass with radioactive waste to form a stable product for storage. The melter cave is designated as the High Level Waste Melter Cave Support Handling System (HSH). There are several key processes that occur in the HSH cell that are necessary for vitrification and include: feed preparation, mixing, pouring, cooling and all maintenance and repair of the process equipment. Due to the cell's high level radiation, remote handling equipment provided by PaR Systems, Inc. is required to install and remove all equipment in the HSH cell. The remote handling crane is composed of a bridge and trolley. The trolley supports a telescoping tube set that rigidly deploys a TR 4350 manipulator arm with seven degrees of freedom. A rotating, extending, and retracting slewing hoist is mounted to the bottom of the trolley and is centered about the telescoping tube set. Both the manipulator and slewer are unique to this cell. The slewer can reach into corners and the manipulator's cross pivoting wrist provides better operational dexterity and camera viewing angles at the end of the arm. Since the crane functions will be operated remotely, the entire cell and crane have been modeled with 3-D software. Model simulations have been used to confirm operational and maintenance functional and timing studies throughout the design process. Since no humans can go in or out of the cell, there are several recovery options that have been designed into the system including jack-down wheels for the bridge and trolley, recovery drums for the manipulator hoist, and a wire rope cable cutter for the slewer jib hoist. If the entire crane fails in cell, the large diameter cable reel that provides power, signal, and control to the crane can be used to retrieve the crane from the cell into the crane maintenance area. (authors)« less

Applying Behavior-Based Robotics Concepts to Telerobotic Use of Power Tooling

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

Noakes, Mark W; Hamel, Dr. William R.

While it has long been recognized that telerobotics has potential advantages to reduce operator fatigue, to permit lower skilled operators to function as if they had higher skill levels, and to protect tools and manipulators from excessive forces during operation, relatively little laboratory research in telerobotics has actually been implemented in fielded systems. Much of this has to do with the complexity of the implementation and its lack of ability to operate in complex unstructured remote systems environments. One possible solution is to approach the tooling task using an adaptation of behavior-based techniques to facilitate task decomposition to a simplermore » perspective and to provide sensor registration to the task target object in the field. An approach derived from behavior-based concepts has been implemented to provide automated tool operation for a teleoperated manipulator system. The generic approach is adaptable to a wide range of typical remote tools used in hot-cell and decontamination and dismantlement-type operations. Two tasks are used in this work to test the validity of the concept. First, a reciprocating saw is used to cut a pipe. The second task is bolt removal from mockup process equipment. This paper explains the technique, its implementation, and covers experimental data, analysis of results, and suggestions for implementation on fielded systems.« less

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).

Bilevel Shared Control Of A Remote Robotic Manipulator

NASA Technical Reports Server (NTRS)

Hayati, Samad A.; Venkataraman, Subramanian T.

1992-01-01

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

Remote tong/tool latch and storage bracket for an advanced servo-manipulator

DOEpatents

Nicholson, John R.

1990-01-01

An arrangement for stowing releasable end effectors for manipulator arms wherein the end effector includes a releasable latch mechanism for connecting the end effector to the manipulator arm, and a storage holder is provided which includes an arrangement for actuating the latch mechanism as the end effector is moved into and out of the holder by the action of the manipulator arm.

Independent Orbiter Assessment (IOA): CIL issues resolution report, volume 2

NASA Technical Reports Server (NTRS)

1988-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes And Effects Analysis (FMEA) and Critical Items List (CIL) are presented. This report contains IOA assessment worksheets showing resolution of outstanding IOA CIL issues that were summarized in the IOA FMEA/CIL Assessment Interim Report, dated 9 March 1988. Each assessment worksheet has been updated with CIL issue resolution and rationale. Volume 2 contains the worksheets for the following subsystems: Nose Wheel Steering Subsystem; Remote Manipulator Subsystem; Atmospheric Revitalization Subsystem; Extravehicular Mobility Unit Subsystem; Power Reactant Supply and Distribution Subsystem; Main Propulsion Subsystem; and Orbital Maneuvering Subsystem.

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

PubMed

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

2012-01-01

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

Literature relevant to remote sensing of water quality

NASA Technical Reports Server (NTRS)

Middleton, E. M.; Marcell, R. F.

1983-01-01

References relevant to remote sensing of water quality were compiled, organized, and cross-referenced. The following general categories were included: (1) optical properties and measurement of water characteristics; (2) interpretation of water characteristics by remote sensing, including color, transparency, suspended or dissolved inorganic matter, biological materials, and temperature; (3) application of remote sensing for water quality monitoring; (4) application of remote sensing according to water body type; and (5) manipulation, processing and interpretation of remote sensing digital water data.

Augmented Reality Technology Using Microsoft HoloLens in Anatomic Pathology.

PubMed

Hanna, Matthew G; Ahmed, Ishtiaque; Nine, Jeffrey; Prajapati, Shyam; Pantanowitz, Liron

2018-05-01

Context Augmented reality (AR) devices such as the Microsoft HoloLens have not been well used in the medical field. Objective To test the HoloLens for clinical and nonclinical applications in pathology. Design A Microsoft HoloLens was tested for virtual annotation during autopsy, viewing 3D gross and microscopic pathology specimens, navigating whole slide images, telepathology, as well as real-time pathology-radiology correlation. Results Pathology residents performing an autopsy wearing the HoloLens were remotely instructed with real-time diagrams, annotations, and voice instruction. 3D-scanned gross pathology specimens could be viewed as holograms and easily manipulated. Telepathology was supported during gross examination and at the time of intraoperative consultation, allowing users to remotely access a pathologist for guidance and to virtually annotate areas of interest on specimens in real-time. The HoloLens permitted radiographs to be coregistered on gross specimens and thereby enhanced locating important pathologic findings. The HoloLens also allowed easy viewing and navigation of whole slide images, using an AR workstation, including multiple coregistered tissue sections facilitating volumetric pathology evaluation. Conclusions The HoloLens is a novel AR tool with multiple clinical and nonclinical applications in pathology. The device was comfortable to wear, easy to use, provided sufficient computing power, and supported high-resolution imaging. It was useful for autopsy, gross and microscopic examination, and ideally suited for digital pathology. Unique applications include remote supervision and annotation, 3D image viewing and manipulation, telepathology in a mixed-reality environment, and real-time pathology-radiology correlation.

Bilateral Impedance Control For Telemanipulators

NASA Technical Reports Server (NTRS)

Moore, Christopher L.

1993-01-01

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

Solar maximum mission panel jettison analysis remote manipulator system

NASA Technical Reports Server (NTRS)

Bauer, R. B.

1980-01-01

A study is presented of the development of the Remote Manipulator System (RMS) configurations for jettison of the solar panels on the Solar Maximum Mission/Multimission Satellite. A valid RMS maneuver between jettison configurations was developed. Arm and longeron loads and effector excursions due to the solar panel jettison were determined to see if they were within acceptable limits. These loads and end effector excursions were analyzed under two RMS modes, servos active in position hold submode, and in the brakes on mode.

[Surgery using master-slave manipulators and telementoring].

PubMed

Furukawa, T; Wakabayashi, G; Ozawa, S; Watanabe, M; Ohgami, M; Kitagawa, Y; Ishii, S; Arisawa, Y; Ohmori, T; Nohga, K; Kitajima, M

2000-03-01

Master-slave manipulators enhance surgeons' dexterity and improve the precision of surgical techniques by filtering out surgeons' tremors and scaling the movements of surgical instruments. Among clinically available master-slave manipulators, the epoch-making system called "da Vinci" developed by Intuitive Surgical Inc. (Mountain View, CA, USA), equipped with 2 articulated joints at the tip of the surgical instruments allowing 7 degrees of freedom, mimics the movements of surgeons' wrists and fingers in the abdominal or thoracic cavity. Today advanced telecommunications technology provides us excellent motion images using only 3-ISDN telephone lines. Experienced surgeons at primary surgical sites have been able to perform complex procedures successfully by consulting specialists at remote sites. Because telecommunications costs have become lower each year, telementoring will be come a routine surgical practice in the near future. The usefulness of surgical telementoring has been greatly enhanced by the development of a technique to illustrate on video images from two directions. Moreover, remote advisory surgeons will be able to provide the optimal operative field to operating surgeons using robotic camera holders with voice-recognition systems. In the near future, when master-slave manipulators will also be coupled with telementoring systems, remote experts could actually perform complex surgical procedures.

Effects of spatially displaced feedback on remote manipulation tasks

NASA Technical Reports Server (NTRS)

Manahan, Meera K.; Stuart, Mark A.; Bierschwale, John M.; Hwang, Ellen Y.; Legendre, A. J.

1992-01-01

Several studies have been performed to determine the effects on computer and direct manipulation task performance when viewing conditions are spatially displaced. Whether results from these studies can be directly applied to remote manipulation tasks is quenstionable. The objective of this evaluation was to determine the effects of reversed, inverted, and inverted/reversed views on remote manipulation task performance using two 3-Degree of Freedom (DOF) hand controllers and a replica position hand controller. Results showed that trials using the inverted viewing condition showed the worst performance, followed by the inverted/reversed view and the reversed view when using the 2x3 DOF. However, these differences were not significant. The inverted and inverted/reversed viewing conditions were significantly worse than the normal and reversed viewing conditions when using the Kraft Replica. A second evaluation was conducted in which additional trials were performed with each viewing condition to determine the long term effects of spatially displaced views on task performance for the hand controllers. Results of the second evaluation indicated that there was more of a difference in performance between the perturbed viewing conditions and the normal viewing condition with the Kraft Replica than with the 2x3 DOF.

Prototyping of Remote Experiment and Exercise Systems for an Engineering Education based on World Wide Web

NASA Astrophysics Data System (ADS)

Iwatsuki, Masami; Kato, Yoriyuki; Yonekawa, Akira

State-of-the-art Internet technologies allow us to provide advanced and interactive distance education services. However, we could not help but gather students for experiments and exercises in an education for engineering because large-scale equipments and expensive software are required. On the other hand, teleoperation systems with robot manipulator or vehicle via Internet have been developed in the field of robotics. By fusing these two techniques, we can realize remote experiment and exercise systems for the engineering education based on World Wide Web. This paper presents how to construct the remote environment that allows students to take courses on experiment and exercise independently of their locations. By using the proposed system, users can exercise and practice remotely about control of a manipulator and a robot vehicle and programming of image processing.

Remote magnetic actuation using a clinical scale system

PubMed Central

Stehning, Christian; Gleich, Bernhard

2018-01-01

Remote magnetic manipulation is a powerful technique for controlling devices inside the human body. It enables actuation and locomotion of tethered and untethered objects without the need for a local power supply. In clinical applications, it is used for active steering of catheters in medical interventions such as cardiac ablation for arrhythmia treatment and for steering of camera pills in the gastro-intestinal tract for diagnostic video acquisition. For these applications, specialized clinical-scale field applicators have been developed, which are rather limited in terms of field strength and flexibility of field application. For a general-purpose field applicator, flexible field generation is required at high field strengths as well as high field gradients to enable the generation of both torques and forces on magnetic devices. To date, this requirement has only been met by small-scale experimental systems. We have built a highly versatile clinical-scale field applicator that enables the generation of strong magnetic fields as well as strong field gradients over a large workspace. We demonstrate the capabilities of this coil-based system by remote steering of magnetic drills through gel and tissue samples with high torques on well-defined curved trajectories. We also give initial proof that, when equipped with high frequency transmit-receive coils, the machine is capable of real-time magnetic particle imaging while retaining a clinical-scale bore size. Our findings open the door for image-guided radiation-free remote magnetic control of devices at the clinical scale, which may be useful in minimally invasive diagnostic and therapeutic medical interventions. PMID:29494647

Computer aided control of a mechanical arm

NASA Technical Reports Server (NTRS)

Derocher, W. L., Jr.; Zermuehlen, r. O.

1979-01-01

A method for computer-aided remote control of a six-degree-of-freedom manipulator arm involved in the on-orbit servicing of a spacecraft is presented. The control configuration features a supervisory type of control in which each of the segments of a module exchange trajectory is controlled automatically under human supervision, with manual commands to proceed to the next step and in the event of a failure or undesirable outcome. The implementation of the supervisory system is discussed in terms of necessary onboard and ground- or Orbiter-based hardware and software, and a one-g demonstration system built to allow further investigation of system operation is described. Possible applications of the system include the construction of satellite solar power systems, environmental testing and the control of heliostat solar power stations.

Remote tong/tool latch and storage bracket for an advanced servo-manipulator

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

Nicholson, J.R.

1990-04-03

An arrangement is described for stowing releasable end effectors for manipulator arms wherein the end effector includes a releasable latch mechanism for connecting the end effector to the manipulator arm, and a storage holder is provided which includes an arrangement for actuating the latch mechanism as the end effector is moved into and out of the holder by the action of the manipulator arm. 7 figs.

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

The space station tethered elevator system

NASA Technical Reports Server (NTRS)

Anderson, Loren A.

1989-01-01

The optimized conceptual engineering design of a space station tethered elevator is presented. The elevator is an unmanned mobile structure which operates on a ten kilometer tether spanning the distance between the Space Station and a tethered platform. Elevator capabilities include providing access to residual gravity levels, remote servicing, and transportation to any point along a tether. The potential uses, parameters, and evolution of the spacecraft design are discussed. Engineering development of the tethered elevator is the result of work conducted in the following areas: structural configurations; robotics, drive mechanisms; and power generation and transmission systems. The structural configuration of the elevator is presented. The structure supports, houses, and protects all systems on board the elevator. The implementation of robotics on board the elevator is discussed. Elevator robotics allow for the deployment, retrieval, and manipulation of tethered objects. Robotic manipulators also aid in hooking the elevator on a tether. Critical to the operation of the tethered elevator is the design of its drive mechanisms, which are discussed. Two drivers, located internal to the elevator, propel the vehicle along a tether. These modular components consist of endless toothed belts, shunt-wound motors, regenerative power braking, and computer controlled linear actuators. The designs of self-sufficient power generation and transmission systems are reviewed. Thorough research indicates all components of the elevator will operate under power provided by fuel cells. The fuel cell systems will power the vehicle at seven kilowatts continuously and twelve kilowatts maximally. A set of secondary fuel cells provides redundancy in the unlikely event of a primary system failure. Power storage exists in the form of Nickel-Hydrogen batteries capable of powering the elevator under maximum loads.

ESR paper on the proper use of mobile devices in radiology.

PubMed

2018-04-01

Mobile devices (smartphones, tablets, etc.) have become key methods of communication, data access and data sharing for the population in the past decade. The technological capabilities of these devices have expanded very rapidly; for example, their in-built cameras have largely replaced conventional cameras. Their processing power is often sufficient to handle the large data sets of radiology studies and to manipulate images and studies directly on hand-held devices. Thus, they can be used to transmit and view radiology studies, often in locations remote from the source of the imaging data. They are not recommended for primary interpretation of radiology studies, but they facilitate sharing of studies for second opinions, viewing of studies and reports by clinicians at the bedside, etc. Other potential applications include remote participation in educational activity (e.g. webinars) and consultation of online educational content, e-books, journals and reference sources. Social-networking applications can be used for exchanging professional information and teaching. Users of mobile device must be aware of the vulnerabilities and dangers of their use, in particular regarding the potential for inappropriate sharing of confidential patient information, and must take appropriate steps to protect confidential data. • Mobile devices have revolutionized communication in the past decade, and are now ubiquitous. • Mobile devices have sufficient processing power to manipulate and display large data sets of radiological images. • Mobile devices allow transmission & sharing of radiologic studies for purposes of second opinions, bedside review of images, teaching, etc. • Mobile devices are currently not recommended as tools for primary interpretation of radiologic studies. • The use of mobile devices for image and data transmission carries risks, especially regarding confidentiality, which must be considered.

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.

A zero-power warming chamber for investigating plant responses to rising temperature

DOE PAGES

Lewin, Keith F.; McMahon, Andrew M.; Ely, Kim S.; ...

2017-09-19

Advances in understanding and model representation of plant and ecosystem responses to rising temperature have typically required temperature manipulation of research plots, particularly when considering warming scenarios that exceed current climate envelopes. In remote or logistically challenging locations, passive warming using solar radiation is often the only viable approach for temperature manipulation. But, current passive warming approaches are only able to elevate the mean daily air temperature by ~1.5 °C. Motivated by our need to understand temperature acclimation in the Arctic, where warming has been markedly greater than the global average and where future warming is projected to be ~2–3more » °C by the middle of the century; we have developed an alternative approach to passive warming. Our zero-power warming (ZPW) chamber requires no electrical power for fully autonomous operation. It uses a novel system of internal and external heat exchangers that allow differential actuation of pistons in coupled cylinders to control chamber venting. This enables the ZPW chamber venting to respond to the difference between the external and internal air temperatures, thereby increasing the potential for warming and eliminating the risk of overheating. During the thaw season on the coastal tundra of northern Alaska our ZPW chamber was able to elevate the mean daily air temperature 2.6 °C above ambient, double the warming achieved by an adjacent passively warmed control chamber that lacked our hydraulic system. We describe the construction, evaluation and performance of our ZPW chamber and discuss the impact of potential artefacts associated with the design and its operation on the Arctic tundra. Our approach is highly flexible and tunable, enabling customization for use in many different environments where significantly greater temperature manipulation than that possible with existing passive warming approaches is desired.« less

A zero-power warming chamber for investigating plant responses to rising temperature

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

Lewin, Keith F.; McMahon, Andrew M.; Ely, Kim S.

Advances in understanding and model representation of plant and ecosystem responses to rising temperature have typically required temperature manipulation of research plots, particularly when considering warming scenarios that exceed current climate envelopes. In remote or logistically challenging locations, passive warming using solar radiation is often the only viable approach for temperature manipulation. But, current passive warming approaches are only able to elevate the mean daily air temperature by ~1.5 °C. Motivated by our need to understand temperature acclimation in the Arctic, where warming has been markedly greater than the global average and where future warming is projected to be ~2–3more » °C by the middle of the century; we have developed an alternative approach to passive warming. Our zero-power warming (ZPW) chamber requires no electrical power for fully autonomous operation. It uses a novel system of internal and external heat exchangers that allow differential actuation of pistons in coupled cylinders to control chamber venting. This enables the ZPW chamber venting to respond to the difference between the external and internal air temperatures, thereby increasing the potential for warming and eliminating the risk of overheating. During the thaw season on the coastal tundra of northern Alaska our ZPW chamber was able to elevate the mean daily air temperature 2.6 °C above ambient, double the warming achieved by an adjacent passively warmed control chamber that lacked our hydraulic system. We describe the construction, evaluation and performance of our ZPW chamber and discuss the impact of potential artefacts associated with the design and its operation on the Arctic tundra. Our approach is highly flexible and tunable, enabling customization for use in many different environments where significantly greater temperature manipulation than that possible with existing passive warming approaches is desired.« less

A zero-power warming chamber for investigating plant responses to rising temperature

NASA Astrophysics Data System (ADS)

Lewin, Keith F.; McMahon, Andrew M.; Ely, Kim S.; Serbin, Shawn P.; Rogers, Alistair

2017-09-01

Advances in understanding and model representation of plant and ecosystem responses to rising temperature have typically required temperature manipulation of research plots, particularly when considering warming scenarios that exceed current climate envelopes. In remote or logistically challenging locations, passive warming using solar radiation is often the only viable approach for temperature manipulation. However, current passive warming approaches are only able to elevate the mean daily air temperature by ˜ 1.5 °C. Motivated by our need to understand temperature acclimation in the Arctic, where warming has been markedly greater than the global average and where future warming is projected to be ˜ 2-3 °C by the middle of the century; we have developed an alternative approach to passive warming. Our zero-power warming (ZPW) chamber requires no electrical power for fully autonomous operation. It uses a novel system of internal and external heat exchangers that allow differential actuation of pistons in coupled cylinders to control chamber venting. This enables the ZPW chamber venting to respond to the difference between the external and internal air temperatures, thereby increasing the potential for warming and eliminating the risk of overheating. During the thaw season on the coastal tundra of northern Alaska our ZPW chamber was able to elevate the mean daily air temperature 2.6 °C above ambient, double the warming achieved by an adjacent passively warmed control chamber that lacked our hydraulic system. We describe the construction, evaluation and performance of our ZPW chamber and discuss the impact of potential artefacts associated with the design and its operation on the Arctic tundra. The approach we describe is highly flexible and tunable, enabling customization for use in many different environments where significantly greater temperature manipulation than that possible with existing passive warming approaches is desired.

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

NASA Technical Reports Server (NTRS)

1975-01-01

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

Study and development of techniques for automatic control of remote manipulators

NASA Technical Reports Server (NTRS)

Shaket, E.; Leal, A.

1976-01-01

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

Pilot Fullerton reviews checklist on Aft Flight Deck Onorbit Station

NASA Technical Reports Server (NTRS)

1982-01-01

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

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.

Japanese experiment module (JEM)

NASA Technical Reports Server (NTRS)

Kato, T.

1986-01-01

Japanese hardware elements studied during the definition phase of phase B are described. The hardware is called JEM (Japanese Experiment Module) and will be attached to the Space Station core. JEM consists of a pressurized module, an exposed facility, a scientific/equipment airlock, a local remote manipulator, and experimental logistic module. With all those hardware elements JEM will accommodate general scientific and technology development research (some of the elements are to utilize the advantage of the microgravity environment), and also accommodate control panels for the Space Station Mobile Remote Manipulator System and attached payloads.

Adaptive supervisory control of remote manipulation

NASA Technical Reports Server (NTRS)

Ferrell, W. R.

1977-01-01

The command language by which an operator exerts supervisory control over a general purpose remote manipulator should be designed to accommodate certain characteristics of human performance if there is to be effective communication between the operator and the machine. Some of the ways in which people formulate tasks, use language, learn and make errors are discussed and design implications are drawn. A general approach to command language design is suggested, based on the notion matching the operator's current task schema or context by appropriate program structures or 'frames' in the machine.

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).

System for a displaying at a remote station data generated at a central station and for powering the remote station from the central station

NASA Technical Reports Server (NTRS)

Perry, J. C. (Inventor)

1980-01-01

A system for displaying at a remote station data generated at a central station and for powering the remote station from the central station is presented. A power signal is generated at the central station and time multiplexed with the data and then transmitted to the remote station. An energy storage device at the remote station is responsive to the transmitted power signal to provide energizing power for the circuits at the remote station during the time interval data is being transmitted to the remote station. Energizing power for the circuits at the remote station is provided by the power signal itself during the time this signal is transmitted. Preferably the energy storage device is a capacitor which is charged by the power signal during the time the power is transmitted and is slightly discharged during the time the data is transmitted to energize the circuits at the remote station.

19. Photocopy of photograph. VIEW OF WORKER MANIPULATING SMALL GLASS ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

19. Photocopy of photograph. VIEW OF WORKER MANIPULATING SMALL GLASS OBJECTS IN THE HOT BAY WITH MANIPULATOR ARMS AT WORK STATION E-2. Photographer unknown, ca. 1969, original photograph and negative on file at the Remote Sensing Laboratory, Department of Energy, Nevada Operations Office. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

Identification of cognitive factors related to remote work performance using closed circuit TV displays

NASA Technical Reports Server (NTRS)

Clarke, M. M.; Garin, J.

1981-01-01

Operator perceptual cognitive styles as predictors of remote task performance were identified. Remote tasks which require the use of servo controlled master/slave manipulators and closed circuit television for teleoperator repair and maintenance of nuclear fuel recycling systems are examined. A useful procedure for identifying such perceptual styles is described.

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.

Dismantling of Highly Contaminated Process Installations of the German Reprocessing Facility (WAK) - Status of New Remote Handling Technology - 13287

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

Dux, Joachim; Friedrich, Daniel; Lutz, Werner

2013-07-01

Decommissioning and dismantling of the former German Pilot Reprocessing Plant Karlsruhe (WAK) including the Vitrification Facility (VEK) is being executed in different Project steps related to the reprocessing, HLLW storage and vitrification complexes /1/. While inside the reprocessing building the total inventory of process equipment has already been dismantled and disposed of, the HLLW storage and vitrification complex has been placed out of operation since vitrification and tank rinsing procedures where finalized in year 2010. This paper describes the progress made in dismantling of the shielded boxes of the highly contaminated laboratory as a precondition to get access to themore » hot cells of the HLLW storage. The major challenges of the dismantling of this laboratory were the high dose rates up to 700 mSv/h and the locking technology for the removal of the hot cell installations. In parallel extensive prototype testing of different carrier systems and power manipulators to be applied to dismantle the HLLW-tanks and other hot cell equipment is ongoing. First experiences with the new manipulator carrier system and a new master slave manipulator with force reflection will be reported. (authors)« less

Hot rocket plume experiment - Survey and conceptual design. [of rhenium-iridium bipropellants

NASA Technical Reports Server (NTRS)

Millard, Jerry M.; Luan, Taylor W.; Dowdy, Mack W.

1992-01-01

Attention is given to a space-borne engine plume experiment study to fly an experiment which will both verify and quantify the reduced contamination from advanced rhenium-iridium earth-storable bipropellant rockets (hot rockets) and provide a correlation between high-fidelity, in-space measurements and theoretical plume and surface contamination models. The experiment conceptual design is based on survey results from plume and contamination technologists throughout the U.S. With respect to shuttle use, cursory investigations validate Hitchhiker availability and adaptability, adequate remote manipulator system (RMS) articulation and dynamic capability, acceptable RMS attachment capability, adequate power and telemetry capability, and adequate flight altitude and attitude/orbital capability.

Astronaut Anna Fisher practices control of the RMS in a trainer

NASA Technical Reports Server (NTRS)

1984-01-01

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

Improved electromechanical master-slave manipulator

NASA Technical Reports Server (NTRS)

Forster, G.; Goertz, R.; Grimson, J.; Mingesz, D.; Potts, C.

1968-01-01

Electric master-slave manipulator uses force multiplication and allows the operator to remotely control the slave arm. Both the master and slave arms execute seven distinct motions by a specially designed force-reflecting servo having a one to one correspondence between the motion at the master and slave.

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.

NIAC Phase II Orbiting Rainbows: Future Space Imaging with Granular Systems

NASA Technical Reports Server (NTRS)

Quadrelli, Marco B.; Basinger, Scott; Arumugam, Darmindra; Swartzlander, Grover

2017-01-01

Inspired by the light scattering and focusing properties of distributed optical assemblies in Nature, such as rainbows and aerosols, and by recent laboratory successes in optical trapping and manipulation, we propose a unique combination of space optics and autonomous robotic system technology, to enable a new vision of space system architecture with applications to ultra-lightweight space optics and, ultimately, in-situ space system fabrication. Typically, the cost of an optical system is driven by the size and mass of the primary aperture. The ideal system is a cloud of spatially disordered dust-like objects that can be optically manipulated: it is highly reconfigurable, fault-tolerant, and allows very large aperture sizes at low cost. This new concept is based on recent understandings in the physics of optical manipulation of small particles in the laboratory and the engineering of distributed ensembles of spacecraft swarms to shape an orbiting cloud of micron-sized objects. In the same way that optical tweezers have revolutionized micro- and nano-manipulation of objects, our breakthrough concept will enable new large scale NASA mission applications and develop new technology in the areas of Astrophysical Imaging Systems and Remote Sensing because the cloud can operate as an adaptive optical imaging sensor. While achieving the feasibility of constructing one single aperture out of the cloud is the main topic of this work, it is clear that multiple orbiting aerosol lenses could also combine their power to synthesize a much larger aperture in space to enable challenging goals such as exo-planet detection. Furthermore, this effort could establish feasibility of key issues related to material properties, remote manipulation, and autonomy characteristics of cloud in orbit. There are several types of endeavors (science missions) that could be enabled by this type of approach, i.e. it can enable new astrophysical imaging systems, exo-planet search, large apertures allow for unprecedented high resolution to discern continents and important features of other planets, hyperspectral imaging, adaptive systems, spectroscopy imaging through limb, and stable optical systems from Lagrange-points. Furthermore, future micro-miniaturization might hold promise of a further extension of our dust aperture concept to other more exciting smart dust concepts with other associated capabilities. Our objective in Phase II was to experimentally and numerically investigate how to optically manipulate and maintain the shape of an orbiting cloud of dust-like matter so that it can function as an adaptable ultra-lightweight surface. Our solution is based on the aperture being an engineered granular medium, instead of a conventional monolithic aperture. This allows building of apertures at a reduced cost, enables extremely fault-tolerant apertures that cannot otherwise be made, and directly enables classes of missions for exoplanet detection based on Fourier spectroscopy with tight angular resolution and innovative radar systems for remote sensing. In this task, we have examined the advanced feasibility of a crosscutting concept that contributes new technological approaches for space imaging systems, autonomous systems, and space applications of optical manipulation. The proposed investigation has matured the concept that we started in Phase I to TRL 3, identifying technology gaps and candidate system architectures for the space-borne cloud as an aperture.

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

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

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.

A Robot System for Remote Book Browsing

NASA Astrophysics Data System (ADS)

Tomizawa, Tetsuo; Ohya, Akihisa; Yuta, Shin'ichi

This paper describes a system which uses a mobile manipulator located in a library as a teleoperated tool for browsing books from a remote location via the Internet. In the process of developing this system, we designed and built a robot system, specially equipped for the accomplishment of browsing determined books, which is mainly categorized by 3 basic goals: (1) picking up the book by using a manipulator, (2) opening the book and (3) turning pages by a developed browsing device. Likewise, this paper also describes the human interface by the integration of Internet technologies, and summarize some considerations about the 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.

Remote Systems Design & Deployment

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

Bailey, Sharon A.; Baker, Carl P.; Valdez, Patrick LJ

2009-08-28

The Pacific Northwest National Laboratory (PNNL) was tasked by Washington River Protection Solutions, LLC (WRPS) to provide information and lessons learned relating to the design, development and deployment of remote systems, particularly remote arm/manipulator systems. This report reflects PNNL’s experience with remote systems and lays out the most important activities that need to be completed to successfully design, build, deploy and operate remote systems in radioactive and chemically contaminated environments. It also contains lessons learned from PNNL’s work experiences, and the work of others in the national laboratory complex.

International Space Station (ISS)

NASA Image and Video Library

2000-12-05

Astronaut Joseph R. Tanner, STS-97 mission specialist, is seen during a session of Extravehicular Activity (EVA), performing work on the International Space Station (ISS). Part of the Remote Manipulator System (RMS) arm and a section of the newly deployed solar array panel are in the background. The primary objective of the STS-97 mission was the delivery, assembly, and activation of the U.S. electrical power system on board the ISS. The electrical power system, which is built into a 73-meter (240-foot) long solar array structure consists of solar arrays, radiators, batteries, and electronics. The entire 15.4-metric ton (17-ton) package is called the P6 Integrated Truss Segment and is the heaviest and largest element yet delivered to the station aboard a space shuttle. The electrical system will eventually provide the power necessary for the first ISS crews to live and work in the U.S. segment. The STS-97 crew of five launched aboard the Space Shuttle Orbiter Endeavor on November 30, 2000 for an 11 day mission.

