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Control of robot manipulator compliance

Robotic assembly operations such as mating and fastening of parts are more successful if the robot manipulator compliance can be controlled so that various coordinates are free to comply with external constraints. This paper presents the design of a hybrid controller to provide active compliance to a six-degree-of-freedom robot built at NASA/GSFC using force and position feedback. Simulation results of a 2 degree-of-freedom model is presented and discussed.

Nguyen, Charles C.↗

Pacific Northwest National Laboratory Annual Site Environmental Report for Calendar Year 2019 (Final Report)

The PNNL Annual Site Environmental Report is prepared to meet the requirements of DOE Order 231.1B, Environmental, Safety and Health Reporting, and DOE Order 458.1, Radiation Protection of the Public and the Environment, assuring that the public is informed of any PNNL Richland Campus or PNNL Sequim Campus event that could adversely affect the health and safety of the public, site staff, or the environment. The report provides a synopsis of ongoing environmental management performance and compliance activities for operations that occur on the PNNL Richland Campus in Richland, Washington, and at the PNNL Sequim Campus near Sequim, Washington. It describes the location of and background for each facility; addresses compliance with applicable DOE, federal, state, and local regulations and site-specific permits; documents environmental monitoring efforts and their status; presents potential radiation doses to staff and the public in the surrounding areas; and describes DOE-required data quality assurance methods used for data verification.

54 ENVIRONMENTAL SCIENCES↗

Pacific Northwest National Laboratory Annual Site Environmental Report for Calendar Year 2022 (Final Report)

Pacific Northwest National Laboratory (PNNL), one of the U.S. Department of Energy (DOE) Office of Science’s 10 national laboratories, provides innovative science and technology development in the areas of energy and the environment, fundamental and computational science, and national security. There are three DOE offices within the Richland area. Two are responsible for the Hanford Site, whereas the Pacific Northwest Site Office (PNSO) oversees PNNL. PNNL prepares this Annual Site Environmental Report to meet the requirements of DOE Order 231.1B, Environmental, Safety and Health Reporting, and DOE Order 458.1, Radiation Protection of the Public and the Environment, assuring that the public is informed of any PNNL-Richland Campus or PNNL-Sequim Campus event that could adversely affect the health and safety of the public, site staff, or the environment. The report provides a synopsis of ongoing environmental management performance and compliance activities for operations that occur on the PNNL-Richland Campus in Richland, Washington, and at the PNNL-Sequim Campus near Sequim, Washington. It describes the location of and background for each facility; addresses compliance with applicable DOE, federal, state, and local regulations, and site-specific permits; documents environmental monitoring efforts and their status; presents potential radiation doses to staff and the public in the surrounding areas; and describes DOE-required data quality assurance methods used for data verification. The ASER summarizes site compliance with federal, state, and local environmental laws, regulations, policies, directives, permits, and Orders, and provides environmental management performance benchmarks and their status to the public, regulatory agencies, community officials, Native American tribes, and public interest groups.

54 ENVIRONMENTAL SCIENCES↗

Pacific Northwest National Laboratory Annual Site Environmental Report for Calendar Year 2024

The report provides a synopsis of ongoing environmental management performance and compliance activities for operations that occur at the PNNL-Richland campus in Richland, Washington, and at the PNNL-Sequim campus near Sequim, Washington. It describes the location of and background for each facility; addresses compliance with applicable DOE, federal, state, and local regulations, and site-specific permits; documents environmental monitoring efforts and their status; presents potential radiation doses to staff and the public in the surrounding areas; and describes DOE-required data quality assurance methods used for data verification.

54 ENVIRONMENTAL SCIENCES↗

2022 Annual Site Environmental Report for Sandia National Laboratories, Livermore, California

Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration. The National Nuclear Security Administration’s Sandia Field Office administers the contract and oversees contractor operations at Sandia National Laboratories, California. Activities at this multiprogram engineering and science laboratory support the nuclear weapons stockpile program, energy and environmental research, homeland security, micro- and nanotechnologies, and basic science and engineering research. The U.S. Department of Energy and its management and operating contractor are committed to safeguarding the environment, assessing sustainability practices, and ensuring the validity and accuracy of the monitoring data presented in this annual site environmental report. This report provides a summary of environmental monitoring information and compliance activities that occurred at Sandia National Laboratories, California during calendar year 2022 unless noted otherwise. General site and environmental program information is also included. This report was prepared in accordance with DOE O 231.1B, Environment, Safety and Health Reporting.