Two-Photon Holographic Stimulation of ReaChR

PubMed Central

Chaigneau, Emmanuelle; Ronzitti, Emiliano; Gajowa, Marta A.; Soler-Llavina, Gilberto J.; Tanese, Dimitrii; Brureau, Anthony Y. B.; Papagiakoumou, Eirini; Zeng, Hongkui; Emiliani, Valentina

2016-01-01

Optogenetics provides a unique approach to remotely manipulate brain activity with light. Reaching the degree of spatiotemporal control necessary to dissect the role of individual cells in neuronal networks, some of which reside deep in the brain, requires joint progress in opsin engineering and light sculpting methods. Here we investigate for the first time two-photon stimulation of the red-shifted opsin ReaChR. We use two-photon (2P) holographic illumination to control the activation of individually chosen neurons expressing ReaChR in acute brain slices. We demonstrated reliable action potential generation in ReaChR-expressing neurons and studied holographic 2P-evoked spiking performances depending on illumination power and pulse width using an amplified laser and a standard femtosecond Ti:Sapphire oscillator laser. These findings provide detailed knowledge of ReaChR's behavior under 2P illumination paving the way for achieving in depth remote control of multiple cells with high spatiotemporal resolution deep within scattering tissue. PMID:27803649

A comparison of control modes for time-delayed remote manipulation

NASA Technical Reports Server (NTRS)

Starr, G. P.

1982-01-01

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

Robotic tele-existence

NASA Technical Reports Server (NTRS)

Tachi, Susumu; Arai, Hirohiko; Maeda, Taro

1989-01-01

Tele-existence is an advanced type of teleoperation system that enables a human operator at the controls to perform remote manipulation tasks dexterously with the feeling that he or she exists in the remote anthropomorphic robot in the remote environment. The concept of a tele-existence is presented, the principle of the tele-existence display method is explained, some of the prototype systems are described, and its space application is discussed.

Experiences with real-time teleconsultation in neuroradiology

NASA Astrophysics Data System (ADS)

Stahl, Johannes N.; Zhang, Jianguo; Zhou, Xiaoqiang; Lou, Shyhliang A.; Huang, H. K.

1999-07-01

Real-time teleconsultation can be a useful tool for the handling of neuroradiological emergency case in remote locations. Unlike with teleradiology, which describes a mere transmission of images for remote review. Teleconsultation allows physicians to interactively discuss images and findings by means of image transmission, bi-directional remote manipulation and audiovisual communication. This paper describes the communication model, implementation and clinical evaluation of such a Teleconsultation system.

Collision Detection for Underwater ROV Manipulator Systems

PubMed Central

Rossi, Matija; Dooly, Gerard; Toal, Daniel

2018-01-01

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

Collision Detection for Underwater ROV Manipulator Systems.

PubMed

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

2018-04-06

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

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.

Remote Systems Experience at the Oak Ridge National Laboratory--A Summary of Lessons Learned

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

Noakes, Mark W; Burgess, Thomas W; Rowe, John C

2011-01-01

Oak Ridge National Laboratory (ORNL) has a long history in the development of remote systems to support the nuclear environment. ORNL, working in conjunction with Central Research Laboratories, created what is believed to be the first microcomputer-based implementation of dual-arm master-slave remote manipulation. As part of the Consolidated Fuel Reprocessing Program, ORNL developed the dual-arm advanced servomanipulator focusing on remote maintainability for systems exposed to high radiation fields. ORNL also participated in almost all of the various technical areas of the U.S. Department of Energy s Robotics Technology Development Program, while leading the Decontamination and Decommissioning and Tank Waste Retrievalmore » categories. Over the course of this involvement, ORNL has developed a substantial base of working knowledge as to what works when and under what circumstances for many types of remote systems tasks as well as operator interface modes, control bandwidth, and sensing requirements to name a few. By using a select list of manipulator systems that is not meant to be exhaustive, this paper will discuss history and outcome of development, field-testing, deployment, and operations from a lessons learned perspective. The final outcome is a summary paper outlining ORNL experiences and guidelines for transition of developmental remote systems to real-world hazardous environments.« less

Remote Labs and Game-Based Learning for Process Control

ERIC Educational Resources Information Center

Zualkernan, Imran A.; Husseini, Ghaleb A.; Loughlin, Kevin F.; Mohebzada, Jamshaid G.; El Gaml, Moataz

2013-01-01

Social networking platforms and computer games represent a natural informal learning environment for the current generation of learners in higher education. This paper explores the use of game-based learning in the context of an undergraduate chemical engineering remote laboratory. Specifically, students are allowed to manipulate chemical…

Improved head-controlled TV system produces high-quality remote image

NASA Technical Reports Server (NTRS)

Goertz, R.; Lindberg, J.; Mingesz, D.; Potts, C.

1967-01-01

Manipulator operator uses an improved resolution tv camera/monitor positioning system to view the remote handling and processing of reactive, flammable, explosive, or contaminated materials. The pan and tilt motions of the camera and monitor are slaved to follow the corresponding motions of the operators head.

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

NASA Technical Reports Server (NTRS)

Demeo, Martha E.

1990-01-01

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

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.

Magnetic resonance imaging compatible remote catheter navigation system with 3 degrees of freedom.

PubMed

Tavallaei, M A; Lavdas, M K; Gelman, D; Drangova, M

2016-08-01

To facilitate MRI-guided catheterization procedures, we present an MRI-compatible remote catheter navigation system that allows remote navigation of steerable catheters with 3 degrees of freedom. The system consists of a user interface (master), a robot (slave), and an ultrasonic motor control servomechanism. The interventionalist applies conventional motions (axial, radial and plunger manipulations) on an input catheter in the master unit; this user input is measured and used by the servomechanism to control a compact catheter manipulating robot, such that it replicates the interventionalist's input motion on the patient catheter. The performance of the system was evaluated in terms of MRI compatibility (SNR and artifact), feasibility of remote navigation under real-time MRI guidance, and motion replication accuracy. Real-time MRI experiments demonstrated that catheter was successfully navigated remotely to desired target references in all 3 degrees of freedom. The system had an absolute value error of [Formula: see text]1 mm in axial catheter motion replication over 30 mm of travel and [Formula: see text] for radial catheter motion replication over [Formula: see text]. The worst case SNR drop was observed to be [Formula: see text]3 %; the robot did not introduce any artifacts in the MR images. An MRI-compatible compact remote catheter navigation system has been developed that allows remote navigation of steerable catheters with 3 degrees of freedom. The proposed system allows for safe and accurate remote catheter navigation, within conventional closed-bore scanners, without degrading MR image quality.

Basic Operational Robotics Instructional System

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Alternative Fuels Data Center: Students Power Remote-Controlled Cars With

Science.gov Websites

Biodiesel Students Power Remote-Controlled Cars With Biodiesel to someone by E-mail Share Alternative Fuels Data Center: Students Power Remote-Controlled Cars With Biodiesel on Facebook Tweet about Alternative Fuels Data Center: Students Power Remote-Controlled Cars With Biodiesel on Twitter Bookmark

Kinesthetic coupling between operator and remote manipulator

NASA Technical Reports Server (NTRS)

Bejczy, A. K.; Salisbury, J. K., Jr.

1980-01-01

A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

Performance evaluation of the Personal Mobility and Manipulation Appliance (PerMMA).

PubMed

Wang, Hongwu; Xu, Jijie; Grindle, Garrett; Vazquez, Juan; Salatin, Ben; Kelleher, Annmarie; Ding, Dan; Collins, Diane M; Cooper, Rory A

2013-11-01

The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot created to provide people with severe physical disabilities enhanced assistance in both mobility and manipulation. PerMMA aims to improve functional independence when a personal care attendant is not available on site. PerMMA integrates both a smart powered wheelchair and two dexterous robotic arms to assist its users in completing essential mobility and manipulation tasks during basic and instrumental activities of daily living (ADL). Two user interfaces were developed: a local control interface and a remote operator controller. This paper reports on the evaluation of PerMMA with end users completing basic ADL tasks. Participants with both lower and upper extremity impairments (N=15) were recruited to operate PerMMA and complete up to five ADL tasks in a single session of no more than two hours (to avoid fatigue or frustration of the participants). The performance of PerMMA was evaluated by participants completing ADL tasks with two different control modes: local mode and cooperative control. The users' task completion performance and answers on pre/post-evaluation questionnaires demonstrated not only the ease in learning and usefulness of PerMMA, but also their attitudes toward assistance from advanced technology like PerMMA. As a part of the iterative development process, results of this work will serve as supporting evidence to identify design criteria and other areas for improvement of PerMMA. Copyright © 2013 IPEM. All rights reserved.

Telerobot control system

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Proto-Flight Manipulator Arm (P-FMA)

NASA Technical Reports Server (NTRS)

Britton, W. R.

1977-01-01

The technical development of the Proto-Flight Manipulator Arm (P-FMA) which is a seven-degree-of-freedom general-purpose arm capable of being remotely operated in an earth orbital environment is discussed. The P-FMA is a unique manipulator, combining the capabilities of significant dexterity, high tip forces, precise motion control, gear backdriveability, high end effector grip forces and torques, and the quality of flightworthiness. The 2.4-meter (8-foot) arm weighs 52.2 kilograms (115 pounds).

Human operator performance of remotely controlled tasks: Teleoperator research conducted at NASA's George C. Marshall Space Flight Center. Executive summary

NASA Technical Reports Server (NTRS)

Shields, N., Jr.; Piccione, F.; Kirkpatrick, M., III; Malone, T. B.

1982-01-01

The combination of human and machine capabilities into an integrated engineering system which is complex and interactive interdisciplinary undertaking is discussed. Human controlled remote systems referred to as teleoperators, are reviewed. The human factors requirements for remotely manned systems are identified. The data were developed in three principal teleoperator laboratories and the visual, manipulator and mobility laboratories are described. Three major sections are identified: (1) remote system components, (2) human operator considerations; and (3) teleoperator system simulation and concept verification.

Remote Control of Tissue Interactions via Engineered Photo-switchable Cell Surfaces

NASA Astrophysics Data System (ADS)

Luo, Wei; Pulsipher, Abigail; Dutta, Debjit; Lamb, Brian M.; Yousaf, Muhammad N.

2014-09-01

We report a general cell surface molecular engineering strategy via liposome fusion delivery to create a dual photo-active and bio-orthogonal cell surface for remote controlled spatial and temporal manipulation of microtissue assembly and disassembly. Cell surface tailoring of chemoselective functional groups was achieved by a liposome fusion delivery method and quantified by flow cytometry and characterized by a new cell surface lipid pull down mass spectrometry strategy. Dynamic co-culture spheroid tissue assembly in solution and co-culture tissue multilayer assembly on materials was demonstrated by an intercellular photo-oxime ligation that could be remotely cleaved and disassembled on demand. Spatial and temporal control of microtissue structures containing multiple cell types was demonstrated by the generation of patterned multilayers for controlling stem cell differentiation. Remote control of cell interactions via cell surface engineering that allows for real-time manipulation of tissue dynamics may provide tools with the scope to answer fundamental questions of cell communication and initiate new biotechnologies ranging from imaging probes to drug delivery vehicles to regenerative medicine, inexpensive bioreactor technology and tissue engineering therapies.

Remote powering platform for implantable sensor systems at 2.45 GHz.

PubMed

Kazanc, Onur; Yilmaz, Gurkan; Maloberti, Franco; Dehollain, Catherine

2014-01-01

Far-field remotely powered sensor systems enable long distance operation for low-power sensor systems. In this work, we demonstrate a remote powering platform with a miniaturized antenna and remote powering base station operating at 2.45 GHz. The rectenna, which is the energy receiving and conversion element of the sensor system, is designed and measured. The measurements for the tag are performed within 15 cm distance from the remote powering base station. The realized gain of the tag antenna is measured as -3.3 dB, which is 0.5 dB close to the simulations, where simulated realized gain is -2.8 dB.

Supervisory Control of Remote Manipulation with Compensation for Moving Target.

DTIC Science & Technology

1980-07-21

Continue on reveree aide if neceeary and Identify by block number) ’The aim of this project is to evaluate automatic compensation for moving tar- gets ...slave control. Operating manipulators in this way is a tiring job and the operator gets exhausted after j a short time of work. The use of the computer...THE MANIPULATION OF MOVING OBJECTS Undersea tasks done by human divers are getting more and more costly and hazardous as they have to be done at

Mobile Manipulation and Mobility as Manipulation: Design and Algorithms of RoboSimian

DTIC Science & Technology

2014-05-01

feature was left out for the competition hands. The hand has three under-actuated fingers, each with a braided Dyneema R© tendon wrapped around pulleys at...models of objects (e.g. valves, ladders, hoses , etc.) into the world manually so that RoboSimian could interact with objects for manipulation. The remote...with a single button press (e.g. “rotate-valve”, “insert- hose ”, “push-open-door”), depending on the task. Note that since the plan module was run on

Master--slave manipulators and remote maintenance at the Oak Ridge National Laboratory

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

Jenness, R.G.; Wicker, C.D.

1975-01-01

The volume of master-slave manipulator maintenance at Oak Ridge National Laboratory has necessitated the establishment of a repair facility and the organization of a specially trained group of craftsmen. Emphasis on cell containment requires the use of manipulator boots and the development of precise procedures for accomplishing the maintenance of 283 installed units. To provide the most economical type of preventive maintenance, a very satisfactory computer- programmed maintenance system has been established at the Laboratory. (auth)

Achievement of a Sense of Operator Presence in Remote Manipulation.

DTIC Science & Technology

1980-10-01

L., R. Sun and H. F. M. Van der Loos, "Terminal Device Centered Control of Manipulation for a Rehabilitative Robot ," Prepublished paper submitted to...87 Appendix B: Robot Institute of America Information . . . . . .. 90 Preliminary Results of Worldwide Survey . . . . . . . 91 Robot ...Manufacturers and Distributors . . . . . . . . 99 Robot Researchers . . . . . . . . . . . . . . . . .. 102 III LIST OF FIGURES Title Page Frontispiece

Interferometer-Controlled Optical Tweezers Constructed for Nanotechnology and Biotechnology

NASA Technical Reports Server (NTRS)

Decker, Arthur J.

2002-01-01

A new method to control microparticles was developed in-house at the NASA Glenn Research Center in support of the nanotechnology project under NASA's Aerospace Propulsion and Power Base Research Program. A prototype interferometer-controlled optical tweezers was constructed to manipulate scanning probe microscope (SPM) tips. A laser beam passed through a Mach-Zehnder interferometer, and a microscope objective then produced an optical trap from the coaxial beams. The trap levitated and generated the coarse motion of a 10-mm polystyrene sphere used to simulate a SPM tip. The interference between the beams provided fine control of the forces and moments on the sphere. The interferometer included a piezoelectric-scanned mirror to modulate the interference pattern. The 10-mm sphere was observed to oscillate about 1 mm as the mirror and fringe pattern oscillated. The prototype tweezers proved the feasibility of constructing a more sophisticated interferometer tweezers to hold and manipulate SPM tips. The SPM tips are intended to interrogate and manipulate nanostructures. A more powerful laser will be used to generate multiple traps to hold nanostructures and SPM tips. The vibrating mirror in the interferometer will be replaced with a spatial light modulator. The modulator will allow the optical phase distribution in one leg of the interferometer to be programmed independently at 640 by 480 points for detailed control of the forces and moments. The interference patterns will be monitored to measure the motion of the SPM tips. Neuralnetwork technology will provide fast analysis of the interference patterns for diagnostic purposes and for local or remote feedback control of the tips. This effort also requires theoretical and modeling support in the form of scattering calculations for twin coherent beams from nonspherical particles.

Vision and Task Assistance using Modular Wireless In Vivo Surgical Robots

PubMed Central

Platt, Stephen R.; Hawks, Jeff A.; Rentschler, Mark E.

2009-01-01

Minimally invasive abdominal surgery (laparoscopy) results in superior patient outcomes compared to conventional open surgery. However, the difficulty of manipulating traditional laparoscopic tools from outside the body of the patient generally limits these benefits to patients undergoing relatively low complexity procedures. The use of tools that fit entirely inside the peritoneal cavity represents a novel approach to laparoscopic surgery. Our previous work demonstrated that miniature mobile and fixed-based in vivo robots using tethers for power and data transmission can successfully operate within the abdominal cavity. This paper describes the development of a modular wireless mobile platform for in vivo sensing and manipulation applications. Design details and results of ex vivo and in vivo tests of robots with biopsy grasper, staple/clamp, video, and physiological sensor payloads are presented. These types of self-contained surgical devices are significantly more transportable and lower in cost than current robotic surgical assistants. They could ultimately be carried and deployed by non-medical personnel at the site of an injury to allow a remotely located surgeon to provide critical first response medical intervention irrespective of the location of the patient. PMID:19237337

Study of roles of remote manipulator systems and EVA for shuttle mission support, volume 1

NASA Technical Reports Server (NTRS)

Malone, T. B.; Micocci, A. J.

1974-01-01

Alternate extravehicular activity (EVA) and remote manipulator system (RMS) configurations were examined for their relative effectiveness in performing an array of representative shuttle and payload support tasks. Initially a comprehensive analysis was performed of payload and shuttle support missions required to be conducted exterior to a pressurized inclosure. A set of task selection criteria was established, and study tasks were identified. The EVA and RMS modes were evaluated according to their applicability for each task and task condition. The results are summarized in tabular form, showing the modes which are chosen as most effective or as feasible for each task/condition. Conclusions concerning the requirements and recommendations for each mode are presented.

14. NBS REMOTE MANIPULATOR SIMULATOR (RMS) CONTROL ROOM. THE RMS ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

14. NBS REMOTE MANIPULATOR SIMULATOR (RMS) CONTROL ROOM. THE RMS CONTROL PANEL IS IDENTICAL TO THE SHUTTLE ORBITER AFT FLIGHT DECK WITH ALL RMS SWITCHES AND CONTROL KNOBS FOR INVOKING ANY POSSIBLE FLIGHT OPERATIONAL MODE. THIS INCLUDES ALL COMPUTER AIDED OPERATIONAL MODES, AS WELL AS FULL MANUAL MODE. THE MONITORS IN THE AFT FLIGHT DECK WINDOWS AND THE GLASSES THE OPERATOR WEARS PROVIDE A 3-D VIDEO PICTURE TO AID THE OPERATOR WITH DEPTH PERCEPTION WHILE OPERATING THE ARM. THIS IS REQUIRED BECAUSE THE RMS OPERATOR CANNOT VIEW RMS MOVEMENTS IN THE WATER WHILE AT THE CONTROL PANEL. - Marshall Space Flight Center, Neutral Buoyancy Simulator Facility, Rideout Road, Huntsville, Madison County, AL

Critical heat flux test apparatus

DOEpatents

Welsh, Robert E.; Doman, Marvin J.; Wilson, Edward C.

1992-01-01

An apparatus for testing, in situ, highly irradiated specimens at high temperature transients is provided. A specimen, which has a thermocouple device attached thereto, is manipulated into test position in a sealed quartz heating tube by a robot. An induction coil around a heating portion of the tube is powered by a radio frequency generator to heat the specimen. Sensors are connected to monitor the temperatures of the specimen and the induction coil. A quench chamber is located below the heating portion to permit rapid cooling of the specimen which is moved into this quench chamber once it is heated to a critical temperature. A vacuum pump is connected to the apparatus to collect any released fission gases which are analyzed at a remote location.

Designing berthing mechanisms for international compatibility

NASA Technical Reports Server (NTRS)

Winch, John; Gonzalez-Vallejo, Juan J.

1991-01-01

The paper examines the technological issues regarding common berthing interfaces for the Space Station Freedom and pressurized modules from U.S., European, and Japanese space programs. The development of the common berthing mechanism (CBM) is based on common requirements concerning specifications, launch environments, and the unique requirements of ESA's Man-Tended Free Flyer. The berthing mechanism is composed of an active and a passive half, a remote manipulator system, 4 capture-latch assemblies, 16 structural bolts, and a pressure gage to verify equalization. Extensive graphic and verbal descriptions of each element are presented emphasizing the capture-latch motion and powered-bolt operation. The support systems to complete the interface are listed, and the manufacturing requirements for consistent fabrication are discussed to ensure effective international development.

Fractal Characterization of Multitemporal Scaled Remote Sensing Data

NASA Technical Reports Server (NTRS)

Quattrochi, Dale A.; Lam, Nina Siu-Ngan; Qiu, Hong-lie

1998-01-01

Scale is an "innate" concept in geographic information systems. It is recognized as something that is intrinsic to the ingestion, storage, manipulation, analysis, modeling, and output of space and time data within a GIS purview, yet the relative meaning and ramifications of scaling spatial and temporal data from this perspective remain enigmatic. As GISs become more sophisticated as a product of more robust software and more powerful computer systems, there is an urgent need to examine the issue of scale, and its relationship to the whole body of spatiotemporal data, as imparted in GISS. Scale is fundamental to the characterization of geo-spatial data as represented in GISS, but we have relatively little insight on the effects of, or how to measure the effects of, scale in representing multiscaled data; i.e., data that are acquired in different formats (e.g., map, digital) and exist in varying spatial, temporal, and in the case of remote sensing data, radiometric, configurations. This is particularly true in the emerging era of Integrated GISs (IGIS), wherein spatial data in a variety of formats (e.g., raster, vector) are combined with multiscaled remote sensing data, capable of performing highly sophisticated space-time data analyses and modeling. Moreover, the complexities associated with the integration of multiscaled data sets in a multitude of formats are exacerbated by the confusion of what the term "scale" is from a multidisciplinary perspective; i.e., "scale" takes on significantly different meanings depending upon one's disciplinary background and spatial perspective which can lead to substantive confusion in the input, manipulation, analyses, and output of IGISs (Quattrochi, 1993). Hence, we must begin to look at the universality of scale and begin to develop the theory, methods, and techniques necessary to advance knowledge on the "Science of Scale" across a wide number of spatial disciplines that use GISs.

18. Photocopy of photograph. VIEW WITHIN POSTMORTEM CELL OF MANIPULATOR ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

18. Photocopy of photograph. VIEW WITHIN POST-MORTEM CELL OF MANIPULATOR ARMS BEING USED TO MOVE METAL BARS FROM ONE LOCATION TO ANOTHER. Photographer unknown, ca. 1965, original photograph and negative on file at the Remote Sensing Laboratory, Department of Energy, Nevada Operations Office. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

System Collects And Displays Demultiplexed Data

NASA Technical Reports Server (NTRS)

Reschke, Millard F.; Fariss, Julie L.; Kulecz, Walter B.; Paloski, William H.

1992-01-01

Electronic system collects, manipulates, and displays in real time results of manipulation of streams of data transmitted from remote scientific instrumentation. Interface circuit shifts data-and-clock signal from differential logic levels of multiplexer to single-ended logic levels of computer. System accommodates nonstandard data-transmission protocol. Software useful in applications where Macintosh computers used in real-time display and recording of data.

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.

MANIPULATOR FOR SLAVE ROBOT

DOEpatents

Goertz, R.C.; Grimson, J.H.; Kohut, F.A.

1961-04-01

A remote-control manipulator comprising two stationary master units, two slave units on a movable vehicle, and electrical connections between the master and slave units is reported. The slave units are side by side with a minimum over-all width, which is made feasible by an arrangement of transducers producing most movements of each slave unit to one side of the support of said slave unit.

ROLES OF REMOTE SENSING AND CARTOGRAPHY IN THE USGS NATIONAL MAPPING DIVISION.

USGS Publications Warehouse

Southard, Rupert B.; Salisbury, John W.

1983-01-01

The inseparable roles of remote sensing and photogrammetry have been recognized to be consistent with the aims and interests of the American Society of Photogrammetry. In particular, spatial data storage, data merging and manipulation methods and other techniques originally developed for remote sensing applications also have applications for digital cartography. Also, with the introduction of much improved digital processing techniques, even relatively low resolution (80 m) traditional Landsat images can now be digitally mosaicked into excellent quality 1:250,000-scale image maps.

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

NASA Technical Reports Server (NTRS)

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

1980-01-01

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

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

NASA Technical Reports Server (NTRS)

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

1987-01-01

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

Underwater manipulator

DOEpatents

Schrum, Phillip B.; Cohen, George H.

1993-01-01

Self-contained, waterproof, water-submersible, remote-controlled apparatus is provided for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer .+-.45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer .+-.10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

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.

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.

Video framerate, resolution and grayscale tradeoffs for undersea telemanipulator

NASA Technical Reports Server (NTRS)

Ranadive, V.; Sheridan, T. B.

1981-01-01

The product of Frame Rate (F) in frames per second, Resolution (R) in total pixels and grayscale in bits (G) equals the transmission band rate in bits per second. Thus for a fixed channel capacity there are tradeoffs between F, R and G in the actual sampling of the picture for a particular manual control task in the present case remote undersea manipulation. A manipulator was used in the MASTER/SLAVE mode to study these tradeoffs. Images were systematically degraded from 28 frames per second, 128 x 128 pixels and 16 levels (4 bits) grayscale, with various FRG combinations constructed from a real-time digitized (charge-injection) video camera. It was found that frame rate, resolution and grayscale could be independently reduced without preventing the operator from accomplishing his/her task. Threshold points were found beyond which degradation would prevent any successful performance. A general conclusion is that a well trained operator can perform familiar remote manipulator tasks with a considerably degrade picture, down to 50 K bits/ sec.

Development of a multipurpose hand controller for JEMRMS

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

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

NASA Technical Reports Server (NTRS)

Hill, J. W.

1977-01-01

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

MS Parazynski transfers the DCSU during the second EVA of STS-100

NASA Image and Video Library

2001-04-24

STS100-396-019 (24 April 2001) --- Astronaut Scott E. Parazynski, STS-100 mission specialist, 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, assisted by astronaut Chris A. Hadfield (out of frame), he will secure the spare unit--a critical part for the station's electrical system--to the stowage platform for future crews in case it is needed. Also in the frame are the Italian-built Raffaello Multi-Purpose Logistics Module (center) and the new Canadarm2 (lower right) or Space Station Remote Manipulator System (SSRMS).

Nanoparticle-mediated local and remote manipulation of protein aggregation.

PubMed

Kogan, Marcelo J; Bastus, Neus G; Amigo, Roger; Grillo-Bosch, Dolors; Araya, Eyleen; Turiel, Antonio; Labarta, Amilcar; Giralt, Ernest; Puntes, Victor F

2006-01-01

The local heat delivered by metallic nanoparticles selectively attached to their target can be used as a molecular surgery to safely remove toxic and clogging aggregates. We apply this principle to protein aggregates, in particular to the amyloid beta protein (Abeta) involved in Alzheimer's disease (AD), a neurodegenerative disease where unnaturally folded Abeta proteins self-assemble and deposit forming amyloid fibrils and plaques. We show the possibility to remotely redissolve these deposits and to interfere with their growth, using the local heat dissipated by gold nanoparticles (AuNP) selectively attached to the aggregates and irradiated with low gigahertz electromagnetic fields. Simultaneous tagging and manipulation by AuNP of Abeta at different stages of aggregation allow both, noninvasive exploration and dissolution of molecular aggregates.

Neural joint control for Space Shuttle Remote Manipulator System

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

Analysis of Parallelogram Mechanism used to Preserve Remote Center of Motion for Surgical Telemanipulator

NASA Astrophysics Data System (ADS)

Trochimczuk, R.

2017-02-01

This paper presents an analysis of a parallelogram mechanism commonly used to provide a kinematic remote center of motion in surgical telemanipulators. Selected types of parallel manipulator designs, encountered in commercial and laboratory-made designs described in the medical robotics literature, will serve as the research material. Among other things, computer simulations in the ANSYS 13.0 CAD/CAE software environment, employing the finite element method, will be used. The kinematics of the solution of manipulator with the parallelogram mechanism will be determined in order to provide a more complete description. These results will form the basis for the decision regarding the possibility of applying a parallelogram mechanism in an original prototype of a telemanipulator arm.

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.

Touch sensors and control.

NASA Technical Reports Server (NTRS)

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

1973-01-01

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

Teleoperator technology and system development, volume 1

NASA Technical Reports Server (NTRS)

1972-01-01

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

Evaluation of high-voltage, high-power, solid-state remote power controllers for amps

NASA Technical Reports Server (NTRS)

Callis, Charles P.

1987-01-01

The Electrical Power Branch at Marshall Space Flight Center has a Power System Development Facility where various power circuit breadboards are tested and evaluated. This project relates to the evaluation of a particular remote power controller (RPC) energizing high power loads. The Facility equipment permits the thorough testing and evaluation of high-voltage, high-power solid-state remote power controllers. The purpose is to evaluate a Type E, 30 Ampere, 200 V dc remote power controller. Three phases of the RPC evaluation are presented. The RPC is evaluated within a low-voltage, low-power circuit to check its operational capability. The RPC is then evaluated while performing switch/circuit breaker functions within a 200 V dc, 30 Ampere power circuit. The final effort of the project relates to the recommended procedures for installing these RPC's into the existing Autonomously Managed Power System (AMPS) breadboard/test facility at MSFC.

Kinematic capability in the SVDS

NASA Technical Reports Server (NTRS)

Flanders, H. A.

1977-01-01

The details of the Remote Manipulator System kinematic model implemented into the Space Vehicle Dynamics Simulation are given. Detailed engineering flow diagrams and definitions of terms are included.

Powering the Future

NASA Technical Reports Server (NTRS)

2002-01-01

Stirling Technology Company (STC) developed the RG-350 convertor using components from separate Goddard Space Center and U.S. Army Natick SBIR contracts. Based on the RG-350, STC commercialized a product line of Stirling cycle generator sets, known as RemoteGen(TM), with power levels ranging from 10We to 3kWe. Under SBIR agreements with Glenn Research Center, the company refined and extended the capabilities of the RemoteGen convertors. They can provide power in remote locations by efficiently producing electricity from multiple-fuel sources, such as propane, alcohol, gasoline, diesel, coal, solar energy, or wood pellets. Utilizing any fuel source that can create heat, RemoteGen enables the choice of the most appropriate fuel source available. The engines operate without friction, wear, or maintenance. These abilities pave the way for self-powered appliances, such as refrigerators and furnaces. Numerous applications for RemoteGen include quiet, pollution-free generators for RVs and yachts, power for cell phone towers remote from the grid, and off-grid residential power variously using propane, ethanol, and solid biomass fuels. One utility and the National Renewable Energy Laboratory are evaluating a solar dish concentrator version with excellent potential for powering remote irrigation pumps.

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.

Optical Power Transfer System for Powering a Remote Mobility System for Multiple Missions

NASA Technical Reports Server (NTRS)

Hogan, Bartholomew P. (Inventor); Stone, William C. (Inventor)

2016-01-01

An optical power transfer system for powering a remote mobility system for multiple missions comprising a high power source and a chilling station connected to a laser source. The laser source transmits a high optical energy to a beam switch assembly via an optical fiber. The beam switch assembly is optically connected to actively cooled fiber spoolers. Docking stations are adapted for securing the fiber spoolers until alternatively ready for use by a remote mobility system. The remote mobility system is optically connected to the fiber spoolers and has a receiving port adapted for securing the fiber spoolers thereon. The fiber spooler transmits the optical energy to a power conversion system which converts the optical energy received to another usable form of energy. More than one power source may be used where the remote mobility system transfers from one source to another while maintaining an operational radius to each source.

47 CFR 74.1290 - FM translator and booster station information available on the Internet.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Transmissions, Permissible (Low Power Auxiliaries) 74.831 Transmitter power (Remote Pickup) 74.461 Transmitters... equipment— Aural Auxiliary 74.550 Remote Pickup 74.451 TV Auxiliaries 74.655 Lw Power Auxiliaries 74.851... stations 74.537 Remote Pickup 74.433 TV Auxiliaries 74.633 Low Power Auxiliaries 74.833 Authorized emission...

Research issues in implementing remote presence in teleoperator control

NASA Technical Reports Server (NTRS)

Corker, K.; Mishkin, A. H.; Lyman, J.

1981-01-01

The concept of remote presence in telemanipulation is presented. A conceptual design of a prototype teleoperator system incorporating remote presence is described. The design is presented in functional terms, sensor, display, and control subsystem. An intermediate environment, in which the human operator is made to feel present, is explicated. The intermediate environment differs from the task environment due to the quantity and type of information presented to an operator and due to scaling factors protecting the operator from the hazards of the task environment. Potential benefits of remote presence systems, both for manipulation and for the study of human cognition and preception are discussed.

Recursive Newton-Euler formulation of manipulator dynamics

NASA Technical Reports Server (NTRS)

Nasser, M. G.

1989-01-01

A recursive Newton-Euler procedure is presented for the formulation and solution of manipulator dynamical equations. The procedure includes rotational and translational joints and a topological tree. This model was verified analytically using a planar two-link manipulator. Also, the model was tested numerically against the Walker-Orin model using the Shuttle Remote Manipulator System data. The hinge accelerations obtained from both models were identical. The computational requirements of the model vary linearly with the number of joints. The computational efficiency of this method exceeds that of Walker-Orin methods. This procedure may be viewed as a considerable generalization of Armstrong's method. A six-by-six formulation is adopted which enhances both the computational efficiency and simplicity of the model.

Underwater manipulator

DOEpatents

Schrum, P.B.; Cohen, G.H.

1993-04-20

Self-contained, waterproof, water-submersible, remote-controlled apparatus is described for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer [plus minus]45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer [plus minus]10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

Applying Web-Based Tools for Research, Engineering, and Operations

NASA Technical Reports Server (NTRS)

Ivancic, William D.

2011-01-01

Personnel in the NASA Glenn Research Center Network and Architectures branch have performed a variety of research related to space-based sensor webs, network centric operations, security and delay tolerant networking (DTN). Quality documentation and communications, real-time monitoring and information dissemination are critical in order to perform quality research while maintaining low cost and utilizing multiple remote systems. This has been accomplished using a variety of Internet technologies often operating simultaneously. This paper describes important features of various technologies and provides a number of real-world examples of how combining Internet technologies can enable a virtual team to act efficiently as one unit to perform advanced research in operational systems. Finally, real and potential abuses of power and manipulation of information and information access is addressed.

(abstract) An Ada Language Modular Telerobot Task Execution System

NASA Technical Reports Server (NTRS)

Backes, Paul; Long, Mark; Steele, Robert

1993-01-01

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

18 CFR 1c.1 - Prohibition of natural gas market manipulation.

Code of Federal Regulations, 2014 CFR

2014-04-01

... 18 Conservation of Power and Water Resources 1 2014-04-01 2014-04-01 false Prohibition of natural gas market manipulation. 1c.1 Section 1c.1 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES PROHIBITION OF ENERGY MARKET MANIPULATION § 1c.1...

18 CFR 1c.1 - Prohibition of natural gas market manipulation.

Code of Federal Regulations, 2013 CFR

2013-04-01

... 18 Conservation of Power and Water Resources 1 2013-04-01 2013-04-01 false Prohibition of natural gas market manipulation. 1c.1 Section 1c.1 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES PROHIBITION OF ENERGY MARKET MANIPULATION § 1c.1...

18 CFR 1c.1 - Prohibition of natural gas market manipulation.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 18 Conservation of Power and Water Resources 1 2010-04-01 2010-04-01 false Prohibition of natural gas market manipulation. 1c.1 Section 1c.1 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES PROHIBITION OF ENERGY MARKET MANIPULATION § 1c.1...

18 CFR 1c.2 - Prohibition of electric energy market manipulation.

Code of Federal Regulations, 2014 CFR

2014-04-01

... 18 Conservation of Power and Water Resources 1 2014-04-01 2014-04-01 false Prohibition of electric energy market manipulation. 1c.2 Section 1c.2 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES PROHIBITION OF ENERGY MARKET MANIPULATION § 1c.2...

18 CFR 1c.2 - Prohibition of electric energy market manipulation.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 18 Conservation of Power and Water Resources 1 2010-04-01 2010-04-01 false Prohibition of electric energy market manipulation. 1c.2 Section 1c.2 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES PROHIBITION OF ENERGY MARKET MANIPULATION § 1c.2...

18 CFR 1c.1 - Prohibition of natural gas market manipulation.

Code of Federal Regulations, 2012 CFR

2012-04-01

... 18 Conservation of Power and Water Resources 1 2012-04-01 2012-04-01 false Prohibition of natural gas market manipulation. 1c.1 Section 1c.1 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES PROHIBITION OF ENERGY MARKET MANIPULATION § 1c.1...

18 CFR 1c.2 - Prohibition of electric energy market manipulation.

Code of Federal Regulations, 2012 CFR

2012-04-01

... 18 Conservation of Power and Water Resources 1 2012-04-01 2012-04-01 false Prohibition of electric energy market manipulation. 1c.2 Section 1c.2 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES PROHIBITION OF ENERGY MARKET MANIPULATION § 1c.2...

18 CFR 1c.2 - Prohibition of electric energy market manipulation.

Code of Federal Regulations, 2013 CFR

2013-04-01

... 18 Conservation of Power and Water Resources 1 2013-04-01 2013-04-01 false Prohibition of electric energy market manipulation. 1c.2 Section 1c.2 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES PROHIBITION OF ENERGY MARKET MANIPULATION § 1c.2...

Sixteenth Annual Conference on Manual Control

NASA Technical Reports Server (NTRS)

1982-01-01

Manual control is discussed in terms of operator modeling, measurement of human response, mental workload, pilot/operator opinion, effects of motion, aircraft displays, supervisory control, automobile driving, and remote manipulation.

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.

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

NASA Technical Reports Server (NTRS)

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

1978-01-01

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

MOCR activity during Day 6 of STS-3 mission

NASA Technical Reports Server (NTRS)

1982-01-01

Andrew A. Fullerton, the six-year-old son of STS-3 pilot C. Gordon Fullerton, watches a television monitor in the mission control center's viewing room (28802); Mrs. Marie J. Fullerton in the mission control center's viewing room. Other members of the STS-3 pilot's family are seated on each side of Mrs. Fullerton. His sister, Jeanne Dockham, is at left foreground; son Andrew A., at right foreground. Mr. and Mrs. E. G. Buettner, Mrs. Fullerton's parents, are seated at center, and beyond them is Mrs. Charles R. Fullerton, the astronaut's mother (28803); Mary Ann Austin seated at the remote manipulator sytem (RMS) console in the mission operations control room (MOCR) shares the scene with a representation of a 1/15-scale model of the Canadian-built remote manipulator system arm (28804).

REMOTE CONTROL MANIPULATOR

DOEpatents

Coffman, R.T.

1962-11-27

The patent covers a remote-control manipulator in which a tool is carried on a tube at an end thereof angularly related to the main portion of the tube and joined thereto by a curved section. The main portion of the tube is mounted for rotation and axial shifting in a wall separating safe and dangerous areas. The tool is actuated to grasp and release an object in the dangerous area by means of a compound shaft extending through the tube, the shaft having a flexible section extending through the curved section of the tube. The tool is moved about in the dangerous area by rotation and axial movement of the main portion of the tube. Additional movement of the tool is obtained through axial shifting of the shaft with respect to the tube through which it extends. (AEC)

Wireless Instrumentation System and Power Management Scheme Therefore

NASA Technical Reports Server (NTRS)

Perotti, Jose (Inventor); Lucena, Angel (Inventor); Eckhoff, Anthony (Inventor); Mata, Carlos T. (Inventor); Blalock, Norman N. (Inventor); Medelius, Pedro J. (Inventor)

2007-01-01

A wireless instrumentation system enables a plurality of low power wireless transceivers to transmit measurement data from a plurality of remote station sensors to a central data station accurately and reliably. The system employs a relay based communications scheme where remote stations that cannot communicate directly with the central station due to interference, poor signal strength, etc., are instructed to communicate with other of the remote stations that act as relays to the central station. A unique power management scheme is also employed to minimize power usage at each remote station and thereby maximize battery life. Each of the remote stations prefembly employs a modular design to facilitate easy reconfiguration of the stations as required.

Use of an intuitive telemanipulator system for remote trauma surgery: an experimental study.

PubMed

Bowersox, J C; Cordts, P R; LaPorta, A J

1998-06-01

Death from battlefield trauma occurs rapidly. Potentially salvageable casualties generally exsanguinate from truncal hemorrhage before operative intervention is possible. An intuitive telemanipulator system that would allow distant surgeons to remotely treat injured patients could improve the outcome from severe injuries. We evaluated a prototype, four-degree-of-freedom, telesurgery system that provides a surgeon with a stereoscopic video display of a remote operative field. Using dexterous robotic manipulators, surgical instruments at the remote site can be precisely controlled, enabling operative procedures to be performed remotely. Surgeons (n = 3) used the telesurgery system to perform organ excision, hemorrhage control, suturing, and knot tying on anesthetized swine. The ability to complete tasks, times required, technical quality, and subjective impressions were recorded. Surgeons using the telesurgery system were able to close gastrotomies remotely, although times required were 2.7 times as long as those performed by conventional techniques (451 +/- 83 versus 1,235 +/- 165 seconds, p < 0.002). Cholecystectomies, hemorrhage control from liver lacerations, and enterotomy closures were successfully completed in all attempts. Force feedback and stereoscopic video display were important for achieving intuitive performance with the telesurgery system, although tasks were completed adequately in the absence of these sensory cues. We demonstrated the feasibility of performing standard surgical procedures remotely, with the operating surgeon linked to the distant field only by electronic cabling. Complex manipulations were possible, although the times required were much longer. The capabilities of the system used would not support resuscitative surgery. Telesurgery is unlikely to play a role in early trauma management, but may be a unique research tool for acquiring basic knowledge of operative surgery.

Photos taken inside ISS during EVA day

NASA Image and Video Library

2013-07-09

Astronaut Karen Nyberg,Expedition 36 flight engineer,is photographed at the Space Station Remote Manipulator System (SSRMS) controls in the U.S. Laboratory during a session of extravehicular activity (EVA).

Fiber optically isolated and remotely stabilized data transmission system

DOEpatents

Nelson, Melvin A.

1992-01-01

A fiber optically isolated and remotely stabilized data transmission system s described wherein optical data may be transmitted over an optical data fiber from a remote source which includes a data transmitter and a power supply at the remote source. The transmitter may be remotely calibrated and stabilized via an optical control fiber, and the power source may be remotely cycled between duty and standby modes via an optical control fiber.

Fiber optically isolated and remotely stabilized data transmission system

DOEpatents

Nelson, M.A.

1992-11-10

A fiber optically isolated and remotely stabilized data transmission systems described wherein optical data may be transmitted over an optical data fiber from a remote source which includes a data transmitter and a power supply at the remote source. The transmitter may be remotely calibrated and stabilized via an optical control fiber, and the power source may be remotely cycled between duty and standby modes via an optical control fiber. 3 figs.

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.

Engineered Ferritin for Magnetogenetic Manipulation of Proteins and Organelles Inside Living Cells.

PubMed

Liße, Domenik; Monzel, Cornelia; Vicario, Chiara; Manzi, John; Maurin, Isabelle; Coppey, Mathieu; Piehler, Jacob; Dahan, Maxime

2017-11-01

Magnetogenetics is emerging as a novel approach for remote-controlled manipulation of cellular functions in tissues and organisms with high spatial and temporal resolution. A critical, still challenging issue for these techniques is to conjugate target proteins with magnetic probes that can satisfy multiple colloidal and biofunctional constraints. Here, semisynthetic magnetic nanoparticles are tailored based on human ferritin coupled to monomeric enhanced green fluorescent protein (mEGFP) for magnetic manipulation of proteins inside living cells. This study demonstrates efficient delivery, intracellular stealth properties, and rapid subcellular targeting of those magnetic nanoparticles via GFP-nanobody interactions. By means of magnetic field gradients, rapid spatial reorganization in the cytosol of proteins captured to the nanoparticle surface is achieved. Moreover, exploiting efficient nanoparticle targeting to intracellular membranes, remote-controlled arrest of mitochondrial dynamics using magnetic fields is demonstrated. The studies establish subcellular control of proteins and organelles with unprecedented spatial and temporal resolution, thus opening new prospects for magnetogenetic applications in fundamental cell biology and nanomedicine. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Future of robotic space exploration: visions and prospects

NASA Astrophysics Data System (ADS)

Haidegger, Tamas

Autonomous and remote controlled mobile robots and manipulators have already proved their utility throughout several successful national and international space missions. NASA and ESA both sent robots and probes to Mars and beyond in the past years, and the Space Shuttle and Space Station Remote Manipulator Systems brought recognition to CSA. These achievements gained public attention and acknowledgement; however, all are based on technologies developed decades ago. Even the Canadian Dexter robotic arm-to be delivered to the International Space Station this year-had been completed many years ago. In the past decade robotics has become ubiquitous, and the speed of development has increased significantly, opening space for grandiose future plans of autonomous exploration missions. In the mean time, space agencies throughout the world insist on running their own costly human space flight programs. A recent workshop at NASA dealing with the issue stated that the primary reason behind US human space exploration is not science; rather the USA wants to maintain its international leadership in this field. A second space-race may fall upon us, fueled by the desire of the developing space powers to prove their capabilities, mainly driven by national pride. The aim of the paper is to introduce the upcoming unmanned space exploration scenarios that are already feasible with present day robotic technology and to show their humandriven alternatives. Astronauts are to conquer Mars in the foreseeable future, in but robots could go a lot further already. Serious engineering constraints and possibilities are to be discussed, along with issues beyond research and development. Future mission design planning must deal with both the technological and political aspects of space. Compromising on the scientific outcome may pay well by taking advantage of public awareness and nation and international interests.

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.

Modular telerobot control system for accident response

NASA Astrophysics Data System (ADS)

Anderson, Richard J. M.; Shirey, David L.

1999-08-01

The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera-frame teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements seven different behavior modes. This paper describes the integration of SMART into the ARMMS system.

A New Image Processing and GIS Package

NASA Technical Reports Server (NTRS)

Rickman, D.; Luvall, J. C.; Cheng, T.

1998-01-01

The image processing and GIS package ELAS was developed during the 1980's by NASA. It proved to be a popular, influential and powerful in the manipulation of digital imagery. Before the advent of PC's it was used by hundreds of institutions, mostly schools. It is the unquestioned, direct progenitor or two commercial GIS remote sensing packages, ERDAS and MapX and influenced others, such as PCI. Its power was demonstrated by its use for work far beyond its original purpose, having worked several different types of medical imagery, photomicrographs of rock, images of turtle flippers and numerous other esoteric imagery. Although development largely stopped in the early 1990's the package still offers as much or more power and flexibility than any other roughly comparable package, public or commercial. It is a huge body or code, representing more than a decade of work by full time, professional programmers. The current versions all have several deficiencies compared to current software standards and usage, notably its strictly command line interface. In order to support their research needs the authors are in the process of fundamentally changing ELAS, and in the process greatly increasing its power, utility, and ease of use. The new software is called ELAS II. This paper discusses the design of ELAS II.

Nano/micro-scale magnetophoretic devices for biomedical applications

NASA Astrophysics Data System (ADS)

Lim, Byeonghwa; Vavassori, Paolo; Sooryakumar, R.; Kim, CheolGi

2017-01-01

In recent years there have been tremendous advances in the versatility of magnetic shuttle technology using nano/micro-scale magnets for digital magnetophoresis. While the technology has been used for a wide variety of single-cell manipulation tasks such as selection, capture, transport, encapsulation, transfection, or lysing of magnetically labeled and unlabeled cells, it has also expanded to include parallel actuation and study of multiple bio-entities. The use of nano/micro-patterned magnetic structures that enable remote control of the applied forces has greatly facilitated integration of the technology with microfluidics, thereby fostering applications in the biomedical arena. The basic design and fabrication of various scaled magnets for remote manipulation of individual and multiple beads/cells, and their associated energies and forces that underlie the broad functionalities of this approach, are presented. One of the most useful features enabled by such advanced integrated engineering is the capacity to remotely tune the magnetic field gradient and energy landscape, permitting such multipurpose shuttles to be implemented within lab-on-chip platforms for a wide range of applications at the intersection of cellular biology and biotechnology.

Electromechanical actuator for the tongs of a servomanipulator

DOEpatents

Martin, H. Lee; Killough, Stephen M.

1986-01-01

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

INFLIGHT - STS-7

NASA Image and Video Library

1983-06-27

Full views of "Challenger" in Space, taken by the Shuttle Pallet Satellite (SPAS), also views of Cargo Bay and Remote Manipulator System (RMS) extended. 1. SHUTTLE - RMS (STS-7) Also available in 4x5 CN

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.

1990-01-01

A hand controller evaluation process has been developed to determine the appropriate hand controller configurations for supporting remotely controlled devices. These devices include remote manipulator systems (RMS), dexterous robots, and remotely-piloted free flyers. Standard interfaces were developed to evaluate six different hand controllers in three test facilities including dynamic computer simulations, kinematic computer simulations, and physical simulations. The hand controllers under consideration were six degree-of-freedom (DOF) position and rate minimaster and joystick controllers, and three-DOF rate controllers. Task performance data, subjective comments, and anthropometric data obtained during tests were used for controller configuration recommendations to the SSF Program.

Rockwell International art concept view on proposed Shuttle payloads

NASA Technical Reports Server (NTRS)

1982-01-01

Rockwell International art concept view on proposed Shuttle payloads. View is of the Solar Max Mission. The shuttle is in orbit with the remote manipulator system (RMS) grappling the satellite into place.

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.

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.

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.

Multiple channel optical data acquisition system

DOEpatents

Fasching, G.E.; Goff, D.R.

1985-02-22

A multiple channel optical data acquisition system is provided in which a plurality of remote sensors monitoring specific process variable are interrogated by means of a single optical fiber connecting the remote station/sensors to a base station. The remote station/sensors derive all power from light transmitted through the fiber from the base station. Each station/sensor is individually accessed by means of a light modulated address code sent over the fiber. The remote station/sensors use a single light emitting diode to both send and receive light signals to communicate with the base station and provide power for the remote station. The system described can power at least 100 remote station/sensors over an optical fiber one mile in length.

Solid state remote power controllers for 120 VDC power systems

NASA Technical Reports Server (NTRS)

Sundberg, G. R.; Baker, D. E.

1975-01-01

Solid state remote power controllers can be applied to any dc power system up to 120 Vdc and distribute power up to 3.6 kW per hour. Devices have demonstrated total electrical efficiencies of 98.5 percent to 99.0 percent at rated load currents.

Photovoltaic power system for satellite Earth stations in remote areas: Project status and design description

NASA Technical Reports Server (NTRS)

Delombard, R.

1984-01-01

A photovoltaic power system which will be installed at a remote location in Indonesia to provide power for a satellite Earth station and a classroom for video and audio teleconferences are described. The Earth station may also provide telephone service to a nearby village. The use of satellite communications for development assistance applications and the suitability of a hybrid photovoltaic engine generator power system for remote satellite Earth stations are demonstrated. The Indonesian rural satellite project is discussed and the photovoltaic power system is described.

REMOTELY OPERATED MANIPULATOR

DOEpatents

Hutto, E.L.

1961-08-15

A manipulator is described for performing, within an entirely enclosed cell containling radioactive materials, various mechanical operations. A rod with flexible fingers is encompassed by a tubular sleeve shorter than the rod. Relative movement between the rod and sleeve causes the fingers to open and close. This relative movement is effected by relative movement of permanent magnets in magnetic coupling relation to magnetic followers affixed to the ends of the rod and sleeve. The rod and its sleeve may be moved as a unit axially or may be rotated by means of the magnetic couplings. The manipulator is enclosed within a tubular member which is flexibly sealed to an opening in the cell. (AEC)

Admittance model for the shuttle remote manipulator system in four configurations. M.S. Thesis

NASA Technical Reports Server (NTRS)

Papadopoulos, Loukas; Tolson, Robert H.

1993-01-01

A possible scenario for robot task performance in space is to mount two small, dexterous arms to the end of the Shuttle Remote Manipulator System (SRMS). As these small robots perform tasks, the flexibility of the SRMS may cause unsuccessful task executions. In order to simulate the dynamic coupling between the SRMS and the arms, admittance models of the SRMS in four brakes locked configurations were developed. The admittance model permits calculation of the SRMS end-effector response due to end-effector disturbing forces. The model will then be used in conjunction with a Stewart Platform, a vehicle emulation system. An application of the admittance model was shown by simulating the disturbing forces using two SRMS payloads, the Dextrous Orbital Servicing System (DOSS) manipulator and DOSS carrying a 1000 lb. cylinder. Mode by mode comparisons were conducted to determine the minimum number of modes required in the admittance model while retaining dynamic fidelity. It was determined that for all four SRMS configurations studied, between 4 and 6 modes of the SRMS structure (depending on the excitation loads) were sufficient to retain tolerance of 0.01 inches and 0.01 deg. These tolerances correspond to the DOSS manipulator carrying no object. When the DOSS carries the 1000 lb. cylinder, between 15 and 20 modes were sufficient, approximately three or four times as many modes as for the unloaded case.

Modelling the Shuttle Remote Manipulator System: Another flexible model

NASA Technical Reports Server (NTRS)

Barhorst, Alan A.

1993-01-01

High fidelity elastic system modeling algorithms are discussed. The particular system studied is the Space Shuttle Remote Manipulator System (RMS) undergoing full articulated motion. The model incorporates flexibility via a methodology the author has been developing. The technique is based in variational principles, so rigorous boundary condition generation and weak formulations for the associated partial differential equations are realized, yet the analyst need not integrate by parts. The methodology is formulated using vector-dyad notation with minimal use of tensor notation, therefore the technique is believed to be affable to practicing engineers. The objectives of this work are as follows: (1) determine the efficacy of the modeling method; and (2) determine if the method affords an analyst advantages in the overall modeling and simulation task. Generated out of necessity were Mathematica algorithms that quasi-automate the modeling procedure and simulation development. The project was divided into sections as follows: (1) model development of a simplified manipulator; (2) model development of the full-freedom RMS including a flexible movable base on a six degree of freedom orbiter (a rigid-body is attached to the manipulator end-effector); (3) simulation development for item 2; and (4) comparison to the currently used model of the flexible RMS in the Structures and Mechanics Division of NASA JSC. At the time of the writing of this report, items 3 and 4 above were not complete.

A low power on-chip class-E power amplifier for remotely powered implantable sensor systems

NASA Astrophysics Data System (ADS)

Ture, Kerim; Kilinc, Enver G.; Dehollain, Catherine

2015-06-01

This paper presents a low power fully integrated class-E power amplifier and its integration with remotely powered sensor system. The class-E power amplifier is suitable solution for low-power applications due to its high power efficiency. However, the required high inductance values which make the on-chip integration of the power amplifier difficult. The designed power amplifier is fully integrated in the remotely powered sensor system and fabricated in 0.18 μm CMOS process. The power is transferred to the implantable sensor system at 13.56 MHz by using an inductively coupled remote powering link. The induced AC voltage on the implant coil is converted into a DC voltage by a passive full-wave rectifier. A voltage regulator is used to suppress the ripples and create a clean and stable 1.8 V supply voltage for the sensor and communication blocks. The data collected from the sensors is transmitted by on-off keying modulated low-power transmitter at 1.2 GHz frequency. The transmitter is composed of a LC tank oscillator and a fully on-chip class-E power amplifier. An additional output network is used for the power amplifier which makes the integration of the power amplifier fully on-chip. The integrated power amplifier with 0.2 V supply voltage has a drain efficiency of 31.5% at -10 dBm output power for 50 Ω load. The measurement results verify the functionality of the power amplifier and the remotely powered implantable sensor system. The data communication is also verified by using a commercial 50 Ω chip antenna and has 600 kbps data rate at 1 m communication distance.

[STS-31 Onboard 16mm Photography Quick Release]. [Onboard Activities

NASA Technical Reports Server (NTRS)

1990-01-01

This video features scenes shot by the crew of onboard activities including Hubble Space Telescope deploy, remote manipulator system (RMS) checkout, flight deck and middeck experiments, and Earth and payload bay views.

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.

Advanced servomanipulator remote maintenance demonstration

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

Bradley, E.C.; Ladd, L.D.

1988-01-01

The Fuel Recycle Division (FRD) of the Oak Ridge National Laboratory (ORNL) is developing remote maintenance systems for the Consolidated Fuel Reprocessing Program for applications in future nuclear fuel cycle facilities. The most recent development is the advanced servomanipulator (ASM), a digitally controlled, force-reflecting, dual-arm, master/slave servomanipulator. A unique feature of ASM is that the slave arms are remotely maintainable. The ASM slave arms are composed of modules, each of which is capable of being removed and replaced by another manipulator system. The intent of this test was to demonstrate that the ASM slave arms could be completely disassembled andmore » reassembled remotely. This remote maintenance demonstration was performed using the Remote Operations and Maintenance Demonstration (ROMD) facility model M-2 servomanipulator maintenance system. Maintenance of ASM was successfully demonstrated using the M-2 servomanipulator and special fixtures. Recommendations, generally applicable to other remotely maintained equipment, have been made for maintainability improvements. 3 refs., 5 figs.« less

Space Shuttle Projects

NASA Image and Video Library

2002-03-07

Inside the Space Shuttle Columbia's cabin, astronaut Nancy J. Currie, mission specialist, controlled the Remote Manipulator System (RMS) on the crew cabin's aft flight deck to assist fellow astronauts during the STS-109 mission Extra Vehicular Activities (EVA). The RMS was used to capture the telescope and secure it into Columbia's cargo bay. The Space Shuttle Columbia STS-109 mission lifted off March 1, 2002 with goals of repairing and upgrading the Hubble Space Telescope (HST). The Marshall Space Flight Center in Huntsville, Alabama had the responsibility for the design, development, and construction of the HST, which is the most powerful and sophisticated telescope ever built. STS-109 upgrades to the HST included: replacement of the solar array panels; replacement of the power control unit (PCU); replacement of the Faint Object Camera (FOC) with a new advanced camera for Surveys (ACS); and installation of the experimental cooling system for the Hubble's Near-Infrared Camera and Multi-object Spectrometer (NICMOS), which had been dormant since January 1999 when its original coolant ran out. Lasting 10 days, 22 hours, and 11 minutes, the STS-109 mission was the 108th flight overall in NASA's Space Shuttle Program.

Teleoperator/robot technology can help solve biomedical problems

NASA Technical Reports Server (NTRS)

Heer, E.; Bejczy, A. K.

1975-01-01

Teleoperator and robot technology appears to offer the possibility to apply these techniques to the benefit for the severely handicapped giving them greater self reliance and independence. Major problem areas in the development of prostheses and remotely controlled devices for the handicapped are briefly discussed, and the parallelism with problems in the development of teleoperator/robots identified. A brief description of specific ongoing and projected developments in the area of remotely controlled devices (wheelchairs and manipulators) is provided.

Evolving technologies for Space Station Freedom computer-based workstations

NASA Technical Reports Server (NTRS)

Jensen, Dean G.; Rudisill, Marianne

1990-01-01

Viewgraphs on evolving technologies for Space Station Freedom computer-based workstations are presented. The human-computer computer software environment modules are described. The following topics are addressed: command and control workstation concept; cupola workstation concept; Japanese experiment module RMS workstation concept; remote devices controlled from workstations; orbital maneuvering vehicle free flyer; remote manipulator system; Japanese experiment module exposed facility; Japanese experiment module small fine arm; flight telerobotic servicer; human-computer interaction; and workstation/robotics related activities.

Method and Apparatus for Virtual Interactive Medical Imaging by Multiple Remotely-Located Users

NASA Technical Reports Server (NTRS)

Ross, Muriel D. (Inventor); Twombly, Ian Alexander (Inventor); Senger, Steven O. (Inventor)

2003-01-01

A virtual interactive imaging system allows the displaying of high-resolution, three-dimensional images of medical data to a user and allows the user to manipulate the images, including rotation of images in any of various axes. The system includes a mesh component that generates a mesh to represent a surface of an anatomical object, based on a set of data of the object, such as from a CT or MRI scan or the like. The mesh is generated so as to avoid tears, or holes, in the mesh, providing very high-quality representations of topographical features of the object, particularly at high- resolution. The system further includes a virtual surgical cutting tool that enables the user to simulate the removal of a piece or layer of a displayed object, such as a piece of skin or bone, view the interior of the object, manipulate the removed piece, and reattach the removed piece if desired. The system further includes a virtual collaborative clinic component, which allows the users of multiple, remotely-located computer systems to collaboratively and simultaneously view and manipulate the high-resolution, three-dimensional images of the object in real-time.

Research undertaken and proposed directions for the coming year of the Information System Research Group

NASA Technical Reports Server (NTRS)

Estes, J. E.; Star, J. L.

1986-01-01

The basic understanding of the role of information systems technologies and artificial intelligence techniques in the integration, manipulation, and analysis of remotely sensed data for global scale studies is examined.

Fiber-optic proximity sensor

NASA Technical Reports Server (NTRS)

Bejczy, A. K.; Hermann, W. A.; Primus, H. C.

1980-01-01

Proximity sensor for mechanical hand of remote manipulator incorporates fiber optics to conduct signals between light source and light detector. Fiber optics are not prone to noise from electromagnetic interference and radio-frequency interference as are sensors using long electrical cables.

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.

Proving the Space Transportation System: the Orbital Flight Test Program

NASA Technical Reports Server (NTRS)

Reichhardt, T.

1982-01-01

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

Automatic channel trimming for control systems: A concept

NASA Technical Reports Server (NTRS)

Vandervoort, R. J.; Sykes, H. A.

1977-01-01

Set of bias signals added to channel inputs automatically normalize differences between channels. Algorithm and second feedback loop compute trim biases. Concept could be applied to regulators and multichannel servosystems for remote manipulators in undersea mining.

Orbiter Boom Sensor System extended

NASA Image and Video Library

2005-07-27

STS114-E-5330 (28 July 2005) --- As seen from Discovery's cabin, STS-114 Remote Manipulator System (RMS) robot arm flexes above Earth. Crews of Space Station and Discovery will later use RMS and boom to study Shuttle's tiles.

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.

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

s time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e207712 - iss042e209132 ). Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground.

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e203119 - iss042e203971). Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground.

End effector on orbiter's RMS arm

NASA Image and Video Library

2001-03-13

STS102-E-5201 (13 March 2001) --- A view of the interior of the end effector apparatus on the end of the Canadian-built remote manipulator system (RMS) arm. The photograph was taken with a digital still camera.

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.

A Concept for a Mobile Remote Manipulator System

NASA Technical Reports Server (NTRS)

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

1985-01-01

A conceptual design for a Mobile Remote Manipulator System (MRMS) is presented. This concept does not require continuous rails for mobility (only guide pins at truss hardpoints) and is very compact, being only one bay square. The MRMS proposed is highly maneuverable and is able to move in any direction along the orthogonal guide pin array under complete control at all times. The proposed concept would greatly enhance the safety and operational capabilities of astronauts performing EVA functions such as structural assembly, payload transport and attachment, space station maintenance, repair or modification, and future spacecraft construction or servicing. The MRMS drive system conceptual design presented is a reasonably simple mechanical device which can be designed to exhibit high reliability. Developmentally, all components of the proposed MRMS either exist or are considered to be completely state of the art designs requiring minimal development, features which should enhance reliability and minimize costs.

Issues in human/computer control of dexterous remote hands

NASA Technical Reports Server (NTRS)

Salisbury, K.

1987-01-01

Much research on dexterous robot hands has been aimed at the design and control problems associated with their autonomous operation, while relatively little research has addressed the problem of direct human control. It is likely that these two modes can be combined in a complementary manner yielding more capability than either alone could provide. While many of the issues in mixed computer/human control of dexterous hands parallel those found in supervisory control of traditional remote manipulators, the unique geometry and capabilities of dexterous hands pose many new problems. Among these are the control of redundant degrees of freedom, grasp stabilization and specification of non-anthropomorphic behavior. An overview is given of progress made at the MIT AI Laboratory in control of the Salisbury 3 finger hand, including experiments in grasp planning and manipulation via controlled slip. It is also suggested how we might introduce human control into the process at a variety of functional levels.

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

Adjustable impedance, force feedback and command language aids for telerobotics (parts 1-4 of an 8-part MIT progress report)

NASA Technical Reports Server (NTRS)

Sheridan, Thomas B.; Raju, G. Jagganath; Buzan, Forrest T.; Yared, Wael; Park, Jong

1989-01-01

Projects recently completed or in progress at MIT Man-Machine Systems Laboratory are summarized. (1) A 2-part impedance network model of a single degree of freedom remote manipulation system is presented in which a human operator at the master port interacts with a task object at the slave port in a remote location is presented. (2) The extension of the predictor concept to include force feedback and dynamic modeling of the manipulator and the environment is addressed. (3) A system was constructed to infer intent from the operator's commands and the teleoperation context, and generalize this information to interpret future commands. (4) A command language system is being designed that is robust, easy to learn, and has more natural man-machine communication. A general telerobot problem selected as an important command language context is finding a collision-free path for a robot.

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

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Advanced Electric Distribution, Switching, and Conversion Technology for Power Control

NASA Technical Reports Server (NTRS)

Soltis, James V.

1998-01-01

The Electrical Power Control Unit currently under development by Sundstrand Aerospace for use on the Fluids Combustion Facility of the International Space Station is the precursor of modular power distribution and conversion concepts for future spacecraft and aircraft applications. This unit combines modular current-limiting flexible remote power controllers and paralleled power converters into one package. Each unit includes three 1-kW, current-limiting power converter modules designed for a variable-ratio load sharing capability. The flexible remote power controllers can be used in parallel to match load requirements and can be programmed for an initial ON or OFF state on powerup. The unit contains an integral cold plate. The modularity and hybridization of the Electrical Power Control Unit sets the course for future spacecraft electrical power systems, both large and small. In such systems, the basic hybridized converter and flexible remote power controller building blocks could be configured to match power distribution and conversion capabilities to load requirements. In addition, the flexible remote power controllers could be configured in assemblies to feed multiple individual loads and could be used in parallel to meet the specific current requirements of each of those loads. Ultimately, the Electrical Power Control Unit design concept could evolve to a common switch module hybrid, or family of hybrids, for both converter and switchgear applications. By assembling hybrids of a common current rating and voltage class in parallel, researchers could readily adapt these units for multiple applications. The Electrical Power Control Unit concept has the potential to be scaled to larger and smaller ratings for both small and large spacecraft and for aircraft where high-power density, remote power controllers or power converters are required and a common replacement part is desired for multiples of a base current rating.

Master-slave system with force feedback based on dynamics of virtual model

NASA Technical Reports Server (NTRS)

Nojima, Shuji; Hashimoto, Hideki

1994-01-01

A master-slave system can extend manipulating and sensing capabilities of a human operator to a remote environment. But the master-slave system has two serious problems: one is the mechanically large impedance of the system; the other is the mechanical complexity of the slave for complex remote tasks. These two problems reduce the efficiency of the system. If the slave has local intelligence, it can help the human operator by using its good points like fast calculation and large memory. The authors suggest that the slave is a dextrous hand with many degrees of freedom able to manipulate an object of known shape. It is further suggested that the dimensions of the remote work space be shared by the human operator and the slave. The effect of the large impedance of the system can be reduced in a virtual model, a physical model constructed in a computer with physical parameters as if it were in the real world. A method to determine the damping parameter dynamically for the virtual model is proposed. Experimental results show that this virtual model is better than the virtual model with fixed damping.

Investigation of varying gray scale levels for remote manipulation

NASA Technical Reports Server (NTRS)

Bierschwale, John M.; Stuart, Mark A.; Sampaio, Carlos E.

1991-01-01

A study was conducted to investigate the effects of variant monitor gray scale levels and workplace illumination levels on operators' ability to discriminate between different colors on a monochrome monitor. It was determined that 8-gray scale viewing resulted in significantly worse discrimination performance compared to 16- and 32-gray scale viewing and that there was only a negligible difference found between 16 and 32 shades of gray. Therefore, it is recommended that monitors used while performing remote manipulation tasks have 16 or above shades of gray since this evaluation has found levels lower than this to be unacceptable for color discrimination task. There was no significant performance difference found between a high and a low workplace illumination condition. Further analysis was conducted to determine which specific combinations of colors can be used in conjunction with each other to ensure errorfree color coding/brightness discrimination performance while viewing a monochrome monitor. It was found that 92 three-color combination and 9 four-color combinations could be used with 100 percent accuracy. The results can help to determine which gray scale levels should be provided on monochrome monitors as well as which colors to use to ensure the maximal performance of remotely-viewed color discrimination/coding tasks.

Kinematic modeling of a double octahedral Variable Geometry Truss (VGT) as an extensible gimbal

NASA Technical Reports Server (NTRS)

Williams, Robert L., II

1994-01-01

This paper presents the complete forward and inverse kinematics solutions for control of the three degree-of-freedom (DOF) double octahedral variable geometry truss (VGT) module as an extensible gimbal. A VGT is a truss structure partially comprised of linearly actuated members. A VGT can be used as joints in a large, lightweight, high load-bearing manipulator for earth- and space-based remote operations, plus industrial applications. The results have been used to control the NASA VGT hardware as an extensible gimbal, demonstrating the capability of this device to be a joint in a VGT-based manipulator. This work is an integral part of a VGT-based manipulator design, simulation, and control tool.

High performance bilateral telerobot control.

PubMed

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

2002-01-01

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

Computer graphics applications to crew displays

NASA Technical Reports Server (NTRS)

Wyzkoski, J.

1983-01-01

Astronauts are provided much data and information via the monochrome CRT displays on the orbiter. For this project two areas were investigated for the possible introduction of computer graphics to enhance and extend the utility of these displays. One involved reviewing the current orbiter displays and identifying those which could be improved via computer graphics. As an example, the tabular data on electrical power distribution and control was enhanced by the addition of color and bar charts. The other dealt with the development of an aid to berthing a payload with the Remote Manipulator System (RMS). This aid consists of a graphics display of the top, front and side views of the payload and cargo bay and point of resolution (POR) position and attitude data for the current location of the payload. The initial implementation was on an IBM PC clone. The demonstration software installed in the Johnson Space Center Manipulator Development Facility (MD) was reviewed. Due to current hardware limitations, the MDF verision is slow, i.e., about a 40+ seond update rate and, hence, not real-time. Despite this fact, the evaluation of this additional visual cue as an RMS operator aid indicates that this display, with modifications for speed, etc., can assist the crew. Further development is appropriate.

Raman Backscatter as a Remote Laser Power Sensor in High-Energy-Density Plasmas [Stimulated Scattering as a Remote Laser Power Sensor in High-Density and Temperature Plasmas

DOE PAGES

Moody, J. D.; Strozzi, D. J.; Divol, L.; ...

2013-07-09

Stimulated Raman backscatter is used as a remote sensor to quantify the instantaneous laser power after transfer from outer to inner cones that cross in a National Ignition Facility (NIF) gas-filled hohlraum plasma. By matching stimulated Raman backscatter between a shot reducing outer versus a shot reducing inner power we infer that about half of the incident outer-cone power is transferred to inner cones, for the specific time and wavelength configuration studied. Furthermore, this is the first instantaneous nondisruptive measure of power transfer in an indirect drive NIF experiment using optical measurements.

Implementation of a stereofluoroscopic system

NASA Technical Reports Server (NTRS)

Rivers, D. B.

1976-01-01

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

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e211498 - iss042e212135). Shows Earth views. Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e162807 - iss042e163936). Shows Earth views. Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground.

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e193144 - iss042e194102). Shows Earth views. Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground.

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).

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e209133 - iss042e210379). Shows Earth views. Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground.

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e215401 -iss042e215812). Shows Earth views. Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground.

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e290689 - iss042e291289). Shows Earth views. Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground.

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e249923 - iss042e250759). Shows Earth views. Space Station Remote Manipulator system (SSRMS) or Canadarm in foreground.

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e170341 - iss042e171462). Shows Earth views. Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground.

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e244330 - iss042e245101). Shows Earth views. Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground.

Remote environmental sensor array system

NASA Astrophysics Data System (ADS)

Hall, Geoffrey G.

This thesis examines the creation of an environmental monitoring system for inhospitable environments. It has been named The Remote Environmental Sensor Array System or RESA System for short. This thesis covers the development of RESA from its inception, to the design and modeling of the hardware and software required to make it functional. Finally, the actual manufacture, and laboratory testing of the finished RESA product is discussed and documented. The RESA System is designed as a cost-effective way to bring sensors and video systems to the underwater environment. It contains as water quality probe with sensors such as dissolved oxygen, pH, temperature, specific conductivity, oxidation-reduction potential and chlorophyll a. In addition, an omni-directional hydrophone is included to detect underwater acoustic signals. It has a colour, high-definition and a low-light, black and white camera system, which it turn are coupled to a laser scaling system. Both high-intensity discharge and halogen lighting system are included to illuminate the video images. The video and laser scaling systems are manoeuvred using pan and tilt units controlled from an underwater computer box. Finally, a sediment profile imager is included to enable profile images of sediment layers to be acquired. A control and manipulation system to control the instruments and move the data across networks is integrated into the underwater system while a power distribution node provides the correct voltages to power the instruments. Laboratory testing was completed to ensure that the different instruments associated with the RESA performed as designed. This included physical testing of the motorized instruments, calibration of the instruments, benchmark performance testing and system failure exercises.

Photovoltaic Power System and Power Distribution Demonstration for the Desert RATS Program

NASA Technical Reports Server (NTRS)

Colozza, Anthony; Jakupca, Ian; Mintz, Toby; Herlacher, Mike; Hussey, Sam

2012-01-01

A stand alone, mobile photovoltaic power system along with a cable deployment system was designed and constructed to take part in the Desert Research And Technology Studies (RATS) lunar surface human interaction evaluation program at Cinder Lake, Arizona. The power system consisted of a photovoltaic array/battery system. It is capable of providing 1 kW of electrical power. The system outputs were 48 V DC, 110 V AC, and 220 V AC. A cable reel with 200 m of power cable was used to provide power from the trailer to a remote location. The cable reel was installed on a small trailer. The reel was powered to provide low to no tension deployment of the cable. The cable was connected to the 220 V AC output of the power system trailer. The power was then converted back to 110 V AC on the cable deployment trailer for use at the remote site. The Scout lunar rover demonstration vehicle was used to tow the cable trailer and deploy the power cable. This deployment was performed under a number of operational scenarios, manned operation, remote operation and tele-robotically. Once deployed, the cable was used to provide power, from the power system trailer, to run various operational tasks at the remote location.

Probe manipulators for Wendelstein 7-X and their interaction with the magnetic topology

NASA Astrophysics Data System (ADS)

M, RACK; D, HÖSCHEN; D, REITER; B, UNTERBERG; J, W. COENEN; S, BREZINSEK; O, NEUBAUER; S, BOZHENKOV; G, CZYMEK; Y, LIANG; M, HUBENY; Ch, LINSMEIER; the Wendelstein 7-X Team

2018-05-01

Probe manipulators are a versatile addition to typical plasma edge diagnostics. Equipped with material samples they allow for detailed investigation of plasma–wall interaction processes, such as material erosion, deposition or impurity transport pathways. When combined with electrical probes, a study of scrape-off layer and plasma edge density, temperature and flow profiles as well as magnetic topologies is possible. A mid-plane manipulator is already in operation on Wendelstein 7-X. A system in the divertor region is currently under development. In the present paper we discuss the critical issue of heat and power loads, power redistribution and experimental access to the complex magnetic topology of Wendelstein 7-X. All the aforementioned aspects are of relevance for the design and operation of a probe manipulator in a device like Wendelstein 7-X. A focus is put on the topological region that is accessible for the different coil current configurations at Wendelstein 7-X and the power load on the manipulator with respect to the resulting different magnetic configurations. Qualitative analysis of power loads on plasma-facing components is performed using a numerical tracer particle diffusion tool provided via the Wendelstein 7-X Webservices.

Electromagnetic attachment mechanism

NASA Technical Reports Server (NTRS)

Monford, Leo G., Jr. (Inventor)

1992-01-01

An electromagnetic attachment mechanism is disclosed for use as an end effector of a remote manipulator system. A pair of electromagnets, each with a U-shaped magnetic core with a pull-in coil and two holding coils, are mounted by a spring suspension system on a base plate of the mechanism housing with end pole pieces adapted to move through openings in the base plate when the attractive force of the electromagnets is exerted on a strike plate of a grapple fixture affixed to a target object. The pole pieces are spaced by an air gap from the strike plate when the mechanism first contacts the grapple fixture. An individual control circuit and power source is provided for the pull-in coil and one holding coil of each electromagnet. A back-up control circuit connected to the two power sources and a third power source is provided for the remaining holding coils. When energized, the pull-in coils overcome the suspension system and air gap and are automatically de-energized when the pole pieces move to grapple and impose a preload force across the grapple interface. A battery backup is a redundant power source for each electromagnet in each individual control circuit and is automatically connected upon failure of the primary source. A centerline mounted camera and video monitor are used in cooperation with a target pattern on the reflective surface of the strike plate to effect targeting and alignment.

RIP-REMOTE INTERACTIVE PARTICLE-TRACER

NASA Technical Reports Server (NTRS)

Rogers, S. E.

1994-01-01

Remote Interactive Particle-tracing (RIP) is a distributed-graphics program which computes particle traces for computational fluid dynamics (CFD) solution data sets. A particle trace is a line which shows the path a massless particle in a fluid will take; it is a visual image of where the fluid is going. The program is able to compute and display particle traces at a speed of about one trace per second because it runs on two machines concurrently. The data used by the program is contained in two files. The solution file contains data on density, momentum and energy quantities of a flow field at discrete points in three-dimensional space, while the grid file contains the physical coordinates of each of the discrete points. RIP requires two computers. A local graphics workstation interfaces with the user for program control and graphics manipulation, and a remote machine interfaces with the solution data set and performs time-intensive computations. The program utilizes two machines in a distributed mode for two reasons. First, the data to be used by the program is usually generated on the supercomputer. RIP avoids having to convert and transfer the data, eliminating any memory limitations of the local machine. Second, as computing the particle traces can be computationally expensive, RIP utilizes the power of the supercomputer for this task. Although the remote site code was developed on a CRAY, it is possible to port this to any supercomputer class machine with a UNIX-like operating system. Integration of a velocity field from a starting physical location produces the particle trace. The remote machine computes the particle traces using the particle-tracing subroutines from PLOT3D/AMES, a CFD post-processing graphics program available from COSMIC (ARC-12779). These routines use a second-order predictor-corrector method to integrate the velocity field. Then the remote program sends graphics tokens to the local machine via a remote-graphics library. The local machine interprets the graphics tokens and draws the particle traces. The program is menu driven. RIP is implemented on the silicon graphics IRIS 3000 (local workstation) with an IRIX operating system and on the CRAY2 (remote station) with a UNICOS 1.0 or 2.0 operating system. The IRIS 4D can be used in place of the IRIS 3000. The program is written in C (67%) and FORTRAN 77 (43%) and has an IRIS memory requirement of 4 MB. The remote and local stations must use the same user ID. PLOT3D/AMES unformatted data sets are required for the remote machine. The program was developed in 1988.

Delivery and application of precise timing for a traveling wave powerline fault locator system

NASA Technical Reports Server (NTRS)

Street, Michael A.

1990-01-01

The Bonneville Power Administration (BPA) has successfully operated an in-house developed powerline fault locator system since 1986. The BPA fault locator system consists of remotes installed at cardinal power transmission line system nodes and a central master which polls the remotes for traveling wave time-of-arrival data. A power line fault produces a fast rise-time traveling wave which emanates from the fault point and propagates throughout the power grid. The remotes time-tag the traveling wave leading edge as it passes through the power system cardinal substation nodes. A synchronizing pulse transmitted via the BPA analog microwave system on a wideband channel sychronizes the time-tagging counters in the remote units to a different accuracy of better than one microsecond. The remote units correct the raw time tags for synchronizing pulse propagation delay and return these corrected values to the fault locator master. The master then calculates the power system disturbance source using the collected time tags. The system design objective is a fault location accuracy of 300 meters. BPA's fault locator system operation, error producing phenomena, and method of distributing precise timing are described.

Remote Monitor Alarm System

NASA Technical Reports Server (NTRS)

Stute, Robert A. (Inventor); Galloway, F. Houston (Inventor); Medelius, Pedro J. (Inventor); Swindle, Robert W. (Inventor); Bierman, Tracy A. (Inventor)

1996-01-01

A remote monitor alarm system monitors discrete alarm and analog power supply voltage conditions at remotely located communications terminal equipment. A central monitoring unit (CMU) is connected via serial data links to each of a plurality of remote terminal units (RTUS) that monitor the alarm and power supply conditions of the remote terminal equipment. Each RTU can monitor and store condition information of both discrete alarm points and analog power supply voltage points in its associated communications terminal equipment. The stored alarm information is periodically transmitted to the CMU in response to sequential polling of the RTUS. The number of monitored alarm inputs and permissible voltage ranges for the analog inputs can be remotely configured at the CMU and downloaded into programmable memory at each RTU. The CMU includes a video display, a hard disk memory, a line printer and an audio alarm for communicating and storing the alarm information received from each RTU.

CESAR research in intelligent machines

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

Weisbin, C.R.

1986-01-01

The Center for Engineering Systems Advanced Research (CESAR) was established in 1983 as a national center for multidisciplinary, long-range research and development in machine intelligence and advanced control theory for energy-related applications. Intelligent machines of interest here are artificially created operational systems that are capable of autonomous decision making and action. The initial emphasis for research is remote operations, with specific application to dexterous manipulation in unstructured dangerous environments where explosives, toxic chemicals, or radioactivity may be present, or in other environments with significant risk such as coal mining or oceanographic missions. Potential benefits include reduced risk to man inmore » hazardous situations, machine replication of scarce expertise, minimization of human error due to fear or fatigue, and enhanced capability using high resolution sensors and powerful computers. A CESAR goal is to explore the interface between the advanced teleoperation capability of today, and the autonomous machines of the future.« less

PHARAO laser source flight model: Design and performances

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

Lévèque, T., E-mail: thomas.leveque@cnes.fr; Faure, B.; Esnault, F. X.

2015-03-15

In this paper, we describe the design and the main performances of the PHARAO laser source flight model. PHARAO is a laser cooled cesium clock specially designed for operation in space and the laser source is one of the main sub-systems. The flight model presented in this work is the first remote-controlled laser system designed for spaceborne cold atom manipulation. The main challenges arise from mechanical compatibility with space constraints, which impose a high level of compactness, a low electric power consumption, a wide range of operating temperature, and a vacuum environment. We describe the main functions of the lasermore » source and give an overview of the main technologies developed for this instrument. We present some results of the qualification process. The characteristics of the laser source flight model, and their impact on the clock performances, have been verified in operational conditions.« less

Wilson at RWS for STS-131 EVA 3 SSRMS Support

NASA Image and Video Library

2010-04-13

View of Stephanie Wilson as she works at the Robotics Workstation (RWS) in US Laboratory Destiny as she conducts a Space Station Remote Manipulator System (SSRMS) Ammonia Tank Assembly (ATA) retrieval in support of STS-131 EVA 3.

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.

Manipulator Performance Evaluation Using Fitts' Taping Task

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

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

1999-04-25

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

Prospects for telediagnosis using ultrasound.

PubMed

Dewey, C F; Thomas, J D; Kunt, M; Hunter, I W

1996-01-01

Ultrasound imaging is currently used as a primary diagnostic tool in cardiology, abdominal disorders, pulmonary medicine, trauma, and obstetrics. Because of its relatively low capital and operating costs as well as its growth potential, it represents one of the major diagnostic modalities of future health care. However, the use of ultrasonography as a mobile and powerful modality is controlled by the availability of a highly skilled technician to acquire the images and an experienced physician to interpret them. This paper discusses the technology required to increase the availability of a diagnosing physician by employing telerobotics. With this technology, the physician can guide the motion of the transducer by the technician from a remote location. Thus, the physician controls the examination and renders the diagnosis. It is shown that communication lines at 1.5 Mbits/s (T-1 speed) can, with appropriate compression, support both real-time viewing of the ultrasound images and telerobotic manipulation of the transducer. The incremental costs of telediagnosis for an examination are estimated to be a small fraction of the base charges and significantly less than the expense of bringing a physician to a remote location or transporting a patient to a regional medical center. Telediagnosis can, in addition, provide benefits from immediate interpretation and consultation that cannot be duplicated using store-and-forward scenarios.

Development of a PC-based ground support system for a small satellite instrument

NASA Astrophysics Data System (ADS)

Deschambault, Robert L.; Gregory, Philip R.; Spenler, Stephen; Whalen, Brian A.

1993-11-01

The importance of effective ground support for the remote control and data retrieval of a satellite instrument cannot be understated. Problems with ground support may include the need to base personnel at a ground tracking station for extended periods, and the delay between the instrument observation and the processing of the data by the science team. Flexible solutions to such problems in the case of small satellite systems are provided by using low-cost, powerful personal computers and off-the-shelf software for data acquisition and processing, and by using Internet as a communication pathway to enable scientists to view and manipulate satellite data in real time at any ground location. The personal computer based ground support system is illustrated for the case of the cold plasma analyzer flown on the Freja satellite. Commercial software was used as building blocks for writing the ground support equipment software. Several levels of hardware support, including unit tests and development, functional tests, and integration were provided by portable and desktop personal computers. Satellite stations in Saskatchewan and Sweden were linked to the science team via phone lines and Internet, which provided remote control through a central point. These successful strategies will be used on future small satellite space programs.

Local position control: A new concept for control of manipulators

NASA Technical Reports Server (NTRS)

Kelly, Frederick A.

1988-01-01

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

Remote monitoring of a thermal plume

NASA Technical Reports Server (NTRS)

Kuo, C. Y.; Talay, T. A.

1979-01-01

A remote-sensing experiment conducted on May 17, 1977, over the Surry nuclear power station on the James River, Virginia is discussed. Isotherms of the thermal plume from the power station were derived from remotely sensed data and compared with in situ water temperature measurements provided by the Virginia Electric and Power Company, VEPCO. The results of this study were also qualitatively compared with those from other previous studies under comparable conditions of the power station's operation and the ambient flow. These studies included hydraulic model predictions carried out by Pritchard and Carpenter and a 5-year in situ monitoring program based on boat surveys.

Rudy's Red Wagon: Communication Strategies in Contemporary Society.

ERIC Educational Resources Information Center

Rein, Irving J.

The primary focus of this book is "the put-on" and other manipulative strategies. Manipulative forms of communication as used in contemporary society are examined in relation to advertisements and commercials, salesmen, political figures, authors, artists, educators and students. The book is a study of power--how the powerful and…

Robotics and Children: Science Achievement and Problem Solving.

ERIC Educational Resources Information Center

Wagner, Susan Preston

1999-01-01

Compared the impact of robotics (computer-powered manipulative) to a battery-powered manipulative (novelty control) and traditionally taught science class on science achievement and problem solving of fourth through sixth graders. Found that the robotics group had higher scores on programming logic-problem solving than did the novelty control…

75 FR 12537 - Sunshine Act Meeting Notice

Federal Register 2010, 2011, 2012, 2013, 2014

2010-03-16

...-070 Fact-Finding Investigation into Possible Manipulation of Electric and Natural Gas Prices. EL03-137... Investigation into Possible Manipulation of Electric and Natural Gas Prices. EL03-137-019 American Electric... Natural Gas Prices. EL03-137-017 American Electric Power Service Corporation. EL03-180-046 Enron Power...

18 CFR 1c.2 - Prohibition of electric energy market manipulation.

Code of Federal Regulations, 2011 CFR

2011-04-01

... energy market manipulation. 1c.2 Section 1c.2 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES PROHIBITION OF ENERGY MARKET MANIPULATION § 1c.2 Prohibition of electric energy market manipulation. (a) It shall be unlawful for any entity, directly or...

Remote surface inspection system

NASA Astrophysics Data System (ADS)

Hayati, S.; Balaram, J.; Seraji, H.; Kim, W. S.; Tso, K.; Prasad, V.

1993-02-01

This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom (SSF). It describes the space environment and identifies the types of damage for which to search. This paper provides an overview of the Remote Surface Inspection System that was developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Specifically, the paper describes three technology areas: (1) manipulator control for sensor placement; (2) automated non-contact inspection to detect and classify flaws; and (3) an operator interface to command the system interactively and receive raw or processed sensor data. Initial findings for the automated and human visual inspection tests are reported.

Remote surface inspection system

NASA Technical Reports Server (NTRS)

Hayati, S.; Balaram, J.; Seraji, H.; Kim, W. S.; Tso, K.; Prasad, V.

1993-01-01

This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom (SSF). It describes the space environment and identifies the types of damage for which to search. This paper provides an overview of the Remote Surface Inspection System that was developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Specifically, the paper describes three technology areas: (1) manipulator control for sensor placement; (2) automated non-contact inspection to detect and classify flaws; and (3) an operator interface to command the system interactively and receive raw or processed sensor data. Initial findings for the automated and human visual inspection tests are reported.

Design criteria for a PC-based common user interface to remote information systems

NASA Technical Reports Server (NTRS)

Dominick, Wayne D. (Editor); Hall, Philip P.

1984-01-01

A set of design criteria are presented which will allow the implementation of an interface to multiple remote information systems on a microcomputer. The focus of the design description is on providing the user with the functionality required to retrieve, store and manipulate data residing in remote information systems through the utilization of a standardized interface system. The intent is to spare the user from learning the details of retrieval from specific systems while retaining the full capabilities of each system. The system design includes multi-level capabilities to enhance usability by a wide range of users and utilizes microcomputer graphics capabilities where applicable. A data collection subsystem for evaluation purposes is also described.

Remote distractor effects and saccadic inhibition: spatial and temporal modulation.

PubMed

Walker, Robin; Benson, Valerie

2013-09-12

The onset of a visual distractor remote from a saccade target is known to increase saccade latency (the remote distractor effect [RDE]). In addition, distractors may also selectively inhibit saccades that would be initiated about 90 ms after distractor onset (termed saccadic inhibition [SI]). Recently, it has been proposed that the transitory inhibition of saccades (SI) may underlie the increase in mean latency (RDE). In a first experiment, the distractor eccentricity was manipulated, and a robust RDE that was strongly modulated by distractor eccentricity was observed. However, the underlying latency distributions did not reveal clear evidence of SI. A second experiment manipulated distractor spatial location and the timing of the distractor onset in relation to the target. An RDE was again observed with remote distractors away from the target axis and under conditions with early-onset distractors that would be unlikely to produce SI, whereas later distractor onsets produced an RDE along with some evidence of an SI effect. A third experiment using a mixed block of target-distractor stimulus-onset asynchronies (SOAs) revealed an RDE that varied with both distractor eccentricity and SOA and changes to latency distributions consistent with the timing of SI. We argue that the notion that SI underpins the RDE is similar to the earlier argument that express saccades underlie the fixation offset (gap) effect and that changes in mean latency and to the shape of the underlying latency distributions following a visual onset may involve more than one inhibitory process.

Status and Power Do Not Modulate Automatic Imitation of Intransitive Hand Movements

PubMed Central

Farmer, Harry; Carr, Evan W.; Svartdal, Marita; Winkielman, Piotr; Hamilton, Antonia F. de C.

2016-01-01

The tendency to mimic the behaviour of others is affected by a variety of social factors, and it has been argued that such “mirroring” is often unconsciously deployed as a means of increasing affiliation during interpersonal interactions. However, the relationship between automatic motor imitation and status/power is currently unclear. This paper reports five experiments that investigated whether social status (Experiments 1, 2, and 3) or power (Experiments 4 and 5) had a moderating effect on automatic imitation (AI) in finger-movement tasks, using a series of different manipulations. Experiments 1 and 2 manipulated the social status of the observed person using an associative learning task. Experiment 3 manipulated social status via perceived competence at a simple computer game. Experiment 4 manipulated participants’ power (relative to the actors) in a card-choosing task. Finally, Experiment 5 primed participants using a writing task, to induce the sense of being powerful or powerless. No significant interactions were found between congruency and social status/power in any of the studies. Additionally, Bayesian hypothesis testing indicated that the null hypothesis should be favoured over the experimental hypothesis in all five studies. These findings are discussed in terms of their implications for AI tasks, social effects on mimicry, and the hypothesis of mimicry as a strategic mechanism to promote affiliation. PMID:27096167

A Centrifugal Contactor Design to Facilitate Remote Replacement

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

David H. Meikrantz; Jack. D. Law; Troy G. Garn

2011-03-01

Advanced designs of nuclear fuel recycling and radioactive waste treatment plants are expected to include more ambitious goals for solvent extraction based separations including; higher separations efficiency, high-level waste minimization, and a greater focus on continuous processes to minimize cost and footprint. Therefore, Annular Centrifugal Contactors (ACCs) are destined to play a more important role for such future processing schemes. This work continues the development of remote designs for ACCs that can process the large throughputs needed for future nuclear fuel recycling and radioactive waste treatment plants. A three stage, 12.5 cm diameter rotor module has been constructed and ismore » being evaluated for use in highly radioactive environments. This prototype assembly employs three standard CINC V-05 clean-in-place (CIP) units modified for remote service and replacement via new methods of connection for solution inlets, outlets, drain and CIP. Hydraulic testing and functional checks were successfully conducted and then the prototype was evaluated for remote handling and maintenance. Removal and replacement of the center position V-05R contactor in the three stage assembly was demonstrated using an overhead rail mounted PaR manipulator. Initial evaluation indicates a viable new design for interconnecting and cleaning individual stages while retaining the benefits of commercially reliable ACC equipment. Replacement of a single stage via remote manipulators and tools is estimated to take about 30 minutes, perhaps fast enough to support a contactor change without loss of process equilibrium. The design presented in this work is scalable to commercial ACC models from V-05 to V-20 with total throughput rates ranging from 20 to 650 liters per minute.« less

Relation of land use/land cover to resource demands

NASA Technical Reports Server (NTRS)

Clayton, C.

1981-01-01

Predictive models for forecasting residential energy demand are investigated. The models are examined in the context of implementation through manipulation of geographic information systems containing land use/cover information. Remotely sensed data is examined as a possible component in this process.

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).

RMS upper boom framed by aft flight deck viewing window W10

NASA Technical Reports Server (NTRS)

1983-01-01

Remote Manipulator System (RMS) upper arm boom (tear in multilayer beta cloth) deployed during dynamic interaction test using Payload Flight Test Article (PFTA) is visible outside aft viewing window W10. RMS 'Canada' insignia or logo appears on boom.

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).

Activity on the flight deck during EVA on Flight Day 7

NASA Image and Video Library

1997-02-17

S82-E-5616 (17 Feb. 1997) --- Astronaut Steven A. Hawley, STS-82 mission specialist, controls the Remote Manipulator System (RMS) on the Space Shuttle Atlantis' aft flight deck. This view was taken with an Electronic Still Camera (ESC).

STS-37 crew EVA in the payload bay

NASA Image and Video Library

2017-12-27

Photographic documentation showing activities in the payload bay of the orbiter Atlantis during STS-37. View include: Gamma Ray Observatory (GRO) on end of Remote Manipulator System (RMS), with Mission Specialist Jay Apt below on the port side of the payload bay.

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.

Direct model reference adaptive control of robotic arms

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

A manipulator arm for zero-g simulations

NASA Technical Reports Server (NTRS)

Brodie, S. B.; Grant, C.; Lazar, J. J.

1975-01-01

A 12-ft counterbalanced Slave Manipulator Arm (SMA) was designed and fabricated to be used for resolving the questions of operational applications, capabilities, and limitations for such remote manned systems as the Payload Deployment and Retrieval Mechanism (PDRM) for the shuttle, the Free-Flying Teleoperator System, the Advanced Space Tug, and Planetary Rovers. As a developmental tool for the shuttle manipulator system (or PDRM), the SMA represents an approximate one-quarter scale working model for simulating and demonstrating payload handling, docking assistance, and satellite servicing. For the Free-Flying Teleoperator System and the Advanced Tug, the SMA provides a near full-scale developmental tool for satellite servicing, docking, and deployment/retrieval procedures, techniques, and support equipment requirements. For the Planetary Rovers, it provides an oversize developmental tool for sample handling and soil mechanics investigations. The design of the SMA was based on concepts developed for a 40-ft NASA technology arm to be used for zero-g shuttle manipulator simulations.

Endowing carbon nanotubes with superparamagnetic properties: applications for cell labeling, MRI cell tracking and magnetic manipulations.

PubMed

Lamanna, Giuseppe; Garofalo, Antonio; Popa, Gabriela; Wilhelm, Claire; Bégin-Colin, Sylvie; Felder-Flesch, Delphine; Bianco, Alberto; Gazeau, Florence; Ménard-Moyon, Cécilia

2013-05-21

Coating of carbon nanotubes (CNTs) with magnetic nanoparticles (NPs) imparts novel magnetic, optical, and thermal properties with potential applications in the biomedical domain. Multi-walled CNTs have been decorated with iron oxide superparamagnetic NPs. Two different approaches have been investigated based on ligand exchange or "click chemistry". The presence of the NPs on the nanotube surface allows conferring magnetic properties to CNTs. We have evaluated the potential of the NP/CNT hybrids as a contrast agent for magnetic resonance imaging (MRI) and their interactions with cells. The capacity of the hybrids to magnetically monitor and manipulate cells has also been investigated. The NP/CNTs can be manipulated by a remote magnetic field with enhanced contrast in MRI. They are internalized into tumor cells without showing cytotoxicity. The labeled cells can be magnetically manipulated as they display magnetic mobility and are detected at a single cell level through high resolution MRI.

Dual stimuli-responsive smart beads that allow "on-off" manipulation of cancer cells.

PubMed

Kim, Young-Jin; Kim, Soo Hyeon; Fujii, Teruo; Matsunaga, Yukiko T

2016-06-24

Temperature- and electric field-responsive polymer-conjugated polystyrene beads, termed smart beads, are designed to isolate cancer cells. In smart beads, the reversible "on-off" antigen-antibody reaction and dielectrophoresis force on an electrode are accomplished to realize "on-off" remote manipulation of smart beads and cancer cells. Both the zeta-potential and the hydrodynamic diameter of the smart beads are sensitive to temperature, allowing "on-off" reversible capture and release of cancer cells. Cancer cell-captured smart beads are then localized on electrodes by applying an electrical signal.

Basics of robotics and manipulators in endoscopic surgery.

PubMed

Rininsland, H H

1993-06-01

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

Anthropomorphic master/slave manipulator system

NASA Technical Reports Server (NTRS)

Vykukal, H. C.; King, R. F.; Vallotton, W. C. (Inventor)

1977-01-01

An anthropomorphic master/slave manipulator system including master arm apparatus with a plurality of master tubular articulated portions is outlined. Objectives of this investion were to provide a system that accurately and smoothly simulates human limb movement at a remote location. The system has a high frequency response, a high structural stiffness and a design that protects the components of the slave mechanism. Simulation of human movements is possible in outer space, underwater, and in a hazardous environment such as in a high radiation area. The equivalent ability, dexterity, and strength of a human arm are simulated.

Dynamic analysis to evaluate viscoelastic passive damping augmentation for the Space Shuttle Remote Manipulator System

NASA Technical Reports Server (NTRS)

Alberts, Thomas E.; Xia, Houchun; Chen, Yung

1992-01-01

The effectiveness of constrained viscoelastic layer damping treatment designs is evaluated separately as passive control measures for low frequency joint dominated modes and higher frequency boom flexure dominated modes using a NASTRAN finite element analysis. Passive damping augmentation is proposed which is based on a constrained viscoelastic layer damping treatment applied to the surface of the manipulators's flexible booms. It is pointed out that even the joint compliance dominated modes can be damped to some degree through appropriate design of the treatment.

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).

Remote image analysis for Mars Exploration Rover mobility and manipulation operations

NASA Technical Reports Server (NTRS)

Leger, Chris; Deen, Robert G.; Bonitz, Robert G.

2005-01-01

NASA's Mars Exploration Rovers are two sixwheeled, 175-kg robotic vehicles which have operated on Mars for over a year as of March 2005. The rovers are controlled by teams who must understand the rover's surroundings and develop command sequences on a daily basis. The tight tactical planning timeline and everchanging environment call for tools that allow quick assessment of potential manipulator targets and traverse goals, since command sequences must be developed in a matter of hours after receipt of new data from the rovers. Reachability maps give a visual indication of which targets are reachable by each rover's manipulator, while slope and solar energy maps show the rover operator which terrain areas are safe and unsafe from different standpoints.

Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system. M.S. Thesis - George Washington Univ., Dec. 1994

NASA Technical Reports Server (NTRS)

Garrahan, Steven L.; Tolson, Robert H.; Williams, Robert L., II

1995-01-01

Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used.

Technical Considerations in Remote LIMS Access via the World Wide Web

PubMed Central

Schlabach, David M.

2005-01-01

The increased dependency on the World Wide Web by both laboratories and their customers has led LIMS developers to take advantage of thin-client web applications that provide both remote data entry and manipulation, along with remote reporting functionality. Use of an LIMS through a web browser allows a person to interact with a distant application, providing both remote administration and real-time analytical result delivery from virtually anywhere in the world. While there are many benefits of web-based LIMS applications, some concern must be given to these new methods of system architecture before justifying them as a suitable replacement for their traditional client-server systems. Developers and consumers alike must consider the security aspects of introducing a wide area network capable system into a production environment, as well as the concerns of data integrity and usability. PMID:18924736

Energy and remote sensing

NASA Technical Reports Server (NTRS)

Summers, R. A.; Smith, W. L.; Short, N. M.

1977-01-01

Effective implementation of the President's National Energy Plan and the Nuclear Power Policy Statement require application of the best remote sensing tools available. The potential contributions of remote sensing, particularly LANDSAT data, have yet to be clearly identified and exploited. These contributions investigated fall into the following categories: (1) exploration; (2) exploitation; (3) power plant siting; (4) environmental assessment and monitoring; and (5) transportation infrastructure.

75 FR 67657 - Prohibition of Market Manipulation

Federal Register 2010, 2011, 2012, 2013, 2014

2010-11-03

...-manipulation authority'' as part of its expanded enforcement powers. It does so by amending section 6(c) of the... commerce by telegraph, telephone, wireless, or other means of communication false or misleading or... 315 and 1283 of the Energy Policy Act of 2005, amending the Natural Gas Act and the Federal Power Act...

Do deep convolutional neural networks really need to be deep when applied for remote scene classification?

NASA Astrophysics Data System (ADS)

Luo, Chang; Wang, Jie; Feng, Gang; Xu, Suhui; Wang, Shiqiang

2017-10-01

Deep convolutional neural networks (CNNs) have been widely used to obtain high-level representation in various computer vision tasks. However, for remote scene classification, there are not sufficient images to train a very deep CNN from scratch. From two viewpoints of generalization power, we propose two promising kinds of deep CNNs for remote scenes and try to find whether deep CNNs need to be deep for remote scene classification. First, we transfer successful pretrained deep CNNs to remote scenes based on the theory that depth of CNNs brings the generalization power by learning available hypothesis for finite data samples. Second, according to the opposite viewpoint that generalization power of deep CNNs comes from massive memorization and shallow CNNs with enough neural nodes have perfect finite sample expressivity, we design a lightweight deep CNN (LDCNN) for remote scene classification. With five well-known pretrained deep CNNs, experimental results on two independent remote-sensing datasets demonstrate that transferred deep CNNs can achieve state-of-the-art results in an unsupervised setting. However, because of its shallow architecture, LDCNN cannot obtain satisfactory performance, regardless of whether in an unsupervised, semisupervised, or supervised setting. CNNs really need depth to obtain general features for remote scenes. This paper also provides baseline for applying deep CNNs to other remote sensing tasks.

On-chip remote charger model using plasmonic island circuit

NASA Astrophysics Data System (ADS)

Ali, J.; Youplao, P.; Pornsuwancharoen, N.; Aziz, M. S.; Chiangga, S.; Amiri, I. S.; Punthawanunt, S.; Singh, G.; Yupapin, P.

2018-06-01

We propose the remote charger model using the light fidelity (LiFi) transmission and integrate microring resonator circuit. It consists of the stacked layers of silicon-graphene-gold materials known as a plasmonic island placed at the center of the modified add-drop filter. The input light power from the remote LiFi can enter into the island via a silicon waveguide. The optimized input power is obtained by the coupled micro-lens on the silicon surface. The induced electron mobility generated in the gold layer by the interfacing layer between silicon-graphene. This is the reversed interaction of the whispering gallery mode light power of the microring system, in which the generated power is fed back into the microring circuit. The electron mobility is the required output and obtained at the device ports and characterized for the remote current source applications. The obtained calculation results have shown that the output current of ∼2.5 × 10-11 AW-1, with the gold height of 1.0 μm and the input power of 5.0 W is obtained at the output port, which is shown the potential application for a short range free pace remote charger.

Remote and reversible inhibition of neurons and circuits by small molecule induced potassium channel stabilization

PubMed Central

Auffenberg, Eva; Jurik, Angela; Mattusch, Corinna; Stoffel, Rainer; Genewsky, Andreas; Namendorf, Christian; Schmid, Roland M.; Rammes, Gerhard; Biel, Martin; Uhr, Manfred; Moosmang, Sven; Michalakis, Stylianos; Wotjak, Carsten T.; Thoeringer, Christoph K.

2016-01-01

Manipulating the function of neurons and circuits that translate electrical and chemical signals into behavior represents a major challenges in neuroscience. In addition to optogenetic methods using light-activatable channels, pharmacogenetic methods with ligand induced modulation of cell signaling and excitability have been developed. However, they are largely based on ectopic expression of exogenous or chimera proteins. Now, we describe the remote and reversible expression of a Kir2.1 type potassium channel using the chemogenetic technique of small molecule induced protein stabilization. Based on shield1-mediated shedding of a destabilizing domain fused to a protein of interest and inhibition of protein degradation, this principle has been adopted for biomedicine, but not in neuroscience so far. Here, we apply this chemogenetic approach in brain research for the first time in order to control a potassium channel in a remote and reversible manner. We could show that shield1-mediated ectopic Kir2.1 stabilization induces neuronal silencing in vitro and in vivo in the mouse brain. We also validated this novel pharmacogenetic method in different neurobehavioral paradigms.The DD-Kir2.1 may complement the existing portfolio of pharmaco- and optogenetic techniques for specific neuron manipulation, but it may also provide an example for future applications of this principle in neuroscience research. PMID:26757616

A drop in performance on a fluid intelligence test due to instructed-rule mindset.

PubMed

ErEl, Hadas; Meiran, Nachshon

2017-09-01

A 'mindset' is a configuration of processing resources that are made available for the task at hand as well as their suitable tuning for carrying it out. Of special interest, remote-relation abstract mindsets are introduced by activities sharing only general control processes with the task. To test the effect of a remote-relation mindset on performance on a Fluid Intelligence test (Raven's Advanced Progressive Matrices, RAPM), we induced a mindset associated with little usage of executive processing by requiring participants to execute a well-defined classification rule 12 times, a manipulation known from previous work to drastically impair rule-generation performance and associated cognitive processes. In Experiment 1, this manipulation led to a drop in RAPM performance equivalent to 10.1 IQ points. No drop was observed in a General Knowledge task. In Experiment 2, a similar drop in RAPM performance was observed (equivalent to 7.9 and 9.2 IQ points) regardless if participants were pre-informed about the upcoming RAPM test. These results indicate strong (most likely, transient) adverse effects of a remote-relation mindset on test performance. They imply that although the trait of Fluid Intelligence has probably not changed, mindsets can severely distort estimates of this trait.

Astronaut Dale Gardner using MMU to travel to Westar VI satellite

NASA Technical Reports Server (NTRS)

1984-01-01

Astronaut Dale A. Gardner, wearing the manned maneuvering unit (MMU) approaching the spinng Westar VI satellite over Bahama Banks. The end effector of the remote manipulator system (RMS) controlled by Dr. Anna L. Fisher inside Discovery's cabin, awaits its duty at right.

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).

Underwater EVA training in the WETF with astronaut Robert L. Stewart

NASA Technical Reports Server (NTRS)

1983-01-01

Underwater extravehicular activity (EVA) training in the weightless environment training facility (WETF) with astronaut Robert L. Stewart. Stewart is simulating a planned EVA using the mobile foot restraint device and a one-G version of the Canadian-built remote manipulator system.

A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems.

PubMed

Hadavand, Mostafa; Mirbagheri, Alireza; Behzadipour, Saeed; Farahmand, Farzam

2014-06-01

An effective master robot for haptic tele-surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia. A novel 4 + 1-DOF mechanism was proposed, based on a triple parallelogram linkage, which provided a Remote Center of Motion (RCM) at the back of the user's hand. The kinematics of the robot was analyzed and a prototype was fabricated and evaluated by experimental tests. With a RCM at the back of the user's hand the actuators far from the end effector, the robot could produce the sensation of hand-inside surgery with minimal moving inertia. The target workspace was achieved with an acceptable manipulability. The trajectory tracking experiments revealed small errors, due to backlash at the joints. The proposed mechanism meets the basic requirements of an effective master robot for haptic tele-surgery applications. Copyright © 2013 John Wiley & Sons, Ltd.

Independent Orbiter Assessment (IOA): Assessment of the remote manipulator system FMEA/CIL

NASA Technical Reports Server (NTRS)

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

1988-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort first completed an analysis of the Remote Manipulator System (RMS) hardware, generating draft failure modes and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA results were than compared to the NASA FMEA/CIL baseline with proposed Post 51-L updates included. A resolution of each discrepancy from the comparison is provided through additional analysis as required. The results of that comparison for the Orbiter RMS hardware are documented. The IOA product for the RMS analysis consisted of 604 failure mode worksheets that resulted in 458 potential critical items being identified. Comparison was made to the NASA baseline which consisted of 45 FMEAs and 321 CIL items. This comparison produced agreement on all but 154 FMEAs which caused differences in 137 CIL items.

Speech versus manual control of camera functions during a telerobotic task

NASA Technical Reports Server (NTRS)

Bierschwale, John M.; Sampaio, Carlos E.; Stuart, Mark A.; Smith, Randy L.

1989-01-01

Voice input for control of camera functions was investigated in this study. Objective were to (1) assess the feasibility of a voice-commanded camera control system, and (2) identify factors that differ between voice and manual control of camera functions. Subjects participated in a remote manipulation task that required extensive camera-aided viewing. Each subject was exposed to two conditions, voice and manual input, with a counterbalanced administration order. Voice input was found to be significantly slower than manual input for this task. However, in terms of remote manipulator performance errors and subject preference, there was no difference between modalities. Voice control of continuous camera functions is not recommended. It is believed that the use of voice input for discrete functions, such as multiplexing or camera switching, could aid performance. Hybrid mixes of voice and manual input may provide the best use of both modalities. This report contributes to a better understanding of the issues that affect the design of an efficient human/telerobot interface.

ICAP - An Interactive Cluster Analysis Procedure for analyzing remotely sensed data

NASA Technical Reports Server (NTRS)

Wharton, S. W.; Turner, B. J.

1981-01-01

An Interactive Cluster Analysis Procedure (ICAP) was developed to derive classifier training statistics from remotely sensed data. ICAP differs from conventional clustering algorithms by allowing the analyst to optimize the cluster configuration by inspection, rather than by manipulating process parameters. Control of the clustering process alternates between the algorithm, which creates new centroids and forms clusters, and the analyst, who can evaluate and elect to modify the cluster structure. Clusters can be deleted, or lumped together pairwise, or new centroids can be added. A summary of the cluster statistics can be requested to facilitate cluster manipulation. The principal advantage of this approach is that it allows prior information (when available) to be used directly in the analysis, since the analyst interacts with ICAP in a straightforward manner, using basic terms with which he is more likely to be familiar. Results from testing ICAP showed that an informed use of ICAP can improve classification, as compared to an existing cluster analysis procedure.

Remote state preparation through hyperentangled atomic states

NASA Astrophysics Data System (ADS)

Nawaz, Mehwish; ul-Islam, Rameez-; Ikram, Manzoor

2018-04-01

Hyperentangled states have enhanced channel capacity in quantum processing and have yielded` evident increased communication speed in quantum informatics as a consequence of excessively high information content coded over each quantum entity. In the present article, we intend to demonstrate this fact by utilizing atomic states simultaneously entangled both in internal as well as external degrees of freedom, i.e. the de Broglie motion for remote state preparation (RSP). The results clearly demonstrate that we can efficiently communicate two bit information while manipulating only a single quantum subsystem. The states are prepared and manipulated using atomic Bragg diffraction as well as Ramsey interferometry, both of which are now considered as standard, state of the art tools based on cavity quantum electrodynamics. Since atomic Bragg diffraction is a large interaction time regime and produces spatially well separated, decoherence resistant outputs, the schematics presented here for the RSP offer important perspectives on efficient detection as well as unambiguous information coding and readout. The article summarizes the experimental feasibility of the proposal, culminating with a brief discussion.

A master manipulator with a remote-center-of-motion kinematic structure for a minimally invasive robotic surgical system.

PubMed

Lee, Hyunyoung; Cheon, Byungsik; Hwang, Minho; Kang, Donghoon; Kwon, Dong-Soo

2018-02-01

In robotic surgical systems, commercial master devices have limitations owing to insufficient workspace and lack of intuitiveness. To overcome these limitations, a remote-center-of-motion (RCM) master manipulator was proposed. The feasibility of the proposed RCM structure was evaluated through kinematic analysis using a conventional serial structure. Two performance comparison experiments (peg transfer task and objective transfer task) were conducted for the developed master and Phantom Omni. The kinematic analysis results showed that compared with the serial structure, the proposed RCM structure has better performance in terms of design efficiency (19%) and workspace quality (59.08%). Further, in comparison with Phantom Omni, the developed master significantly increased task efficiency and significantly decreased workload in both experiments. The comparatively better performance in terms of intuitiveness, design efficiency, and operability of the proposed master for a robotic system for minimally invasive surgery was confirmed through kinematic and experimental analysis. Copyright © 2017 John Wiley & Sons, Ltd.

MIT research in telerobotics

NASA Technical Reports Server (NTRS)

Sheridan, T. B.

1987-01-01

Ongoing MIT research in telerobotics (vehicles capable of some autonomous sensing and manipulating, having some remote supervisory control by people) and teleoperation (vehicles for sensing and manipulating which are fully controlled remotely by people) is discussed. The current efforts mix human and artificial intelligence/control. The idea of adjustable impedance at either end of pure master-slave teleoperation, and simultaneous coordinated control of teleoperator/telerobotic systems which have more than six degrees of freedom (e.g., a combined vehicle and arm, each with five or six DOF) are discussed. A new cable-controlled parallel link arm which offers many advantages over conventional arms for space is briefly described. Predictor displays to compensate for time delay in teleoperator loops, the use of state estimation to help human control decisions in space, and ongoing research in supervisory command language are covered. Finally, efforts to build a human flyable real-time dynamic computer-graphic telerobot simulator are described. These projects represent most, but not all, of the telerobotics research in our laboratory, supported by JPL, NASA Ames and NOAA.

Kilovolt dc solid state remote power controller development

NASA Technical Reports Server (NTRS)

Mitchell, J. T.

1982-01-01

The experience gained in developing and applying solid state power controller (SSPC) technology at high voltage dc (HVDC) potentials and power levels of up to 25 kilowatts is summarized. The HVDC switching devices, power switching concepts, drive circuits, and very fast acting overcurrent protection circuits were analyzed. A 25A bipolar breadboard with Darlington connected switching transistor was built. Fault testing at 900 volts was included. A bipolar transistor packaged breadboard design was developed. Power MOSFET remote power controller (RPC) was designed.

General view looking aft along the port side of the ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

General view looking aft along the port side of the Orbiter Discovery into its payload bay. Note the Remote Manipulator System, Canadarm, in the foreground mounted on the port side longeron. The Remote Sensor Arm is mounted on the opposite, starboard, longeron. Also note the airlock and the protective covering over the docking mechanism. This image was taken in the Orbiter Processing Facility at Kennedy Space Center. - Space Transportation System, Orbiter Discovery (OV-103), Lyndon B. Johnson Space Center, 2101 NASA Parkway, Houston, Harris County, TX

View of the Columbia's open payload bay and the Canadian RMS

NASA Image and Video Library

1981-11-13

STS002-12-833 (13 Nov. 1981) --- Clouds over Earth and black sky form the background for this unique photograph from the space shuttle Columbia in Earth orbit. The photograph was shot through the aft flight deck windows viewing the cargo bay. Part of the scientific payload of the Office of Space and Terrestrial Applications (OSTA-1) is visible in the open cargo bay. The astronauts inside Columbia's cabin were remotely operating the Canadian-built remote manipulator system (RMS). Note television cameras on its elbow and wrist pieces. Photo credit: NASA

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.

STS-112 Astronaut Wolf Participates in EVA

NASA Technical Reports Server (NTRS)

2002-01-01

Anchored to a foot restraint on the Space Station Remote Manipulator System (SSRMS) or Canadarm2, astronaut David A. Wolf, STS-112 mission specialist, participates in the mission's first session of extravehicular activity (EVA). Wolf is carrying the Starboard One (S1) outboard nadir external camera which was installed on the end of the S1 Truss on the International Space Station (ISS). Launched October 7, 2002 aboard the Space Shuttle Orbiter Atlantis, the STS-112 mission lasted 11 days and performed three EVAs. Its primary mission was to install the S1 Integrated Truss Structure and Equipment Translation Aid (CETA) Cart to the ISS. The S1 truss provides structural support for the orbiting research facility's radiator panels, which use ammonia to cool the Station's complex power system. The S1 truss, attached to the S0 (S Zero) truss installed by the previous STS-110 mission, flows 637 pounds of anhydrous ammonia through three heat rejection radiators. The truss is 45-feet long, 15-feet wide, 10-feet tall, and weighs approximately 32,000 pounds. The CETA is the first of two human-powered carts that will ride along the International Space Station's railway providing a mobile work platform for future extravehicular activities by astronauts.

International Space Station (ISS)

NASA Image and Video Library

2002-10-10

Anchored to a foot restraint on the Space Station Remote Manipulator System (SSRMS) or Canadarm2, astronaut David A. Wolf, STS-112 mission specialist, participates in the mission's first session of extravehicular activity (EVA). Wolf is carrying the Starboard One (S1) outboard nadir external camera which was installed on the end of the S1 Truss on the International Space Station (ISS). Launched October 7, 2002 aboard the Space Shuttle Orbiter Atlantis, the STS-112 mission lasted 11 days and performed three EVAs. Its primary mission was to install the S1 Integrated Truss Structure and Equipment Translation Aid (CETA) Cart to the ISS. The S1 truss provides structural support for the orbiting research facility's radiator panels, which use ammonia to cool the Station's complex power system. The S1 truss, attached to the S0 (S Zero) truss installed by the previous STS-110 mission, flows 637 pounds of anhydrous ammonia through three heat rejection radiators. The truss is 45-feet long, 15-feet wide, 10-feet tall, and weighs approximately 32,000 pounds. The CETA is the first of two human-powered carts that will ride along the International Space Station's railway providing a mobile work platform for future extravehicular activities by astronauts.

Recent Developments in the Design, Capabilities and Autonomous Operations of a Lightweight Surface Manipulation System and Test-bed

NASA Technical Reports Server (NTRS)

Dorsey, John T.; Jones, Thomas C.; Doggett, W. R.; Brady, Jeffrey S.; Berry, Felecia C.; Ganoe, George G.; Anderson, Eric; King, Bruce D.; Mercer, David C.

2011-01-01

The first generation of a versatile high performance device for performing payload handling and assembly operations on planetary surfaces, the Lightweight Surface Manipulation System (LSMS), has been designed and built. Over the course of its development, conventional crane type payload handling configurations and operations have been successfully demonstrated and the range of motion, types of operations and the versatility greatly expanded. This enhanced set of 1st generation LSMS hardware is now serving as a laboratory test-bed allowing the continuing development of end effectors, operational techniques and remotely controlled and automated operations. This paper describes the most recent LSMS and test-bed development activities, that have focused on two major efforts. The first effort was to complete a preliminary design of the 2nd generation LSMS that has the capability for limited mobility and can reposition itself between lander decks, mobility chassis, and fixed base locations. A major portion of this effort involved conducting a study to establish the feasibility of, and define, the specifications for a lightweight cable-drive waist joint. The second effort was to continue expanding the versatility and autonomy of large planetary surface manipulators using the 1st generation LSMS as a test-bed. This has been accomplished by increasing manipulator capabilities and efficiencies through both design changes and tool and end effector development. A software development effort has expanded the operational capabilities of the LSMS test-bed to include; autonomous operations based on stored paths, use of a vision system for target acquisition and tracking, and remote command and control over a communications bridge.

Solid state laser media driven by remote nuclear powered fluorescence

DOEpatents

Prelas, Mark A.

1992-01-01

An apparatus is provided for driving a solid state laser by a nuclear powered fluorescence source which is located remote from the fluorescence source. A nuclear reaction produced in a reaction chamber generates fluorescence or photons. The photons are collected from the chamber into a waveguide, such as a fiber optic waveguide. The waveguide transports the photons to the remote laser for exciting the laser.

Supervisory autonomous local-remote control system design: Near-term and far-term applications

NASA Technical Reports Server (NTRS)

Zimmerman, Wayne; Backes, Paul

1993-01-01

The JPL Supervisory Telerobotics Laboratory (STELER) has developed a unique local-remote robot control architecture which enables management of intermittent bus latencies and communication delays such as those expected for ground-remote operation of Space Station robotic systems via the TDRSS communication platform. At the local site, the operator updates the work site world model using stereo video feedback and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. The operator can then employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the object under any degree of time-delay. The remote site performs the closed loop force/torque control, task monitoring, and reflex action. This paper describes the STELER local-remote robot control system, and further describes the near-term planned Space Station applications, along with potential far-term applications such as telescience, autonomous docking, and Lunar/Mars rovers.

H2-O2 combustion powered steam-MHD central power systems

NASA Technical Reports Server (NTRS)

Seikel, G. R.; Smith, J. M.; Nichols, L. D.

1974-01-01

Estimates are made for both the performance and the power costs of H2-O2 combustion powered steam-MHD central power systems. Hydrogen gas is assumed to be transmitted by pipe from a remote coal gasifier into the city and converted to electricity in a steam MHD plant having an integral gaseous oxygen plant. These steam MHD systems appear to offer an attractive alternative to both in-city clean fueled conventional steam power plants and to remote coal fired power plants with underground electric transmission into the city.

Count on It: Congruent Manipulative Displays

ERIC Educational Resources Information Center

Morin, Joe; Samelson, Vicki M.

2015-01-01

Representations that create informative visual displays are powerful tools for communicating mathematical concepts. The National Council of Teachers of Mathematics encourages the use of manipulatives (NCTM 2000). Manipulative materials are often used to present initial representations of basic numerical principles to young children, and it is…

Distinguishing manipulated stocks via trading network analysis

NASA Astrophysics Data System (ADS)

Sun, Xiao-Qian; Cheng, Xue-Qi; Shen, Hua-Wei; Wang, Zhao-Yang

2011-10-01

Manipulation is an important issue for both developed and emerging stock markets. For the study of manipulation, it is critical to analyze investor behavior in the stock market. In this paper, an analysis of the full transaction records of over a hundred stocks in a one-year period is conducted. For each stock, a trading network is constructed to characterize the relations among its investors. In trading networks, nodes represent investors and a directed link connects a stock seller to a buyer with the total trade size as the weight of the link, and the node strength is the sum of all edge weights of a node. For all these trading networks, we find that the node degree and node strength both have tails following a power-law distribution. Compared with non-manipulated stocks, manipulated stocks have a high lower bound of the power-law tail, a high average degree of the trading network and a low correlation between the price return and the seller-buyer ratio. These findings may help us to detect manipulated stocks.

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

"rsed" is an R package that contains tools for stream editing: manipulating text files by making insertions, replacements, deletions, substitutions, or commenting. It hails from the powerful Unix command, "sed". While the "rsed" package is not nearly as powerful as "see", it is much simpler to use. R programmers often write scripts that may require simple manipulation of text files. "rsed" addresses that need.

A 'user friendly' geographic information system in a color interactive digital image processing system environment

NASA Technical Reports Server (NTRS)

Campbell, W. J.; Goldberg, M.

1982-01-01

NASA's Eastern Regional Remote Sensing Applications Center (ERRSAC) has recognized the need to accommodate spatial analysis techniques in its remote sensing technology transfer program. A computerized Geographic Information System to incorporate remotely sensed data, specifically Landsat, with other relevant data was considered a realistic approach to address a given resource problem. Questions arose concerning the selection of a suitable available software system to demonstrate, train, and undertake demonstration projects with ERRSAC's user community. The very specific requirements for such a system are discussed. The solution found involved the addition of geographic information processing functions to the Interactive Digital Image Manipulation System (IDIMS). Details regarding the functions of the new integrated system are examined along with the characteristics of the software.

Remote surface inspection system. [of large space platforms

NASA Technical Reports Server (NTRS)

Hayati, Samad; Balaram, J.; Seraji, Homayoun; Kim, Won S.; Tso, Kam S.

1993-01-01

This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom (SSF). It describes the space environment and identifies the types of damage for which to search. This paper provides an overview of the Remote Surface Inspection System that was developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Specifically, the paper describes three technology areas: (1) manipulator control for sensor placement; (2) automated non-contact inspection to detect and classify flaws; and (3) an operator interface to command the system interactively and receive raw or processed sensor data. Initial findings for the automated and human visual inspection tests are reported.

Effective use of remote sensing products in litigation

NASA Technical Reports Server (NTRS)

Jaynes, R. A.

1983-01-01

A boiled-down version of major legal principles affecting the admissibility of data and products from remote sensing devices is presented. It is suggested that enhancements or classifications of digital data (from scanning devices or from digitized aerial photography) be proffered as evidence in a fashion similar to the manner in which maps from photogrammetric techniques are introduced as evidence. Every effort should be made to illucidate the processes by which digital data are analytically treated or manipulated. Remote sensing expert witnesses should be practiced in providing concise and clear explanations of both data and methods. Special emphasis should be placed on being prepared to provide a detailed accounting of steps taken to calibrate and verify spectral characteristics with ground truth.

Large Strain Transparent Magneto-Active Polymer Nanocomposites

NASA Technical Reports Server (NTRS)

Yoonessi, Mitra (Inventor); Meador, Michael A (Inventor)

2016-01-01

A large strain polymer nanocomposite actuator is provided that upon subjected to an external stimulus, such as a magnetic field (static or electromagnetic field), an electric field, thermal energy, light, etc., will deform to thereby enable mechanical manipulations of structural components in a remote and wireless manner.

Astronaut Ronald Sega in crew cabin

NASA Image and Video Library

1999-02-23

STS060-57-033 (3-11 Feb 1994) --- Astronaut Ronald M. Sega suspends himself in the weightlessness aboard the Space Shuttle Discovery's crew cabin, as the Remote Manipulator System (RMS) arm holds the Wake Shield Facility (WSF) aloft. The mission specialist is co-principal investigator on the WSF project.

View of the RMS end effector touching the SIR-B antenna during STS 41-G

NASA Image and Video Library

1984-10-05

41G-03-008 (5-13 Oct. 1984) --- The end effector of the space shuttle Challenger's remote manipulator system (RMS) taps against the shuttle imaging radar's (SIR-B) antenna to secure it during NASA's 41-G mission. Photo credit: NASA

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).

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e103580 - iss042e104044). Shows night time Earth views. Solar Array Wing (SAW) and Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground.

Voss and Helms at SSRMS controls in Destiny laboratory module

NASA Image and Video Library

2001-04-22

ISS002-E-7043 (22 April 2001) --- Expedition Two flight engineers James S. Voss and Susan J. Helms work at the Canadarm2 / Space Station Remote Manipulator System (SSRMS) control station in the Destiny Laboratory. The image was recorded with a digital still camera.

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e196791 - iss042e197504). Shows Earth views. Day time views turn into night time views. Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground.

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

NASA Image and Video Library

1997-02-15

S82-E-5407 (15 Feb. 1997) --- Astronauts Gregory J. Harbaugh (left) and Joseph R. Tanner on Remote Manipulator System (RMS) during accessing Fine Guidance Sensor (FGS) in the F site. This view was taken with an Electronic Still Camera (ESC).

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.

Phillips removes Failed RPCM (Remote Power Controller Module)

NASA Image and Video Library

2005-09-20

ISS011-E-13361 (20 September 2005) --- Astronaut John L. Phillips, Expedition 11 NASA science officer and flight engineer, performs a Remote Power Control Module (RPCM) remove and replacement in the Unity node of the international space station.

Stability and performance tradeoffs in bi-lateral telemanipulation

NASA Technical Reports Server (NTRS)

Hannaford, Blake

1989-01-01

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

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.

An integrated open-cavity system for magnetic bead manipulation.

PubMed

Abu-Nimeh, F T; Salem, F M

2013-02-01

Superparamagnetic beads are increasingly used in biomedical assays to manipulate, transport, and maneuver biomaterials. We present a low-cost integrated system designed in bulk CMOS to manipulate and separate biomedical magnetic beads. The system consists of 8 × 8 coil-arrays suitable for single bead manipulation, or collaborative multi-bead manipulation, using pseudo-parallel executions. We demonstrate the flexibility of the design in terms of different coil sizes, DC current levels, and layout techniques. In one array module example, the size of a single coil is 30 μm × 30 μm and the full array occupies an area of 248 μm × 248 μm in 0.5 μm CMOS technology. The programmable DC current source supports 8 discrete levels up to 1.5 mA. The total power consumption of the entire module is 9 mW when running at full power.

Grapple fixture for use with electromagnetic attachment mechanism

NASA Technical Reports Server (NTRS)

Monford, Jr., Leo G. (Inventor)

1995-01-01

An electromagnetic attachment mechanism for use as an end effector of a remote manipulator system. A pair of electromagnets 15A,15B, each with a U-shaped magnetic core with a pull-in coil 34 and two holding coils 35,36 are mounted by a spring suspension system 38,47 on a base plate 25 of the mechanism housing 30 with end pole pieces 21,22 adapted to move through openings in the base plate when the attractive force of the electromagnets is exerted on a strike plate 65 of a grapple fixture 20 affixed to a target object 14. The pole pieces are spaced by an air gap from the strike plate when the mechanism first contacts the grapple fixture. An individual control circuit and power source is provided for the pull-in coil and one holding coil of each electromagnet. A back-up control circuit connected to the two power sources and a third power source is provided for the remaining holding coils. When energized, the pull-in coils overcome the suspension system and air gap and are automatically de-energized when the pole pieces move to grapple and impose a preload force across the grapple interface. A battery back-up 89A,89B is a redundant power source for each electromagnet in each individual control circuit and is automatically connected upon failure of the primary power source. A centerline mounted camera 31 and video monitor 70 are used in cooperation with a target pattern 19 on the reflective surface 67 of the strike plate to effect targeting and alignment.

Power components for the Space Station 20-kHz power distribution system

NASA Technical Reports Server (NTRS)

Renz, David D.

1988-01-01

Since 1984, NASA Lewis Research Center was developing high power, high frequency space power components as part of The Space Station Advanced Development program. The purpose of the Advanced Development program was to accelerate existing component programs to ensure their availability for use on the Space Station. These components include a rotary power transfer device, remote power controllers, remote bus isolators, high power semiconductor, a high power semiconductor package, high frequency-high power cable, high frequency-high power connectors, and high frequency-high power transformers. All the components were developed to the prototype level and will be installed in the Lewis Research Center Space Station power system test bed.

Power components for the space station 20-kHz power distribution system

NASA Technical Reports Server (NTRS)

Renz, David D.

1988-01-01

Since 1984, NASA Lewis Research Center was developing high power, high frequency space power components as part of The Space Station Advanced Development program. The purpose of The Advanced Development program was to accelerate existing component programs to ensure their availability for use on the Space Station. These components include a rotary power transfer device, remote power controllers, remote bus isolators, high power semiconductor, a high power semiconductor package, high frequency-high power cable, high frequency-high power connectors, and high frequency-high power transformers. All the components were developed to the prototype level and will be installed in the Lewis Research Center Space Station power system test bed.

Mechanisms test bed math model modification and simulation support

NASA Technical Reports Server (NTRS)

Gilchrist, Andrea C.; Tobbe, Patrick A.

1995-01-01

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

GelScape: a web-based server for interactively annotating, manipulating, comparing and archiving 1D and 2D gel images.

PubMed

Young, Nelson; Chang, Zhan; Wishart, David S

2004-04-12

GelScape is a web-based tool that permits facile, interactive annotation, comparison, manipulation and storage of protein gel images. It uses Java applet-servlet technology to allow rapid, remote image handling and image processing in a platform-independent manner. It supports many of the features found in commercial, stand-alone gel analysis software including spot annotation, spot integration, gel warping, image resizing, HTML image mapping, image overlaying as well as the storage of gel image and gel annotation data in compliance with Federated Gel Database requirements.

EVA manipulation and assembly of space structure columns

NASA Technical Reports Server (NTRS)

Loughead, T. E.; Pruett, E. C.

1980-01-01

Assembly techniques and hardware configurations used in assembly of the basic tetrahedral cell by A7LB pressure-suited subjects in a neutral bouyancy simulator were studied. Eleven subjects participated in assembly procedures which investigated two types of structural members and two configurations of attachment hardware. The assembly was accomplished through extra-vehicular activity (EVA) only, EVA with simulated manned maneuvering unit (MMU), and EVA with simulated MMU and simulated remote manipulator system (RMS). Assembly times as low as 10.20 minutes per tetrahedron were achieved. Task element data, as well as assembly procedures, are included.

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).

Sex allocation conflict in insect societies: who wins?

PubMed Central

Helanterä, Heikki; Ratnieks, Francis L. W.

2009-01-01

Sex allocation in colonies of eusocial Hymenoptera is one of the best studied social conflicts. We outline a framework for analysing conflict outcome through power and the costs of manipulation and suggest that the conflict will often be unresolved because both major parties of interest, the queen and the workers, should manipulate allocation even at considerable costs to the colony. We suggest future work for analysing power in the conflict between queen and workers over sex allocation and discuss the extent of male power. PMID:19656859

Development of a stereofluoroscopy system

NASA Technical Reports Server (NTRS)

Rivers, D. B.

1979-01-01

A technique of 3-D video imaging, was developed for use on manned missions for observation and control of remote manipulators. An improved medical diagnostic fluoroscope with a stereo, real-time output was also developed. An explanation of how this system works, and recommendations for future work in this area are presented.

View of the SSRMS/Canadarm2 with blue and white Earth in the background during Expedition Six

NASA Image and Video Library

2003-04-06

ISS006-E-43973 (6 April 2003) --- Backdropped against a blue and white Earth, 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).

Plug-in connector socket accepts coaxial cable end

NASA Technical Reports Server (NTRS)

Mitchell, D.; Van Loon, J.

1966-01-01

Connector which includes a spring-loaded contact to receive a protruding center conductor and an internal collet to clamp against a collar attached to a woven outer conductor, is used as a receptacle for the end of a coaxial cable. This plug-in connector socket is used successfully with remote manipulators.

Astronaut Ronald Sega in crew cabin

NASA Technical Reports Server (NTRS)

1994-01-01

Astronaut Ronald M. Sega suspends himself in the weightlessness aboard the Space Shuttle Discovery's crew cabin, as the Remote Manipulator System (RMS) arm holds the Wake Shield Facility (WSF) aloft. The mission specialist is co-principle investigator on the the WSF project. Note the University of Colorado, Colorado Springs banner above his head.

STS-131 crew member and JAXA astronaut Naoko Yamazaki training SSRMS PROF

NASA Image and Video Library

2010-01-15

JSC2010-E-009784 (15 Jan. 2010) --- Japan Aerospace Exploration Agency (JAXA) astronaut Naoko Yamazaki, STS-131 mission specialist, participates in a simulation exercise using the Space Station Remote Manipulator System (SSRMS) simulator in the Avionics Systems Laboratory at NASA?s Johnson Space Center.

OBSS and RMS arm during a survey of the TPS during STS-115

NASA Image and Video Library

2006-09-09

S115-E-05307 (10 Sept. 2006) --- As in the case of the previous two shuttle missions, a tandem of the orbiter boom sensor system (OBSS) and the remote manipulator system (RMS) arm conducts a survey of the thermal protection system on the Space Shuttle Atlantis.

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.

ISS Expedition 42 Time Lapse Video of Earth

NASA Image and Video Library

2015-05-18

This time lapse video taken during ISS Expedition 42 is assembled from JSC still photo collection (still photos iss042e218184 - iss042e219070 ). Shows night time views over Egypt, Sinai, Saudi Arabia, Jordan and Israel. Space Station Remote Manipulator System (SSRMS) or Canadarm in foreground.

An Intelligent Simulator for Telerobotics Training

ERIC Educational Resources Information Center

Belghith, K.; Nkambou, R.; Kabanza, F.; Hartman, L.

2012-01-01

Roman Tutor is a tutoring system that uses sophisticated domain knowledge to monitor the progress of students and advise them while they are learning how to operate a space telerobotic system. It is intended to help train operators of the Space Station Remote Manipulator System (SSRMS) including astronauts, operators involved in ground-based…

View of the Challenger's payload bay and the Plasma Diagnostic package

NASA Image and Video Library

1985-08-01

51F-33-024 (29 July-6 Aug 1985) --- The Challenger's remote manipulator system (RMS) arm grasps the plasma diagnostics package (PDP) over the experiment-laden cargo bay of the earth orbiting spacecraft. The instrument pointing system, in a resting mode here, is prominent in the bay.

SFU retrieval and berth in shuttle orbiter Endeavour's payload bay

NASA Image and Video Library

1996-01-13

STS072-734-011 (11 Jan. 1996) --- The crewmembers captured this 35mm view of the Japanese Space Flyer Unit (SFU) during its berthing with the Remote Manipulator System (RMS). Yet to be deployed is the Office of Aeronautics and Space Technology (OAST) Flyer satellite, seen at bottom center.

SFU rendezvous and SAP jettison

NASA Image and Video Library

1996-01-13

STS072-720-076 (13 Jan. 1996) --- The crewmembers captured this 35mm view of the Japanese Space Flyer Unit (SFU) following 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.

Earth Observation taken during the STS-41G mission

NASA Image and Video Library

2009-06-25

41G-121-138 (5-13 Oct 1984) --- A view of the Earth's horizon featuring France and England. The Strait of Dover and the English channel are visible behind the tail (vertical stabilizer) of Challenger. The remote manipulator system (RMS arm rests in its "stow" position at upper left corner.

Remote Optical Control of an Optical Flip-Flop

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

Maywar, D.N.; Solomon, K.P.; Agrawal, G.P.

2007-11-01

We experimentally demonstrate control of a holding-beam–enabled optical flip-flop by means of optical signals that act in a remote fashion. These optical-control signals vary the holding-beam power by means of cross-gain modulation within a remotely located semiconductor optical amplifier (SOA). The power-modulated holding beam then travels through a resonant-type SOA, where flip-flop action occurs as the holding-beam power falls above and below the switching thresholds of the bistable hysteresis. Control is demonstrated using submilliwatt pulses whose wavelengths are not restricted to the vicinity of the holding beam. Benefits of remote control include the potential for controlling multiple flip-flops with amore » single pair of optical signals and for realizing all-optical control of any holding-beam–enabled flip-flop.« less

Solar powered multipurpose remotely powered aircraft

NASA Technical Reports Server (NTRS)

Alexandrou, A. N.; Durgin, W. W.; Cohn, R. F.; Olinger, D. J.; Cody, Charlotte K.; Chan, Agnes; Cheung, Kwok-Hung; Conley, Kristin; Crivelli, Paul M.; Javorski, Christian T.

1992-01-01

Increase in energy demands coupled with rapid depletion of natural energy resources have deemed solar energy as an attractive alternative source of power. The focus was to design and construct a solar powered, remotely piloted vehicle to demonstrate the feasibility of solar energy as an effective, alternate source of power. The final design included minimizing the power requirements and maximizing the strength-to-weight and lift-to-drag ratios. Given the design constraints, Surya (the code-name given to the aircraft), is a lightweight aircraft primarily built using composite materials and capable of achieving level flight powered entirely by solar energy.

Solar battery power supply: A reliable power supply system for nursing clinic in Australia`s remote areas

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

Zahedi, A.

Design and performance investigation of a new solar-battery system to power health clinics in Australia`s remote and isolated areas is a research project being conducted in the Department. The objective of this paper is to present the solar-battery system and to discuss the design factors of the system.

Relationship between input power and power density of SMA spring

NASA Astrophysics Data System (ADS)

Park, Cheol Hoon; Ham, Sang Yong; Son, Young Su

2016-04-01

The important required characteristics of an artificial muscle for a human arm-like manipulator are high strain and high power density. From this viewpoint, an SMA (shape memory alloy) spring is a good candidate for the actuator of a robotic manipulator that utilizes an artificial muscle. In this study, the maximum power density of an SMA spring was evaluated with respect to the input power. The spring samples were fabricated from SMA wires of different diameters ranging between 0.1 and 0.3 mm. For each diameter, two types of wires with different transition temperatures were used. The relationship between the transition temperature and maximum power density was also evaluated. Each SMA spring was stretched downward by an attached weight and the temperature was increased through the application of an electric current. The displacement, velocity, and temperature of the SMA spring were measured by laser displacement sensors and a thermocouple. Based on the experimental data, it was determined that the maximum power densities of the different SMA springs ranged between 1,300 and 5,500 W/kg. This confirmed the applicability of an SMA spring to human arm-like robotic manipulators. The results of this study can be used as reference for design.

Human machine interaction via the transfer of power and information signals

NASA Technical Reports Server (NTRS)

Kazerooni, H.; Foslien, W. K.; Anderson, B. J.; Hessburg, T. M.

1989-01-01

Robot manipulators are designed to perform tasks which would otherwise be executed by a human operator. No manipulator can even approach the speed and accuracy with which humans execute these tasks. But manipulators have the capability to exceed human ability in one particular area: strength. Through any reasonable observation and experience, the human's ability to perform a variety of physical tasks is limited not by his intelligence, but by his physical strength. If, in the appropriate environment, we can more closely integrate the mechanical power of a machine with intellectually driven human hand under the supervisory control of the human's intellect, we will then have a system which is superior to a loosely-integrated combination of a human and his fully automated robot as in the present day robotic systems. We must therefore develop a fundamental approach to the problem of this extending human mechanical power in certain environments. Extenders will be a class of robots worn by humans to increase human mechanical ability, while the wearer's intellect remains the central intelligent control system for manipulating the extender. The human body, in physical contact with the extender, exchanges information signals and power with the extender. Commands are transferred to the extender via the contact forces between the wearer and the extender as opposed to use of joystick (master arm), push-button or key-board to execute such commands that were used in previous man amplifiers. Instead, the operator becomes an integral part of the extender while executing the task. In this unique configuration the mechanical power transfer between the human and extender occurs in addition to information signal transfer. When the wearer uses the extender to touch and manipulate an object, the extender transfers to the wearer's hand, in feedback fashion, a scaled-down value of the actual external load which the extender is manipulating. This natural feedback force on the wearer's hand allows him to feel the scaled-down value of the external forces in the manipulations. Extenders can be utilized to maneuver very heavy loads in factories, shipyards, airports, and construction sites. In some instances, for example, extenders can replace forklifts. The experimental results for a prototype extender are discussed.

Nonimaging optical designs for maximum-power-density remote irradiation.

PubMed

Feuermann, D; Gordon, J M; Ries, H

1998-04-01

Designs for flexible, high-power-density, remote irradiation systems are presented. Applications include industrial infrared heating such as in semiconductor processing, alternatives to laser light for certain medical procedures, and general remote high-brightness lighting. The high power densities in herent to the small active radiating regions of conventional metal-halide, halogen, xenon, microwave-sulfur, and related lamps can be restored with nonimaging concentrators with little loss of power. These high fluxlevels can then be transported at high transmissivity with light channels such as optical fibers or lightpipes, and reshaped into luminaires that can deliver prescribed angular and spatial flux distributions onto desired targets. Details for nominally two- and three-dimensional systems are developed, along with estimates ofoptical performance.

Bring the Poles to Your Classroom & Community Through Linked Hands-on Learning & IPY Data

NASA Astrophysics Data System (ADS)

Turrin, M.; Bell, R. E.; Kastens, K. A.; Pfirman, S. L.

2009-12-01

Two major legacies of the 4th International Polar Year (IPY 2007-9) are a newly galvanized educational community and an immense volume of polar data collected by the global science community. The tremendous new polar datasets represent a unique opportunity to communicate the nature of the changing poles to student and public audiences through this polar savvy educational community if effective approaches to link data and understanding are employed. We have developed a strategy for polar education that leverages the IPY data resources, linked with the polar education hands-on ‘manipulatives’ (materials that students can manipulate in a dynamic manner). This linked approach leverages the fundamental inquiry based learning but recognizes that particularly in the polar sciences the size of the earth, the remoteness of the poles and the scale of its processes make it difficult for students to explore in a hands-on manner. The linking of polar hands-on ‘manipulatives’ with IPY data provides a bridge between the tangible and the global. Alone manipulative activities can be beneficial in their ability to help students visualize a process or behavior, but without a strong link back to the Earth through data or evidence the understanding of the process is not transferred from the classroom model to the full scale Earth. The use of activities or models is beneficial in connecting the learner to the polar process(es), while the IPY data provides a unique opportunity to ground the polar manipulative experiments in real data. This linked strategy emerged from a series of NSF sponsored IPY Polar Fairs at major science museums that reached in excess of 12,000 people. The design of the fairs was that polar scientists developed activities linking low cost hands-on manipulatives to scientific evidence/data that was displayed in posters, images, and video clips. The participating scientists walked the ‘audience’ through the hands-on manipulative, then discussed their evidence while provided the reasoning. Adjusting this linked manipulative/data approach to the community of teachers will provide a very tangible education outcome to this community from IPY. Our linked manipulative-data strategy ensures polar processes are demonstrated, measured then matched with IPY data sets so that when examined in a guided exploration will provide the student the tools to generate the reasoning. This linked strategy is a powerful way to engage students in Earth science, and provide them with an entry to the wealth of professionally collected data sets that are available from both IPY and the broader science community, all while aligning with National Science Standards. We will demonstrate this approach, and show how the linked manipulative-data approach can be effectively used in community and school events to reach a wider audience.

A review of magnetic resonance imaging compatible manipulators in surgery.

PubMed

Elhawary, H; Zivanovic, A; Davies, B; Lampérth, M

2006-04-01

Developments in magnetic resonance imaging (MRI), coupled with parallel progress in the field of computer-assisted surgery, mean that an ideal environment has been created for the development of MRI-compatible robotic systems and manipulators, capable of enhancing many types of surgical procedure. However, MRI does impose severe restrictions on mechatronic devices to be used in or around the scanners. In this article a review of the developments in the field of MRI-compatible surgical manipulators over the last decade is presented. The manipulators developed make use of different methods of actuation, but they can be reduced to four main groups: actuation transmitted through hydraulics, pneumatic actuators, ultrasonic motors based on the piezoceramic principle and remote manual actuation. Progress has been made concerning material selection, position sensing, and different actuation techniques, and design strategies have been implemented to overcome the multiple restrictions imposed by the MRI environment. Most systems lack the clinical validation needed to continue on to commercial products.

Endocavity Ultrasound Probe Manipulators

PubMed Central

Stoianovici, Dan; Kim, Chunwoo; Schäfer, Felix; Huang, Chien-Ming; Zuo, Yihe; Petrisor, Doru; Han, Misop

2014-01-01

We developed two similar structure manipulators for medical endocavity ultrasound probes with 3 and 4 degrees of freedom (DoF). These robots allow scanning with ultrasound for 3-D imaging and enable robot-assisted image-guided procedures. Both robots use remote center of motion kinematics, characteristic of medical robots. The 4-DoF robot provides unrestricted manipulation of the endocavity probe. With the 3-DoF robot the insertion motion of the probe must be adjusted manually, but the device is simpler and may also be used to manipulate external-body probes. The robots enabled a novel surgical approach of using intraoperative image-based navigation during robot-assisted laparoscopic prostatectomy (RALP), performed with concurrent use of two robotic systems (Tandem, T-RALP). Thus far, a clinical trial for evaluation of safety and feasibility has been performed successfully on 46 patients. This paper describes the architecture and design of the robots, the two prototypes, control features related to safety, preclinical experiments, and the T-RALP procedure. PMID:24795525

Optothermal Manipulations of Colloidal Particles and Living Cells.

PubMed

Lin, Linhan; Hill, Eric H; Peng, Xiaolei; Zheng, Yuebing

2018-05-25

Optical manipulation techniques are important in many fields. For instance, they enable bottom-up assembly of nanomaterials and high-resolution and in situ analysis of biological cells and molecules, providing opportunities for discovery of new materials, medical diagnostics, and nanomedicines. Traditional optical tweezers have their applications limited due to the use of rigorous optics and high optical power. New strategies have been established for low-power optical manipulation techniques. Optothermal manipulation, which exploits photon-phonon conversion and matter migration under a light-controlled temperature gradient, is one such emerging technique. Elucidation of the underlying physics of optothermo-matter interaction and rational engineering of optical environments are required to realize diverse optothermal manipulation functionalities. This Account covers the working principles, design concepts, and applications of a series of newly developed optothermal manipulation techniques, including bubble-pen lithography, opto-thermophoretic tweezers, opto-thermoelectric tweezers, optothermal assembly, and opto-thermoelectric printing. In bubble-pen lithography, optical heating of a plasmonic substrate generates microbubbles at the solid-liquid interface to print diverse colloidal particles on the substrates. Programmable bubble printing of semiconductor quantum dots on different substrates and haptic control of printing have also been achieved. The key to optothermal tweezers is the ability to deliver colloidal particles from cold to hot regions of a temperature gradient or a negative Soret effect. We explore different driving forces for the two types of optothermal tweezers. Opto-thermophoretic tweezers rely on an abnormal permittivity gradient built by structured solvent molecules in the electric double layer of colloidal particles and living cells in response to heat-induced entropy, and opto-thermoelectric tweezers exploit a thermophoresis-induced thermoelectric field for the low-power manipulation of small nanoparticles with minimum diameter around 20 nm. Furthermore, by incorporating depletion attraction into the optothermal tweezers system as particle-particle or particle-substrate binding force, we have achieved bottom-up assembly and reconfigurable optical printing of artificial colloidal matter. Beyond optothermal manipulation techniques in liquid environments, we also review recent progress of gas-phase optothermal manipulation based on photophoresis. Photophoretic trapping and transport of light-absorbing materials have been achieved through optical engineering to tune particle-molecule interactions during optical heating, and a novel optical trap display has been demonstrated. An improved understanding of the colloidal response to temperature gradients will surely facilitate further innovations in optothermal manipulation. With their low-power operation, simple optics, and diverse functionalities, optothermal manipulation techniques will find a wide range of applications in life sciences, colloidal science, materials science, and nanoscience, as well as in the developments of colloidal functional devices and nanomedicine.

Generalized compliant motion primitive

NASA Technical Reports Server (NTRS)

Backes, Paul G. (Inventor)

1994-01-01

This invention relates to a general primitive for controlling a telerobot with a set of input parameters. The primitive includes a trajectory generator; a teleoperation sensor; a joint limit generator; a force setpoint generator; a dither function generator, which produces telerobot motion inputs in a common coordinate frame for simultaneous combination in sensor summers. Virtual return spring motion input is provided by a restoration spring subsystem. The novel features of this invention include use of a single general motion primitive at a remote site to permit the shared and supervisory control of the robot manipulator to perform tasks via a remotely transferred input parameter set.

Depth Perception In Remote Stereoscopic Viewing Systems

NASA Technical Reports Server (NTRS)

Diner, Daniel B.; Von Sydow, Marika

1989-01-01

Report describes theoretical and experimental studies of perception of depth by human operators through stereoscopic video systems. Purpose of such studies to optimize dual-camera configurations used to view workspaces of remote manipulators at distances of 1 to 3 m from cameras. According to analysis, static stereoscopic depth distortion decreased, without decreasing stereoscopitc depth resolution, by increasing camera-to-object and intercamera distances and camera focal length. Further predicts dynamic stereoscopic depth distortion reduced by rotating cameras around center of circle passing through point of convergence of viewing axes and first nodal points of two camera lenses.

KSC-00pp1413

NASA Image and Video Library

2000-09-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility, the Mobile Remote Servicer Base System (MBS) is viewed from the front right side. The MBS is part of the Canadian Space Agency’s (CSA) Space Station Remote Manipulator System (SSRMS), known as the Canadian arm. Scheduled to be launched in February 2002 on flight UF-2 to the International Space Station, the MBS will complete the Canadian Mobile Servicing System, or MSS. The mechanical arm will have the capability to "inchworm" from the U.S. Lab fixture to the MSS and travel along the Truss to work sites on the Space Station

KSC-00pp1414

NASA Image and Video Library

2000-09-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility, the Mobile Remote Servicer Base System (MBS) is viewed from the left right side. The MBS is part of the Canadian Space Agency’s (CSA) Space Station Remote Manipulator System (SSRMS), known as the Canadian arm. Scheduled to be launched in February 2002 on flight UF-2 to the International Space Station, the MBS will complete the Canadian Mobile Servicing System, or MSS. The mechanical arm will have the capability to "inchworm" from the U.S. Lab fixture to the MSS and travel along the Truss to work sites on the Space Station

KSC00pp1414

NASA Image and Video Library

2000-09-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility, the Mobile Remote Servicer Base System (MBS) is viewed from the left right side. The MBS is part of the Canadian Space Agency’s (CSA) Space Station Remote Manipulator System (SSRMS), known as the Canadian arm. Scheduled to be launched in February 2002 on flight UF-2 to the International Space Station, the MBS will complete the Canadian Mobile Servicing System, or MSS. The mechanical arm will have the capability to "inchworm" from the U.S. Lab fixture to the MSS and travel along the Truss to work sites on the Space Station

KSC00pp1413

NASA Image and Video Library

2000-09-01

KENNEDY SPACE CENTER, FLA. -- In the Space Station Processing Facility, the Mobile Remote Servicer Base System (MBS) is viewed from the front right side. The MBS is part of the Canadian Space Agency’s (CSA) Space Station Remote Manipulator System (SSRMS), known as the Canadian arm. Scheduled to be launched in February 2002 on flight UF-2 to the International Space Station, the MBS will complete the Canadian Mobile Servicing System, or MSS. The mechanical arm will have the capability to "inchworm" from the U.S. Lab fixture to the MSS and travel along the Truss to work sites on the Space Station

Wireless sensors powered by microbial fuel cells.

PubMed

Shantaram, Avinash; Beyenal, Haluk; Raajan, Raaja; Veluchamy, Angathevar; Lewandowski, Zbigniew

2005-07-01

Monitoring parameters characterizing water quality, such as temperature, pH, and concentrations of heavy metals in natural waters, is often followed by transmitting the data to remote receivers using telemetry systems. Such systems are commonly powered by batteries, which can be inconvenient at times because batteries have a limited lifetime and must be recharged or replaced periodically to ensure that sufficient energy is available to power the electronics. To avoid these inconveniences, a microbial fuel cell was designed to power electrochemical sensors and small telemetry systems to transmit the data acquired by the sensors to remote receivers. The microbial fuel cell was combined with low-power, high-efficiency electronic circuitry providing a stable power source for wireless data transmission. To generate enough power for the telemetry system, energy produced by the microbial fuel cell was stored in a capacitor and used in short bursts when needed. Since commercial electronic circuits require a minimum 3.3 V input and our cell was able to deliver a maximum of 2.1 V, a DC-DC converter was used to boost the potential. The DC-DC converter powered a transmitter, which gathered the data from the sensor and transmitted it wirelessly to a remote receiver. To demonstrate the utility of the system, temporal variations in temperature were measured, and the data were wirelessly transmitted to a remote receiver.

RM-10A robotic manipulator system

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

White, J.R.; Coughlan, J.B.; Harvey, H.W.

1988-01-01

The REMOTE RM-10A is a man-replacement manipulator system that has been developed specifically for use in radioactive and other hazardous environments. It can be teleoperated, with man-in-the-loop, for unstructured tasks or programmed to perform routine tasks automatically much like robots in the automated manufacturing industry. The RM-10A is a servomanipulator utilizing a closed-loop, microprocessor-based control system. The system consists of a slave assembly, master control station, and interconnecting cabling. The slave assembly is the part of the system that enters the hostile environment. It is man-like is size and configuration with two identical arms attached to a torso structure. Eachmore » arm attaches to the torso using two captive screws and two guide pins. The guide pins position and stabilize an arm during removal and reinstallation and also align the two electrical connectors located in the arm support plate and torso. These features allow easy remote replacement of an arm, and commonality of the arms allow interchangeability. The water-resistant slave assembly is equipped with gaskets and O-ring seals in the torso and arm and camera assemblies. In addition, each slave arm's elbow, wrist, and tong are protected by replaceable polyurethane boots. An upper camera assembly, consisting of a color television (TV) camera, 6:1 zoom lens, and a pan/tilt unit, mount to the torso to provide remote viewing capability.« less

Underwater manipulator's kinematic analysis for sustainable and energy efficient water hydraulics system

NASA Astrophysics Data System (ADS)

Hassan, Siti Nor Habibah; Yusof, Ahmad Anas; Tuan, Tee Boon; Saadun, Mohd Noor Asril; Ibrahim, Mohd Qadafie; Nik, Wan Mohd Norsani Wan

2015-05-01

In promoting energy saving and sustainability, this paper presents research development of water hydraulics manipulator test rig for underwater application. Kinematic analysis of the manipulator has been studied in order to identify the workspace of the fabricated manipulator. The workspace is important as it will define the working area suitable to be developed on the test rig, in order to study the effectiveness of using water hydraulics system for underwater manipulation application. Underwater manipulator that has the ability to utilize the surrounding sea water itself as the power and energy carrier should have better advantages over sustainability and performance.

Direct and Conceptual Replications of Burgmer & Englich (2012): Power May Have Little to No Effect on Motor Performance

PubMed Central

Gottschalk, Christopher; Calin-Jageman, Robert J.

2015-01-01

Burgmer and Englich (2012) have reported that manipulating feelings of power can substantially improve performance on two motor tasks: golf and darts. We conducted two high-powered direct replications of the effects of power on golf, two online conceptual replications using mirror-tracing as a performance measure, and an additional conceptual replication using a cognitive performance measure (word-search). Overall, we found little to no effect of power on motor skill (d = 0.09, 95% CI[-0.07, 0.22], n = 603). We varied task difficulty, re-analyzed data without participants showing weak responses on manipulation checks, and tried adjusting performance scores for age, gender, and initial task skill. None of these secondary analyses revealed a strong effect of power on performance. A meta-analysis integrating our data with Burgmer & Englich leaves open the possibility that manipulating power could provide a modest boost in motor skill (d = 0.19, 95% CI [0.001, 0.38], n = 685). Unfortunately, the pattern of performance changes we observed was unrelated to group differences in perceived and rated power, suggesting that what motor effects do occur with this protocol may not be directly related to the construct of power. [Burgmer, P., &Englich, B. (2012). Bullseye!: How Power Improves Motor Performance. Social Psychological and Personality Science, 4(2), 224–232.] PMID:26536592

Solar powered oxygen systems in remote health centers in Papua New Guinea: a large scale implementation effectiveness trial.

PubMed

Duke, Trevor; Hwaihwanje, Ilomo; Kaupa, Magdalynn; Karubi, Jonah; Panauwe, Doreen; Sa'avu, Martin; Pulsan, Francis; Prasad, Peter; Maru, Freddy; Tenambo, Henry; Kwaramb, Ambrose; Neal, Eleanor; Graham, Hamish; Izadnegahdar, Rasa

2017-06-01

Pneumonia is the largest cause of child deaths in Papua New Guinea (PNG), and hypoxaemia is the major complication causing death in childhood pneumonia, and hypoxaemia is a major factor in deaths from many other common conditions, including bronchiolitis, asthma, sepsis, malaria, trauma, perinatal problems, and obstetric emergencies. A reliable source of oxygen therapy can reduce mortality from pneumonia by up to 35%. However, in low and middle income countries throughout the world, improved oxygen systems have not been implemented at large scale in remote, difficult to access health care settings, and oxygen is often unavailable at smaller rural hospitals or district health centers which serve as the first point of referral for childhood illnesses. These hospitals are hampered by lack of reliable power, staff training and other basic services. We report the methodology of a large implementation effectiveness trial involving sustainable and renewable oxygen and power systems in 36 health facilities in remote rural areas of PNG. The methodology is a before-and after evaluation involving continuous quality improvement, and a health systems approach. We describe this model of implementation as the considerations and steps involved have wider implications in health systems in other countries. The implementation steps include: defining the criteria for where such an intervention is appropriate, assessment of power supplies and power requirements, the optimal design of a solar power system, specifications for oxygen concentrators and other oxygen equipment that will function in remote environments, installation logistics in remote settings, the role of oxygen analyzers in monitoring oxygen concentrator performance, the engineering capacity required to sustain a program at scale, clinical guidelines and training on oxygen equipment and the treatment of children with severe respiratory infection and other critical illnesses, program costs, and measurement of processes and outcomes to support continuous quality improvement. This study will evaluate the feasibility and sustainability issues in improving oxygen systems and providing reliable power on a large scale in remote rural settings in PNG, and the impact of this on child mortality from pneumonia over 3 years post-intervention. Taking a continuous quality improvement approach can be transformational for remote health services.

Manipulatives and the Computer: A Powerful Partnership for Learners of All Ages.

ERIC Educational Resources Information Center

Perl, Teri

1990-01-01

Discussed is the concept of mirroring in which computer programs are used to enhance the use of mathematics manipulatives. The strengths and weaknesses of this approach are presented. The uses of the computer in modeling and as a manipulative are also described. Several software packages are suggested. (CW)

A Remote Monitoring System for Voltage, Current, Power and Temperature Measurements

NASA Astrophysics Data System (ADS)

Barakat, E.; Sinno, N.; Keyrouz, C.

This paper presents a study and design of a monitoring system for the continuous measurement of electrical energy parameters such as voltage, current, power and temperature. This system is designed to monitor the data remotely over internet. The electronic power meter is based on a microcontroller from Microchip Technology Inc. PIC family. The design takes into consideration the correct operation in the event of an outage or brown out by recording the electrical values and the temperatures in EEPROM internally available in the microcontroller. Also a digital display is used to show the acquired measurements. A computer will remotely monitor the data over internet.

Optically powered remote gas monitor

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

Dubaniewicz, T.H. Jr.; Chilton, J.E.

1995-12-31

Many mines rely on toxic gas sensors to help maintain a safe and healthy work environment. This report describes a prototype monitoring system developed by the US Bureau of Mines (USBM) that uses light to power and communicate with several remote toxic gas sensors. The design is based on state-of-art optical-to-electrical power converters, solid-state diode lasers, and fiber optics. This design overcomes several problems associated with conventional wire-based systems by providing complete electrical isolation between the remote sensors and the central monitor. The prototype performed well during a 2-week field trial in the USBM Pittsburgh Research Center Safety Research Coalmore » Mine.« less

Robotic-Movement Payload Lifter and Manipulator

NASA Technical Reports Server (NTRS)

Doggett, William R. (Inventor); King, Bruce D. (Inventor); Collins, Timothy J. (Inventor); Dorsey, John T. (Inventor)

2011-01-01

A payload lifter/manipulator module includes a rotatable joint supporting spreader arms angularly spaced with respect to one another. A rigid arm is fixedly coupled to the joint and extends out therefrom to a tip. A tension arm has a first end and a second end with the first end being fixedly coupled to the tip of the rigid arm. The tension arm incorporates pivots along the length thereof. Each pivot can be engaged by or disengaged from the outboard end of a spreader arm based on a position of the spreader arm. A hoist, positioned remotely with respect to the module and coupled to the second end of the tension arm, controls the position of the spreader arms to thereby control the position of the rigid arm's tip. Payload lifter/manipulator assemblies can be constructed with one or more of the modules.

Emerging needs for mobile nuclear powerplants

NASA Technical Reports Server (NTRS)

Anderson, J. L.

1972-01-01

Incentives for broadening the present role of civilian nuclear power to include mobile nuclear power plants that are compact, lightweight, and safe are examined. Specifically discussed is the growing importance of: (1) a new international cargo transportation capability, and (2) the capability for development of resources in previously remote regions of the earth including the oceans and the Arctic. This report surveys present and potential systems (vehicles, remote stations, and machines) that would both provide these capabilities and require enough power to justify using mobile nuclear reactor power plants.

Remote Evaluation of the Coherence of Indirect Manipulation Interface Systems For Agent-Mediated Legacy Data

DTIC Science & Technology

2000-05-21

High School Chemistry teacher, for my first thorough appreciation and fine immersion in the scientific method. Mrs. Linda Giffin, Eleventh-Grade...Scott Renner, and Len Seligman . 1997. A consumer viewpoint on `mediator languages -- a proposal for a standard`. SIGMOD Record 26, no. 1: 45-46. http

DomeGene Experiment at Cell Biology Experiment Facility (CBEF) in JPM

NASA Image and Video Library

2009-03-18

ISS018-E-040985 (18 March 2009) --- Japan Aerospace Exploration Agency (JAXA) astronaut Koichi Wakata, Expedition 18 flight engineer, uses a computer at the Japanese Remote Manipulator System (JEM-RMS) work station in the Kibo laboratory of the International Space Station while Space Shuttle Discovery (STS-119) remains docked with the station.

DomeGene Experiment at Cell Biology Experiment Facility (CBEF) in JPM

NASA Image and Video Library

2009-03-18

ISS018-E-040986 (18 March 2009) --- Japan Aerospace Exploration Agency (JAXA) astronaut Koichi Wakata, Expedition 18 flight engineer, uses a computer at the Japanese Remote Manipulator System (JEM-RMS) work station in the Kibo laboratory of the International Space Station while Space Shuttle Discovery (STS-119) remains docked with the station.

Columbia's payload bay with Earth in the background

NASA Image and Video Library

2009-06-24

STS003-17-806 (22-30 March 1982) --- A 70mm out-the-window view showing Israel, the Dead Sea, Sea of Galilee, Jordan River, Sinai, Jordan, the Red Sea and Egypt (in background). Rested Remote Manipulator System (RMS) arm and part of the aft section of space shuttle Columbia in foreground. Photo credit: NASA

Recent NASA aerospace medicine technology developments

NASA Technical Reports Server (NTRS)

Jones, W. L.

1973-01-01

Areas of life science are being studied to obtain baseline data, strategies, and technology to permit life research in the space environment. The reactions of the cardiovascular system to prolonged weightlessness are also being investigated. Particle deposition in the human lung, independent respiratory support system, food technology, and remotely controlled manipulators are mentioned briefly.

STS-131 crew member and JAXA astronaut Naoko Yamazaki training SSRMS PROF

NASA Image and Video Library

2010-01-15

JSC2010-E-009785 (15 Jan. 2010) --- Japan Aerospace Exploration Agency (JAXA) astronaut Naoko Yamazaki, STS-131 mission specialist, participates in a simulation exercise using the Space Station Remote Manipulator System (SSRMS) simulator in the Avionics Systems Laboratory at NASA?s Johnson Space Center. Crew instructor Joseph M. Nguyen assisted Yamazaki.

STS-131 crew member and JAXA astronaut Naoko Yamazaki training SSRMS PROF

NASA Image and Video Library

2010-01-15

JSC2010-E-009787 (15 Jan. 2010) --- Japan Aerospace Exploration Agency (JAXA) astronaut Naoko Yamazaki, STS-131 mission specialist, participates in a simulation exercise using the Space Station Remote Manipulator System (SSRMS) simulator in the Avionics Systems Laboratory at NASA?s Johnson Space Center. Crew instructor Joseph M. Nguyen assisted Yamazaki.

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.

MS Sellers connects cables during EVA 2

NASA Image and Video Library

2002-10-12

STS112-E-5290 (12 October 2002) --- With the aid of artificial lighting, astronaut Piers J. Sellers uses both a handrail on the Destiny Laboratory and a foot restraint on the Space Station Remote Manipulator System or Canadarm2 to remain stationary while performing work at the end of the STS-112 mission's second spacewalk.

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

NASA Image and Video Library

2003-01-09

ISS006-E-16953 (9 January 2003) --- The Space Station Remote Manipulator System (SSRMS) or Canadarm2 is backdropped against the Caribbean Sea in this digital still camera's view taken from the International Space Station (ISS). Puerto Rico is in the left side of the frame.

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.

Astronauts Griggs and Hoffman try to fasten devices on end of RMS

NASA Technical Reports Server (NTRS)

1985-01-01

Astronauts S. David Griggs, left, and Jeffrey A. Hoffman join efforts to fasten one of two snag type devices on the end of the Canadian-built remote manipulator system (RMS) arm of the Shuttle Discovery. A partial view of the Earth's horizon can be seen behind the shuttle.

Remote Collaborative 3D Printing - Process Investigation

DTIC Science & Technology

2016-04-01

transferring, receiving, manipulating, and printing a digital 3D model into an additively manufactured component. Several digital models were...into an additively manufactured component. Several digital models were exchanged, and the steps, barriers, workarounds, and results have been...ABBREVIATIONS ABS Acrylonitrile Butadiene Styrene AM Additive Manufacturing AMRDEC SAFE Aviation and Missile Research Development and Engineering

MS Currie at RMS controls during EVA 2

NASA Image and Video Library

2002-03-05

STS109-E-5625 (5 March 2002) --- Astronaut Nancy J. Currie, mission specialist, controls the Remote Manipulator System (RMS) robotic arm of the Space Shuttle Columbia as two astronauts perform work on the Hubble Space Telescope (HST), temporarily hosted in the shuttle's cargo bay. The image was recorded with a digital still camera.

Helms with laptop in Destiny laboratory module

NASA Image and Video Library

2001-03-30

ISS002-E-5478 (30 March 2001) --- Astronaut Susan J. Helms, Expedition Two flight engineer, works at a laptop computer in the U.S. Laboratory / Destiny module of the International Space Station (ISS). The Space Station Remote Manipulator System (SSRMS) control panel is visible to Helms' right. This image was recorded with a digital still camera.

RMS/OBSS inspection of shuttle thermal tile system

NASA Image and Video Library

2011-02-25

S133-E-006073 (25 Feb. 2011) --- Controlled by the STS-133 astronauts inside Discovery's cabin, the Remote Manipulator System/Orbiter Boom Sensor System (RMS/OBSS) equipped with special cameras, begins to conduct thorough inspections of the shuttle’s thermal tile system on flight day 2. Photo credit: NASA or National Aeronautics and Space Administration

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.

STS-114 Flight Day 11 Highlights

NASA Technical Reports Server (NTRS)

2005-01-01

Flight Day 11 begins with the STS-114 crew of Space Shuttle Discovery (Commander Eileen Collins, Pilot James Kelly, Mission Specialists Soichi Noguchi, Stephen Robinson, Andrew Thomas, Wendy Lawrence, and Charles Camarda) awaking to "Anchors Away," to signify the undocking of the Raffaello Multipurpose Logistics Module (MPLM) from the International Space Station (ISS). Canadarm 2, the Space Station Remote Manipulator System (SSRMS), retrieves the Raffaello Multipurpose Logistics Module (MPLM) from the nadir port of the Unity node of the ISS and returns it to Discovery's payload bay. The Shuttle Remote Manipulator System (SRMS) hands the Orbiter Boom Sensor System (OBSS) to its counterpart, the SSRMS, for rebearthing in the payload bay as well. The rebearthing of the OBSS is shown in detail, including centerline and split-screen views. Collins sends a message to her husband, and talks with Representative Tom DeLay (R-TX). Earth views include the Amalfi coast of Italy. The ISS control room bids farewell to the STS-114 crew and the Expedition 11 crew (Commander Sergei Krikalev and NASA ISS Science Officer and Flight Engineer John Phillips) of the ISS.

Modelling and simulation of Space Station Freedom berthing dynamics and control

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

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.

STS-114 Flight Day 3 Highlights

NASA Technical Reports Server (NTRS)

2005-01-01

Video coverage of Day 3 includes highlights of STS-114 during the approach and docking of Discovery with the International Space Station (ISS). The Return to Flight continues with space shuttle crew members (Commander Eileen Collins, Pilot James Kelly, Mission Specialists Soichi Noguchi, Stephen Robinson, Andrew Thomas, Wendy Lawrence, and Charles Camarda) seen in onboard activities on the fore and aft portions of the flight deck during the orbiter's approach. Camarda sends a greeting to his family, and Collins maneuvers Discovery as the ISS appears steadily closer in sequential still video from the centerline camera of the Orbiter Docking System. The approach includes video of Discovery from the ISS during the orbiter's Rendezvous Pitch Maneuver, giving the ISS a clear view of the thermal protection systems underneath the orbiter. Discovery docks with the Destiny Laboratory of the ISS, and the shuttle crew greets the Expedition 11 crew (Commander Sergei Krikalev and NASA ISS Science Officer and Flight Engineer John Phillips) of the ISS onboard the station. Finally, the Space Station Remote Manipulator System hands the Orbiter Boom Sensor System to its counterpart, the Shuttle Remote Manipulator System.

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.

Modeling and Analysis of Remote, Off-grid Microgrids

NASA Astrophysics Data System (ADS)

Madathil, Sreenath Chalil

Over the past century the electric power industry has evolved to support the delivery of power over long distances with highly interconnected transmission systems. Despite this evolution, some remote communities are not connected to these systems. These communities rely on small, disconnected distribution systems, i.e., microgrids, to deliver power. Power distribution in most of these remote communities often depend on a type of microgrid called "off-grid microgrids". However, as microgrids often are not held to the same reliability standards as transmission grids, remote communities can be at risk to experience extended blackouts. Recent trends have also shown an increased use of renewable energy resources in power systems for remote communities. The increased penetration of renewable resources in power generation will require complex decision making when designing a resilient power system. This is mainly due to the stochastic nature of renewable resources that can lead to loss of load or line overload during their operations. In the first part of this thesis, we develop an optimization model and accompanying solution algorithm for capacity planning and operating microgrids that include N-1 security and other practical modeling features (e.g., AC power flow physics, component efficiencies and thermal limits). We demonstrate the effectiveness of our model and solution approach on two test systems: a modified version of the IEEE 13 node test feeder and a model of a distribution system in a remote Alaskan community. Once a tractable algorithm was identified to solve the above problem, we develop a mathematical model that includes topology design of microgrids. The topology design includes building new lines, making redundant lines, and analyzing N-1 contingencies on generators and lines. We develop a rolling horizon algorithm to efficiently analyze the model and demonstrate the strength of our algorithm in the same network. Finally, we develop a stochastic model that considers generation uncertainties along with N-1 security on generation assets. We develop a chance-constrained model to analyze the efficacy of the problem under consideration and present a case study on an adapted IEEE-13 node network. A successful implementation of this research could help remote communities around the world to enhance their quality of life by providing them with cost-effective, reliable electricity.

Statistical properties of trading activity in Chinese stock market

NASA Astrophysics Data System (ADS)

Sun, Xiaoqian; Cheng, Xueqi; Shen, Huawei; Wang, Zhaoyang

2010-08-01

We investigate the statistical properties of traders' trading behavior using cumulative distribution function(CDF). We analyze exchange data of 52 stocks for one-year period which contains non-manipulated stocks and manipulated stocks published by China Securities Regulatory Commission(CSRC). By analyzing the total number of transactions and the trading volume of each trader over a year, we find the cumulative distributions have power-law tails and the distributions between non-manipulated stocks and manipulated stocks are different. These findings can help us to detect the manipulated stocks.

Remotely-interrogated high data rate free space laser communications link

DOEpatents

Ruggiero, Anthony J [Livermore, CA

2007-05-29

A system and method of remotely extracting information from a communications station by interrogation with a low power beam. Nonlinear phase conjugation of the low power beam results in a high power encoded return beam that automatically tracks the input beam and is corrected for atmospheric distortion. Intracavity nondegenerate four wave mixing is used in a broad area semiconductor laser in the communications station to produce the return beam.

Remote magnetic control of a wireless capsule endoscope in the esophagus is safe and feasible: results of a randomized, clinical trial in healthy volunteers.

PubMed

Keller, Jutta; Fibbe, Christiane; Volke, Frank; Gerber, Jeremy; Mosse, Alexander C; Reimann-Zawadzki, Meike; Rabinovitz, Elisha; Layer, Peter; Swain, Paul

2010-11-01

Remote control of esophageal capsule endoscopes could enhance diagnostic accuracy. To assess the safety and efficacy of remote magnetic manipulation of a modified capsule endoscope (magnetic maneuverable capsule [MMC]; Given Imaging Ltd, Yoqneam, Israel) in the esophagus of healthy humans. Randomized, controlled trial. Academic hospital. This study involved 10 healthy volunteers. All participants swallowed a conventional capsule (ESO2; Given Imaging) and a capsule endoscope with magnetic material, the MMC, which is activated by a thermal switch, in random order (1 week apart). An external magnetic paddle (EMP; Given Imaging) was used to manipulate the MMC within the esophageal lumen. MMC responsiveness was evaluated on a screen showing the MMC film in real time. Safety and tolerability of the procedure (questionnaire), responsiveness of the MMC to the EMP, esophageal transit time, and visualization of the Z-line. No adverse events occurred apart from mild retrosternal pressure (n = 5). The ability to rotate the MMC around its longitudinal axis and to tilt it by defined movements of the EMP was clearly demonstrated in 9 volunteers. Esophageal transit time was highly variable for both capsules (MMC, 111-1514 seconds; ESO2, 47-1474 seconds), but the MMC stayed longer in the esophagus in 8 participants (P < .01). Visualization of the Z-line was more efficient with the ESO2 (inspection of 73% ± 18% of the circumference vs 33% ± 27%, P = .01). Magnetic forces were not strong enough to hold the MMC against peristalsis when the capsule approached the gastroesophageal junction. Remote control of the MMC in the esophagus of healthy volunteers is safe and feasible, but higher magnetic forces may be needed. Copyright © 2010 American Society for Gastrointestinal Endoscopy. Published by Mosby, Inc. All rights reserved.

Why do spinal manipulation techniques take the form they do? Towards a general model of spinal manipulation.

PubMed

Evans, David W

2010-06-01

For centuries, techniques used to manipulate joints in the spine have been passed down from one generation of manipulators to the next. Today, spinal manipulation is in the curious position that positive clinical effects have now been demonstrated, yet the theoretical base underpinning every aspect of its use is still underdeveloped. An important question is posed in this masterclass: why do spinal manipulation techniques take the form they do? From the available literature, two factors appear to provide an answer: 1. Action of a force upon vertebrae. Any 'direct' spinal manipulation technique requires that the patient be orientated in such a way that force is applied perpendicular to the overlying skin surface so as to act upon the vertebrae beneath. If the vertebral motion produced by 'directly' applied force is insufficient to produce the desired effect (e.g. cavitation), then force must be applied 'indirectly', often through remote body segments such as the head, thorax, abdomen, pelvis, and extremities. 2. Spinal segment morphology. A new hypothesis is presented. Spinal manipulation techniques exploit the morphology of vertebrae by inducing rotation at a spinal segment, about an axis that is always parallel to the articular surfaces of the constituent zygapophysial joints. In doing so, the articular surfaces of one zygapophysial joint appose to the point of contact, resulting in migration of the axis of rotation towards these contacting surfaces, and in turn this facilitates gapping of the other (target) zygapophysial joint. Other variations in the form of spinal manipulation techniques are likely to depend upon the personal style and individual choices of the practitioner.

Distributed Transforms for Efficient Data Gathering in Sensor Networks

NASA Technical Reports Server (NTRS)

Ortega, Antonio (Inventor); Shen, Godwin (Inventor); Narang, Sunil K. (Inventor); Perez-Trufero, Javier (Inventor)

2014-01-01

Devices, systems, and techniques for data collecting network such as wireless sensors are disclosed. A described technique includes detecting one or more remote nodes included in the wireless sensor network using a local power level that controls a radio range of the local node. The technique includes transmitting a local outdegree. The local outdegree can be based on a quantity of the one or more remote nodes. The technique includes receiving one or more remote outdegrees from the one or more remote nodes. The technique includes determining a local node type of the local node based on detecting a node type of the one or more remote nodes, using the one or more remote outdegrees, and using the local outdegree. The technique includes adjusting characteristics, including an energy usage characteristic and a data compression characteristic, of the wireless sensor network by selectively modifying the local power level and selectively changing the local node type.

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.

Multi-fingered robotic hand

NASA Technical Reports Server (NTRS)

Ruoff, Carl F. (Inventor); Salisbury, Kenneth, Jr. (Inventor)

1990-01-01

A robotic hand is presented having a plurality of fingers, each having a plurality of joints pivotally connected one to the other. Actuators are connected at one end to an actuating and control mechanism mounted remotely from the hand and at the other end to the joints of the fingers for manipulating the fingers and passing externally of the robot manipulating arm in between the hand and the actuating and control mechanism. The fingers include pulleys to route the actuators within the fingers. Cable tension sensing structure mounted on a portion of the hand are disclosed, as is covering of the tip of each finger with a resilient and pliable friction enhancing surface.

Telepresence in neurosurgery: the integrated remote neurosurgical system.

PubMed

Kassell, N F; Downs, J H; Graves, B S

1997-01-01

This paper describes the Integrated Remote Neurosurgical System (IRNS), a remotely-operated neurosurgical microscope with high-speed communications and a surgeon-accessible user interface. The IRNS will allow high quality bidirectional mentoring in the neurosurgical suite. The research goals of this effort are twofold: to develop a clinical system allowing a remote neurosurgeon to lend expertise to the OR-based neurosurgical team and to provide an integrated training environment. The IRNS incorporates a generic microscope/transport model, Called SuMIT (Surgical Manipulator Interface Translator). Our system is currently under test using the Zeiss MKM surgical transport. A SuMIT interface is also being constructed for the Robotics Research 1607. The IRNS Remote Planning and Navigation Workstation incorporates surgical planning capabilities, real-time, 30 fps video from the microscope and overhead video camera. The remote workstation includes a force reflecting handcontroller which gives the remote surgeon an intuitive way to position the microscope head. Bidirectional audio, video whiteboarding, and image archiving are also supported by the remote workstation. A simulation mode permits pre-surgical simulation, post-surgical critique, and training for surgeons without access to an actual microscope transport system. The components of the IRNS are integrated using ATM switching to provide low latency data transfer. The research, along with the more sophisticated systems that will follow, will serve as a foundation and test-bed for extending the surgeon's skills without regard to time zone or geographic boundaries.

Analysis of Bright Harvest Remote Analysis for Residential Solar Installations

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

Nangle, John; Simon, Joseph

Bright Harvest provides remote shading analysis and design products for residential PV system installers. The National Renewable Energy Laboratory (NREL) through the NREL Commercialization Assistance Program, completed comparative assessments between on-site measurements and remotely calculated values to validate the accuracy of Bright Harvest’s remote shading and power generation.

A Design Study Of A Wireless Power Transfer System For Use To Transfer Energy From A Vibration Energy Harvester

NASA Astrophysics Data System (ADS)

Grabham, N. J.; Harden, C.; Vincent, D.; Beeby, S. P.

2016-11-01

A wirelessly powered remote sensor node is presented along with its design process. The purpose of the node is the further expansion of the sensing capabilities of the commercial Perpetuum system used for condition monitoring on trains and rolling stock which operates using vibration energy harvesting. Surplus harvested vibration energy is transferred wirelessly to a remote satellite sensor to allow measurements over a wider area to be made. This additional data is to be used for long term condition monitoring. Performance measurements made on the prototype remote sensor node are reported and advantages and disadvantages of using the same RF frequency for power and data transfer are identified.

Attraction behaviour of Anagrus nilaparvatae to remote lemongrass (Cymbopogon distans) oil and its volatile compounds.

PubMed

Mao, Guo-Feng; Mo, Xiao-Chang; Fouad, Hatem; Abbas, Ghulam; Mo, Jian-Chu

2018-03-01

Utilisation of Anagrus nilaparvatae is a promising and effective method for planthoppers manipulation. Twenty-seven components of remote lemongrass (Cymbopogon distans) oil were identified by GC/MS and nine volatiles were selected for behavioural experiments. In this study, we noted that the remote lemongrass oil was attractive to female A. nilaparvatae at concentrations of 0.1 and 1 mg/L. α-Pinene, β-pinene, eucalyptol, carveol and D-carvone attracted female wasps in the dose-dependent bioassays. Blend 1 (a mixture of eucalyptol, D-carvone, carveol, α-pinene, and β-pinene with ratios of remote lemongrass oil volatiles of 625:80:11:5:3) attracted female wasps at 10 mg/L, while blend 2 (a mixture of the same five volatiles at the same loading ratio) attracted them at 0.1 and 1 mg/L. These results suggested that plant essential oils could be attractants for natural enemies to control pests. The ratios of volatiles in the mixtures affect the attractiveness of the synthetic mixtures.

NASA Lewis H2-O2 MHD program

NASA Technical Reports Server (NTRS)

Smith, M.; Nichols, L. D.; Seikel, G. R.

1974-01-01

Performance and power costs of H2-O2 combustion powered steam-MHD central power systems are estimated. Hydrogen gas is assumed to be transmitted by pipe from a remote coal gasifier into the city and converted to electricity in a steam MHD plant having an integral gaseous oxygen plant. These steam MHD systems appear to offer an attractive alternative to both in-city clean fueled conventional steam power plants and to remote coal fired power plants with underground electric transmission into the city. Status and plans are outlined for an experimental evaluation of H2-O2 combustion-driven MHD power generators at NASA Lewis Research Center.

Astronaut Sellers Performs STS-112 EVA

NASA Technical Reports Server (NTRS)

2002-01-01

Launched October 7, 2002 aboard the Space Shuttle Orbiter Atlantis, the STS-112 mission lasted 11 days and performed three sessions of Extra Vehicular Activity (EVA). Its primary mission was to install the Starboard Side Integrated Truss Structure (S1) and Equipment Translation Aid (CETA) Cart to the International Space Station (ISS). The S1 truss provides structural support for the orbiting research facility's radiator panels, which use ammonia to cool the Station's complex power system. The S1 truss, attached to the S0 (S Zero) truss installed by the previous STS-110 mission, flows 637 pounds of anhydrous ammonia through three heat rejection radiators. The truss is 45-feet long, 15-feet wide, 10-feet tall, and weighs approximately 32,000 pounds. The CETA is the first of two human-powered carts that will ride along the International Space Station's railway providing a mobile work platform for future extravehicular activities by astronauts. In this photograph, Astronaut Piers J. Sellers uses both a handrail on the Destiny Laboratory and a foot restraint on the Space Station Remote Manipulator System or Canadarm2 to remain stationary while performing work at the end of the STS-112 mission's second space walk. A cloud-covered Earth provides the backdrop for the scene.

Detection of the power lines in UAV remote sensed images using spectral-spatial methods.

PubMed

Bhola, Rishav; Krishna, Nandigam Hari; Ramesh, K N; Senthilnath, J; Anand, Gautham

2018-01-15

In this paper, detection of the power lines on images acquired by Unmanned Aerial Vehicle (UAV) based remote sensing is carried out using spectral-spatial methods. Spectral clustering was performed using Kmeans and Expectation Maximization (EM) algorithm to classify the pixels into the power lines and non-power lines. The spectral clustering methods used in this study are parametric in nature, to automate the number of clusters Davies-Bouldin index (DBI) is used. The UAV remote sensed image is clustered into the number of clusters determined by DBI. The k clustered image is merged into 2 clusters (power lines and non-power lines). Further, spatial segmentation was performed using morphological and geometric operations, to eliminate the non-power line regions. In this study, UAV images acquired at different altitudes and angles were analyzed to validate the robustness of the proposed method. It was observed that the EM with spatial segmentation (EM-Seg) performed better than the Kmeans with spatial segmentation (Kmeans-Seg) on most of the UAV images. Copyright © 2017 Elsevier Ltd. All rights reserved.

A review of ultra-short pulse lasers for military remote sensing and rangefinding

NASA Astrophysics Data System (ADS)

Lamb, Robert A.

2009-09-01

Advances in ultra-short pulse laser technology have resulted in commercially available laser systems capable of generating high peak powers >1GW in tabletop systems. This opens the prospect of generating very wide spectral emissions with a combination of non-linear optical effects in photonic crystal fibres to produce supercontinuua in systems that are readily accessible to military applications. However, military remote sensing rarely requires bandwidths spanning two octaves and it is clear that efficient systems require controlled spectral emission in relevant bands. Furthermore, the limited spectral responsivity of focal plane arrays may impose further restriction on the usable spectrum. A recent innovation which temporally encodes a spectrum using group velocity dispersion allows detection with a photodiode, opening the prospect for high speed hyperspectral sensing and imaging. At the opposite end of the power spectrum, ultra-low power remote sensing using time-correlated single photon counting (SPC) has reduced the laser power requirement and demonstrated remote sensing over 5km during daylight with repetition rates of ~10MHz with ps pulses. Recent research has addressed uncorrelated SPC and waveform transmission to increase data rates for absolute rangefinding whilst avoiding range aliasing. This achievement opens the prospect of combining SPC with high repetition rate temporal encoding of supercontinuua to realise practical hyperspectral remote sensing lidar. The talk will present an overview of these technologies and present a concept which combines them into a single system for high-speed hyperspectral imaging and remote sensing.

Head-coupled remote stereoscopic camera system for telepresence applications

NASA Astrophysics Data System (ADS)

Bolas, Mark T.; Fisher, Scott S.

1990-09-01

The Virtual Environment Workstation Project (VIEW) at NASA's Ames Research Center has developed a remotely controlled stereoscopic camera system that can be used for telepresence research and as a tool to develop and evaluate configurations for head-coupled visual systems associated with space station telerobots and remote manipulation robotic arms. The prototype camera system consists of two lightweight CCD video cameras mounted on a computer controlled platform that provides real-time pan, tilt, and roll control of the camera system in coordination with head position transmitted from the user. This paper provides an overall system description focused on the design and implementation of the camera and platform hardware configuration and the development of control software. Results of preliminary performance evaluations are reported with emphasis on engineering and mechanical design issues and discussion of related psychophysiological effects and objectives.

Autonomous Adaptive Low-Power Instrument Platform (AAL-PIP) for remote high latitude geospace data collection

NASA Astrophysics Data System (ADS)

Clauer, C. R.; Kim, H.; Deshpande, K.; Xu, Z.; Weimer, D.; Musko, S.; Crowley, G.; Fish, C.; Nealy, R.; Humphreys, T. E.; Bhatti, J. A.; Ridley, A. J.

2014-06-01

We present the development considerations and design for ground based instrumentation that is being deployed on the East Antarctic Plateau along a 40° magnetic meridian chain to investigate interhemispheric magnetically conjugate geomagnetic coupling and other space weather related phenomena. The stations are magnetically conjugate to geomagnetic stations along the west coast of Greenland. The autonomous adaptive low-power instrument platforms being deployed in the Antarctic are designed to operate unattended in remote locations for at least 5 years. They utilize solar power and AGM storage batteries for power, two-way Iridium satellite communication for data acquisition and program/operation modification, support fluxgate and induction magnetometers as well as dual-frequency gps receiver and an HF radio experiment. Size and weight considerations are considered to enable deployment by a small team using small aircraft. Considerable experience has been gained in the development and deployment of remote polar instrumentation that is reflected in the present generation of instrumentation discussed here. We conclude with the lessons learned from our experience in the design, deployment and operation of remote polar instrumentation.

An autonomous adaptive low-power instrument platform (AAL-PIP) for remote high-latitude geospace data collection

NASA Astrophysics Data System (ADS)

Clauer, C. R.; Kim, H.; Deshpande, K.; Xu, Z.; Weimer, D.; Musko, S.; Crowley, G.; Fish, C.; Nealy, R.; Humphreys, T. E.; Bhatti, J. A.; Ridley, A. J.

2014-10-01

We present the development considerations and design for ground-based instrumentation that is being deployed on the East Antarctic Plateau along a 40° magnetic meridian chain to investigate interhemispheric magnetically conjugate geomagnetic coupling and other space-weather-related phenomena. The stations are magnetically conjugate to geomagnetic stations along the west coast of Greenland. The autonomous adaptive low-power instrument platforms being deployed in the Antarctic are designed to operate unattended in remote locations for at least 5 years. They utilize solar power and AGM storage batteries for power, two-way Iridium satellite communication for data acquisition and program/operation modification, support fluxgate and induction magnetometers as well as a dual-frequency GPS receiver and a high-frequency (HF) radio experiment. Size and weight considerations are considered to enable deployment by a small team using small aircraft. Considerable experience has been gained in the development and deployment of remote polar instrumentation that is reflected in the present generation of instrumentation discussed here. We conclude with the lessons learned from our experience in the design, deployment and operation of remote polar instrumentation.

Intraocular robotic interventional surgical system (IRISS): Mechanical design, evaluation, and master-slave manipulation.

PubMed

Wilson, Jason T; Gerber, Matthew J; Prince, Stephen W; Chen, Cheng-Wei; Schwartz, Steven D; Hubschman, Jean-Pierre; Tsao, Tsu-Chin

2018-02-01

Since the advent of robotic-assisted surgery, the value of using robotic systems to assist in surgical procedures has been repeatedly demonstrated. However, existing technologies are unable to perform complete, multi-step procedures from start to finish. Many intraocular surgical steps continue to be manually performed. An intraocular robotic interventional surgical system (IRISS) capable of performing various intraocular surgical procedures was designed, fabricated, and evaluated. Methods were developed to evaluate the performance of the remote centers of motion (RCMs) using a stereo-camera setup and to assess the accuracy and precision of positioning the tool tip using an optical coherence tomography (OCT) system. The IRISS can simultaneously manipulate multiple surgical instruments, change between mounted tools using an onboard tool-change mechanism, and visualize the otherwise invisible RCMs to facilitate alignment of the RCM to the surgical incision. The accuracy of positioning the tool tip was measured to be 0.205±0.003 mm. The IRISS was evaluated by trained surgeons in a remote surgical theatre using post-mortem pig eyes and shown to be effective in completing many key steps in a variety of intraocular surgical procedures as well as being capable of performing an entire cataract extraction from start to finish. The IRISS represents a necessary step towards fully automated intraocular surgery and demonstrated accurate and precise master-slave manipulation for cataract removal and-through visual feedback-retinal vein cannulation. Copyright © 2017 John Wiley & Sons, Ltd.

The Effects of a Grouping by Tens Manipulative on Children's Strategy Use, Base Ten Understanding and Mathematical Knowledge

ERIC Educational Resources Information Center

Pagar, Dana

2013-01-01

Manipulatives have the potential to be powerful tools in helping children improve their number sense, develop advanced mathematical strategies, and build an understanding of the base ten number system. Physical manipulatives used in classrooms, however, are often not designed to promote efficient strategy use, such as counting on, and typically do…

Teaching and implementing autonomous robotic lab walkthroughs in a biotech laboratory through model-based visual tracking

NASA Astrophysics Data System (ADS)

Wojtczyk, Martin; Panin, Giorgio; Röder, Thorsten; Lenz, Claus; Nair, Suraj; Heidemann, Rüdiger; Goudar, Chetan; Knoll, Alois

2010-01-01

After utilizing robots for more than 30 years for classic industrial automation applications, service robots form a constantly increasing market, although the big breakthrough is still awaited. Our approach to service robots was driven by the idea of supporting lab personnel in a biotechnology laboratory. After initial development in Germany, a mobile robot platform extended with an industrial manipulator and the necessary sensors for indoor localization and object manipulation, has been shipped to Bayer HealthCare in Berkeley, CA, USA, a global player in the sector of biopharmaceutical products, located in the San Francisco bay area. The determined goal of the mobile manipulator is to support the off-shift staff to carry out completely autonomous or guided, remote controlled lab walkthroughs, which we implement utilizing a recent development of our computer vision group: OpenTL - an integrated framework for model-based visual tracking.

Proposal of digital interface for the system of the air conditioner's remote control: analysis of the system of feedback.

PubMed

da Silva de Queiroz Pierre, Raisa; Kawada, Tarô Arthur Tavares; Fontes, André Guimarães

2012-01-01

Develop a proposal of digital interface for the system of the remote control, that functions as support system during the manipulation of air conditioner adjusted for the users in general, from ergonomic parameters, objectifying the reduction of the problems faced for the user and improving the process. 20 people with questionnaire with both qualitative and quantitative level. Linear Method consists of a sequence of steps in which the input of one of them depends on the output from the previous one, although they are independent. The process of feedback, when necessary, must occur within each step separately.

Twelfth Annual Conference on Manual Control

NASA Technical Reports Server (NTRS)

Wempe, T. E.

1976-01-01

Main topics discussed cover multi-task decision making, attention allocation and workload measurement, displays and controls, nonvisual displays, tracking and other psychomotor tasks, automobile driving, handling qualities and pilot ratings, remote manipulation, system identification, control models, and motion and visual cues. Sixty-five papers are included with presentations on results of analytical studies to develop and evaluate human operator models for a range of control task, vehicle dynamics and display situations; results of tests of physiological control systems and applications to medical problems; and on results of simulator and flight tests to determine display, control and dynamics effects on operator performance and workload for aircraft, automobile, and remote control systems.

Performance improvement in remote manipulation with time delay by means of a learning system.

NASA Technical Reports Server (NTRS)

Freedy, A.; Weltman, G.

1973-01-01

A teleoperating system is presented that involves shared control between a human operator and a general-purpose computer-based learning machine. This setup features a trainable control network termed the autonomous control subsystem (ACS) which is able to observe the operator's control actions, learn the task at hand, and take appropriate control actions. A working ACS system is described that has been put in operation for the purpose of exploring the uses of a remote intelligence of this type. The expansion of the present system into a multifunctional learning machine capable of a greater degree of autonomy is also discussed.

Incorporating Brokers within Collaboration Environments

NASA Astrophysics Data System (ADS)

Rajasekar, A.; Moore, R.; de Torcy, A.

2013-12-01

A collaboration environment, such as the integrated Rule Oriented Data System (iRODS - http://irods.diceresearch.org), provides interoperability mechanisms for accessing storage systems, authentication systems, messaging systems, information catalogs, networks, and policy engines from a wide variety of clients. The interoperability mechanisms function as brokers, translating actions requested by clients to the protocol required by a specific technology. The iRODS data grid is used to enable collaborative research within hydrology, seismology, earth science, climate, oceanography, plant biology, astronomy, physics, and genomics disciplines. Although each domain has unique resources, data formats, semantics, and protocols, the iRODS system provides a generic framework that is capable of managing collaborative research initiatives that span multiple disciplines. Each interoperability mechanism (broker) is linked to a name space that enables unified access across the heterogeneous systems. The collaboration environment provides not only support for brokers, but also support for virtualization of name spaces for users, files, collections, storage systems, metadata, and policies. The broker enables access to data or information in a remote system using the appropriate protocol, while the collaboration environment provides a uniform naming convention for accessing and manipulating each object. Within the NSF DataNet Federation Consortium project (http://www.datafed.org), three basic types of interoperability mechanisms have been identified and applied: 1) drivers for managing manipulation at the remote resource (such as data subsetting), 2) micro-services that execute the protocol required by the remote resource, and 3) policies for controlling the execution. For example, drivers have been written for manipulating NetCDF and HDF formatted files within THREDDS servers. Micro-services have been written that manage interactions with the CUAHSI data repository, the DataONE information catalog, and the GeoBrain broker. Policies have been written that manage transfer of messages between an iRODS message queue and the Advanced Message Queuing Protocol. Examples of these brokering mechanisms will be presented. The DFC collaboration environment serves as the intermediary between community resources and compute grids, enabling reproducible data-driven research. It is possible to create an analysis workflow that retrieves data subsets from a remote server, assemble the required input files, automate the execution of the workflow, automatically track the provenance of the workflow, and share the input files, workflow, and output files. A collaborator can re-execute a shared workflow, compare results, change input files, and re-execute an analysis.

Launch Deployment Assembly Human Engineering Analysis

NASA Technical Reports Server (NTRS)

Loughead, T.

1996-01-01

This report documents the human engineering analysis performed by the Systems Branch in support of the 6A cargo element design. The human engineering analysis is limited to the extra vehicular activities (EVA) which are involved in removal of various cargo items from the LDA and specific activities concerning deployment of the Space Station Remote Manipulator System (SSRMS).

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.

17. Photocopy of photograph. VIEW OF WORKERS IN EAST OPERATING ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

17. Photocopy of photograph. VIEW OF WORKERS IN EAST OPERATING GALLERY USING MANIPULATOR ARMS AT STATION E-108. Photographer unknown, ca. 1965, original photograph and negative on file at the Remote Sensing Laboratory, Department of Energy, Nevada Operations Office. - Nevada Test Site, Engine Maintenance Assembly & Disassembly Facility, Area 25, Jackass Flats, Mercury, Nye County, NV

Movement Right from the Start: Physical Activity for Young Students

ERIC Educational Resources Information Center

Morgan, Deborah H.; Morgan, Don W.

2012-01-01

In today's technology-driven society, children often sit for hours in front of a screen (e.g., computer, TV, video game), exercising only their fingers as they manipulate the keyboard, remote control, or game controller. This sedentary lifestyle contributes to the growing problem of childhood obesity. Data from the U.S. Centers for Disease Control…

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

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

SPARTAN satellite on RMS arm prior to release

NASA Image and Video Library

1997-11-21

STS087-706-020 (19 November – 5 December 1997) --- The Spartan 201 satellite, held in the grasp of the Space Shuttle Columbia's Remote Manipulator System (RMS) arm, is backdropped over white clouds and blue waters of the Pacific Ocean. Long Island, off the coast of Papua New Guinea, is barely visible in the lower left corner.

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.

STS-111 Expedition Five Crew Training Clip

NASA Technical Reports Server (NTRS)

2002-01-01

The STS-111 Expedition Five Crew begins with training on payload operations. Flight Engineer Peggy Whitson and Mission Specialist Sandy Magnus are shown in Shuttle Remote Manipulator System (SRMS) procedures. Flight Engineer Sergei Treschev gets suited for Neutral Neutral Buoyancy Lab (NBL) training. Virtual Reality lab training is shown with Peggy Whitson. Habitation Equipment and procedures are also presented.

Astronat Dale Gardner using MMU to travel to Westar VI satellite

NASA Technical Reports Server (NTRS)

1984-01-01

Astronat Dale A. Gardner appears to be under the remote manipulator system (RMS) end effector as he makes a turn in space and preapares to use the manned maneuvering unit (MMU) to travel to Westar VI satellite. The 'stinger' he carries will enter the communications satellite through the nozzle of the spent motor.

HST,survey views of Hubble after berthing in payload bay on Flight Day 3

NASA Image and Video Library

1997-02-13

S82-E-5140 (13 Feb. 1997) --- A back-lighted full view of the Hubble Space Telescope (HST) in the grasp of the Remote Manipulation System (RMS) following capture early today. The limb of Earth forms part of the background. This view was taken with an Electronic Still Camera (ESC).

INFLIGHT (EARTH VIEWS) - STS-2

NASA Image and Video Library

1981-11-16

Onboard views by the STS-2 Crew of the Payload Bay with Office of Space and Terrestrial Applications (OSTA)-1 Payload, the Remote Manipulator System (RMS) and Earth views of: Korea, China and Columbia. Also available in 4x5 BW 1. REAGAN, RONALD PRESIDENT - MOCR (STS-2) JSC, HOUSTON, TX Also available in 4x5 BW, 35 CN, 35 BW

Hawley controls the RMS arm from the flight deck during EVA on Flight Day 6

NASA Image and Video Library

1997-02-16

S82-E-5568 (16 Feb. 1997) --- Astronaut Steven A. Hawley, at controls for Remote Manipulator System (RMS), during third Extravehicular Activity (EVA). Hawley had been a mission specialist for the NASA mission which deployed the giant HST in 1990. This view was taken with an Electronic Still Camera (ESC).

Endeavour Payload Bay

NASA Image and Video Library

2010-02-20

S130-E-012478 (20 Feb. 2010) --- Backdropped by Earth?s horizon and the blackness of space, a partial view of space shuttle Endeavour's payload bay, vertical stabilizer, orbital maneuvering system (OMS) pods, Remote Manipulator System/Orbiter Boom Sensor System (RMS/OBSS) and docking mechanism are featured in this image photographed by an STS-130 crew member from an aft flight deck window.

Solar powered oxygen systems in remote health centers in Papua New Guinea: a large scale implementation effectiveness trial

PubMed Central

Duke, Trevor; Hwaihwanje, Ilomo; Kaupa, Magdalynn; Karubi, Jonah; Panauwe, Doreen; Sa’avu, Martin; Pulsan, Francis; Prasad, Peter; Maru, Freddy; Tenambo, Henry; Kwaramb, Ambrose; Neal, Eleanor; Graham, Hamish; Izadnegahdar, Rasa

2017-01-01

Background Pneumonia is the largest cause of child deaths in Papua New Guinea (PNG), and hypoxaemia is the major complication causing death in childhood pneumonia, and hypoxaemia is a major factor in deaths from many other common conditions, including bronchiolitis, asthma, sepsis, malaria, trauma, perinatal problems, and obstetric emergencies. A reliable source of oxygen therapy can reduce mortality from pneumonia by up to 35%. However, in low and middle income countries throughout the world, improved oxygen systems have not been implemented at large scale in remote, difficult to access health care settings, and oxygen is often unavailable at smaller rural hospitals or district health centers which serve as the first point of referral for childhood illnesses. These hospitals are hampered by lack of reliable power, staff training and other basic services. Methods We report the methodology of a large implementation effectiveness trial involving sustainable and renewable oxygen and power systems in 36 health facilities in remote rural areas of PNG. The methodology is a before–and after evaluation involving continuous quality improvement, and a health systems approach. We describe this model of implementation as the considerations and steps involved have wider implications in health systems in other countries. Results The implementation steps include: defining the criteria for where such an intervention is appropriate, assessment of power supplies and power requirements, the optimal design of a solar power system, specifications for oxygen concentrators and other oxygen equipment that will function in remote environments, installation logistics in remote settings, the role of oxygen analyzers in monitoring oxygen concentrator performance, the engineering capacity required to sustain a program at scale, clinical guidelines and training on oxygen equipment and the treatment of children with severe respiratory infection and other critical illnesses, program costs, and measurement of processes and outcomes to support continuous quality improvement. Conclusions This study will evaluate the feasibility and sustainability issues in improving oxygen systems and providing reliable power on a large scale in remote rural settings in PNG, and the impact of this on child mortality from pneumonia over 3 years post–intervention. Taking a continuous quality improvement approach can be transformational for remote health services. PMID:28567280

Development of technology for creating intelligent control systems for power plants and propulsion systems for marine robotic systems

NASA Astrophysics Data System (ADS)

Iakovleva, E. V.; Momot, B. A.

2017-10-01

The object of this study is to develop a power plant and an electric propulsion control system for autonomous remotely controlled vessels. The tasks of the study are as follows: to assess remotely controlled vessels usage reasonability, to define the requirements for this type of vessel navigation. In addition, the paper presents the analysis of technical diagnostics systems. The developed electric propulsion control systems for vessels should provide improved reliability and efficiency of the propulsion complex to ensure the profitability of remotely controlled vessels.

Remote radiation dosimetry

DOEpatents

Braunlich, P.F.; Tetzlaff, W.; Hegland, J.E.; Jones, S.C.

1991-03-12

Disclosed are methods and apparatus for remotely measuring radiation levels. Such are particularly useful for measuring relatively high levels or dosages of radiation being administered in radiation therapy. They are also useful for more general radiation level measurements where remote sensing from the remaining portions of the apparatus is desirable. The apparatus uses a beam generator, such as a laser beam, to provide a stimulating beam. The stimulating beam is preferably of wavelengths shorter than 6 microns, or more advantageously less than 2 microns. The stimulating beam is used to stimulate a remote luminescent sensor mounted in a probe which emits stored luminescent energy resulting from exposure of the sensor to ionizing radiation. The stimulating beam is communicated to the remote luminescent sensor via a transmissive fiber which also preferably serves to return the emission from the luminescent sensor. The stimulating beam is advantageously split by a beam splitter to create a detector beam which is measured for power during a reading period during which the luminescent phosphor is read. The detected power is preferably used to control the beam generator to thus produce desired beam power during the reading period. The luminescent emission from the remote sensor is communicated to a suitable emission detector, preferably after filtering or other selective treatment to better isolate the luminescent emission. 8 figures.

Remote radiation dosimetry

DOEpatents

Braunlich, Peter F.; Tetzlaff, Wolfgang; Hegland, Joel E.; Jones, Scott C.

1991-01-01

Disclosed are methods and apparatus for remotely measuring radiation levels. Such are particularly useful for measuring relatively high levels or dosages of radiation being administered in radiation therapy. They are also useful for more general radiation level measurements where remote sensing from the remaining portions of the apparatus is desirable. The apparatus uses a beam generator, such as a laser beam, to provide a stimulating beam. The stimulating beam is preferably of wavelengths shorter than 6 microns, or more advantageously less than 2 microns. The stimulating beam is used to stimulate a remote luminescent sensor mounted in a probe which emits stored luminescent energy resulting from exposure of the sensor to ionizing radiation. The stimulating beam is communicated to the remote luminescent sensor via transmissive fiber which also preferably serves to return the emission from the luminescent sensor. The stimulating beam is advantageously split by a beam splitter to create a detector beam which is measured for power during a reading period during which the luminescent phosphor is read. The detected power is preferably used to control the beam generator to thus produce desired beam power during the reading period. The luminescent emission from the remote sensor is communicated to a suitable emission detector, preferably after filtering or other selective treatment to better isolate the luminescent emission.

Internet Enabled Remote Driving of a Combat Hybrid Electric Power System for Duty Cycle Measurement

DTIC Science & Technology

2007-06-01

INTERNET ENABLED REMOTE DRIVING OF A COMBAT HYBRID ELECTRIC POWER SYSTEM FOR DUTY CYCLE MEASUREMENT Jarrett Goodell1 Marc Compere , Ph.D.2...Orlando, FL, April 2006. 2. Compere , M.; M.; Goodell, J.; Simon, M; Smith, W.; Brudnak, M, “Robust Control Techniques Enabling Duty Cycle...2006-01-3077, SAE Power Systems Conference, Nov. 2006. 3. Compere , M.; Simon, M.; Kajs, J.; Pozolo, M., “Tracked Vehicle Mobility Load Emulation for a

Optimizing Optics For Remotely Controlled Underwater Vehicles

NASA Astrophysics Data System (ADS)

Billet, A. B.

1984-09-01

The past decade has shown a dramatic increase in the use of unmanned tethered vehicles in worldwide marine fields. These vehicles are used for inspection, debris removal and object retrieval. With advanced robotic technology, remotely operated vehicles (ROVs) are now able to perform a variety of jobs previously accomplished only by divers. The ROVs can be used at greater depths and for riskier jobs, and safety to the diver is increased, freeing him for safer, more cost-effective tasks requiring human capabilities. Secondly, the ROV operation becomes more cost effective to use as work depth increases. At 1000 feet a diver's 10 minutes of work can cost over $100,000 including support personnel, while an ROV operational cost might be 1/20 of the diver cost per day, based on the condition that the cost for ROV operation does not change with depth, as it does for divers. In the ROV operation the television lens must be as good as the human eye, with better light gathering capability than the human eye. The RCV-150 system is an example of these advanced technology vehicles. With the requirements of manueuverability and unusual inspection, a responsive, high performance, compact vehicle was developed. The RCV-150 viewing subsystem consists of a television camera, lights, and topside monitors. The vehicle uses a low light level Newvicon television camera. The camera is equipped with a power-down iris that closes for burn protection when the power is off. The camera can pan f 50 degrees and tilt f 85 degrees on command from the surface. Four independently controlled 250 watt quartz halogen flood lamps illuminate the viewing area as required; in addition, two 250 watt spotlights are fitted. A controlled nine inch CRT monitor provides real time camera pictures for the operator. The RCV-150 vehicle component system consists of the vehicle structure, the vehicle electronics, and hydraulic system which powers the thruster assemblies and the manipulator. For this vehicle, a light weight, high response hydraulic system was developed in a very small package.

WEB-IS2: Next Generation Web Services Using Amira Visualization Package

NASA Astrophysics Data System (ADS)

Yang, X.; Wang, Y.; Bollig, E. F.; Kadlec, B. J.; Garbow, Z. A.; Yuen, D. A.; Erlebacher, G.

2003-12-01

Amira (www.amiravis.com) is a powerful 3-D visualization package and has been employed recently by the science and engineering communities to gain insight into their data. We present a new web-based interface to Amira, packaged in a Java applet. We have developed a module called WEB-IS/Amira (WEB-IS2), which provides web-based access to Amira. This tool allows earth scientists to manipulate Amira controls remotely and to analyze, render and view large datasets over the internet, without regard for time or location. This could have important ramifications for GRID computing. The design of our implementation will soon allow multiple users to visually collaborate by manipulating a single dataset through a variety of client devices. These clients will only require a browser capable of displaying Java applets. As the deluge of data continues, innovative solutions that maximize ease of use without sacrificing efficiency or flexibility will continue to gain in importance, particularly in the Earth sciences. Major initiatives, such as Earthscope (http://www.earthscope.org), which will generate at least a terabyte of data daily, stand to profit enormously by a system such as WEB-IS/Amira (WEB-IS2). We discuss our use of SOAP (Livingston, D., Advanced SOAP for Web development, Prentice Hall, 2002), a novel 2-way communication protocol, as a means of providing remote commands, and efficient point-to-point transfer of binary image data. We will present our initial experiences with the use of Naradabrokering (www.naradabrokering.org) as a means to decouple clients and servers. Information is submitted to the system as a published item, while it is retrieved through a subscription mechanisms, via what is known as "topics". These topic headers, their contents, and the list of subscribers are automatically tracked by Naradabrokering. This novel approach promises a high degree of fault tolerance, flexibility with respect to client diversity, and language independence for the services (Erlebacher, G., Yuen, D.A., and F. Dubuffet, Current trends and demands in visualization in the geosciences, Electron. Geosciences, 4, 2001).

New Active Remote-sensing Capabilities: Laser Ablation Spectrometer and Lidar Atmospheric Species Profile Measurements

NASA Technical Reports Server (NTRS)

DeYoung, R. J.; Bergstralh, J. T.

2005-01-01

Introduction: With the anticipated development of high-capacity fission power and electric propulsion for deep-space missions, it will become possible to propose experiments that demand higher power than current technologies (e.g. radioisotope power sources) provide. Jupiter Icy Moons Orbiter (JIMO), the first mission in the Project Prometheus program, will explore the icy moons of Jupiter with a suite of high-capability experiments that take advantage of the high power levels (and indirectly, the high data rates) that fission power affords. This abstract describes two high-capability active-remote-sensing experiments that will be logical candidates for subsequent Prometheus-class missions.

Resilient off-grid microgrids: Capacity planning and N-1 security

DOE PAGES

Madathil, Sreenath Chalil; Yamangil, Emre; Nagarajan, Harsha; ...

2017-06-13

Over the past century the electric power industry has evolved to support the delivery of power over long distances with highly interconnected transmission systems. Despite this evolution, some remote communities are not connected to these systems. These communities rely on small, disconnected distribution systems, i.e., microgrids to deliver power. However, as microgrids often are not held to the same reliability standards as transmission grids, remote communities can be at risk for extended blackouts. To address this issue, we develop an optimization model and an algorithm for capacity planning and operations of microgrids that include N-1 security and other practical modelingmore » features like AC power flow physics, component efficiencies and thermal limits. Lastly, we demonstrate the computational effectiveness of our approach on two test systems; a modified version of the IEEE 13 node test feeder and a model of a distribution system in a remote community in Alaska.« less

Resilient off-grid microgrids: Capacity planning and N-1 security

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

Madathil, Sreenath Chalil; Yamangil, Emre; Nagarajan, Harsha

Over the past century the electric power industry has evolved to support the delivery of power over long distances with highly interconnected transmission systems. Despite this evolution, some remote communities are not connected to these systems. These communities rely on small, disconnected distribution systems, i.e., microgrids to deliver power. However, as microgrids often are not held to the same reliability standards as transmission grids, remote communities can be at risk for extended blackouts. To address this issue, we develop an optimization model and an algorithm for capacity planning and operations of microgrids that include N-1 security and other practical modelingmore » features like AC power flow physics, component efficiencies and thermal limits. Lastly, we demonstrate the computational effectiveness of our approach on two test systems; a modified version of the IEEE 13 node test feeder and a model of a distribution system in a remote community in Alaska.« less

Optical remote sensing and correlation of office equipment functional state and stress levels via power quality disturbances inefficiencies

NASA Astrophysics Data System (ADS)

Sternberg, Oren; Bednarski, Valerie R.; Perez, Israel; Wheeland, Sara; Rockway, John D.

2016-09-01

Non-invasive optical techniques pertaining to the remote sensing of power quality disturbances (PQD) are part of an emerging technology field typically dominated by radio frequency (RF) and invasive-based techniques. Algorithms and methods to analyze and address PQD such as probabilistic neural networks and fully informed particle swarms have been explored in industry and academia. Such methods are tuned to work with RF equipment and electronics in existing power grids. As both commercial and defense assets are heavily power-dependent, understanding electrical transients and failure events using non-invasive detection techniques is crucial. In this paper we correlate power quality empirical models to the observed optical response. We also empirically demonstrate a first-order approach to map household, office and commercial equipment PQD to user functions and stress levels. We employ a physics-based image and signal processing approach, which demonstrates measured non-invasive (remote sensing) techniques to detect and map the base frequency associated with the power source to the various PQD on a calibrated source.

76 FR 33277 - Proposed Approval of the Central Characterization Project's Remote-Handled Transuranic Waste...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-06-08

... Central Characterization Project's Remote-Handled Transuranic Waste Characterization Program at Bettis... radioactive remote-handled (RH) transuranic (TRU) waste characterization program implemented by the Central Characterization Project (CCP) at Bettis Atomic Power Laboratory (BAPL) in West Mifflin, Pennsylvania. This waste...