54 ENVIRONMENTAL SCIENCES↗

2023 Annual Site Environmental Report for Sandia National Laboratories, Livermore, California

Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration. The National Nuclear Security Administration’s Sandia Field Office administers the Prime Contract and oversees contractor operations at Sandia National Laboratories, California. Activities at this multi-program engineering and science laboratory support the nuclear weapons stockpile program, energy and environmental research, homeland security, micro-and nanotechnologies, and basic science and engineering research. The U.S. Department of Energy’s National Nuclear Security Administration and its management and operating contractor are committed to safeguarding the environment, assessing sustainability practices, and ensuring the validity and accuracy of the monitoring data presented in this annual site environmental report. This report provides a summary of environmental monitoring of information and compliance activities that occurred at Sandia National Laboratories, California during calendar year 2023 unless noted otherwise. General site and environmental program information is also included. This report was prepared in accordance with DOE O 231.1B, Admin Change 1, Environment, Safety and Health Reporting.

54 ENVIRONMENTAL SCIENCES↗

2024 Annual Site Environmental Report for Sandia National Laboratories, Livermore, California

Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly-owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration. The National Nuclear Security Administration’s Sandia Field Office administers the Prime Contract and oversees contractor operations at Sandia National Laboratories, California. Activities at this multi-program engineering and science laboratory support the nuclear weapons stockpile program, energy and environmental research, homeland security, micro- and nanotechnologies, and basic science and engineering research. The U.S. Department of Energy’s National Nuclear Security Administration and its management and operating contractor are committed to fulfilling regulatory obligations, safeguarding the environment, assessing sustainability practices, and ensuring the validity and accuracy of the monitoring data presented in this annual site environmental report (ASER). This report provides a summary of environmental monitoring and compliance activities that occurred at Sandia National Laboratories, California, during calendar year 2024, unless noted otherwise. General site and environmental program information is also included. This report was prepared in accordance with DOE Order 231.1B, Admin Change 1, Environment, Safety and Health Reporting.

54 ENVIRONMENTAL SCIENCES↗

In Their Shoes: Persona-Based Approaches to Software Quality Practice Incentivization

Many teams struggle to adapt and right-size software engineering best practices for quality assurance to fit their context. Introducing software quality is not usually framed in a way that motivates teams to take action, thus resulting in it becoming a “check the box for compliance” activity instead of a cultural practice that values software quality and the effort to achieve it. When and how can we provide effective incentives for software teams to adopt and integrate meaningful and enduring software quality practices? Here, we explored this question through a persona-based ideation exercise at the 2021 Collegeville Workshop on Scientific Software in which we created three unique personas that represent different scientific software developer perspectives.

97 MATHEMATICS AND COMPUTING↗

Site Environmental Report for Sandia National Laboratories California (2019)

Sandia National Laboratories, California (SNL/CA) is a Department of Energy (DOE) facility. The management and operations of the facility are under a contract with the DOE's National Nuclear Security Administration (NNSA). On May 1, 2017, the name of the management and operating contractor changed from Sandia Corporation to National Technology & Engineering Solutions of Sandia, LLC (NTESS). The DOE, NNSA, Sandia Field Office administers the contract and oversees contractor operations at the site. DOE and its management and operating contractor for Sandia are committed to safeguarding environmental protection, compliance, and sustainability and to ensuring the validity and accuracy of the monitoring data presented in this Annual Site Environmental Report. This Site Environmental Report for 2019 was prepared in accordance with DOE Order 231.1B, Environment, S afro and Health &potting (DOE 2012). The report provides a summary of environmental monitoring information and compliance activities that occurred at SNL/CA during calendar year 2019, unless noted otherwise. General site and environmental program information is also included.

54 ENVIRONMENTAL SCIENCES↗

Site Environmental Report for 2020, Sandia National Laboratories, California

Sandia National Laboratories, California (SNL/CA) is a Department of Energy (DOE) facility. The management and operations of the facility are under a contract with the DOE's National Nuclear Security Administration (NNSA). On May 1, 2017, the name of the management and operating contractor changed from Sandia Corporation to National Technology & Engineering Solutions of Sandia, LLC (NTESS). The DOE, NNSA, Sandia Field Office administers the contract and oversees contractor operations at the site. DOE and its management and operating contractor for Sandia are committed to safeguarding environmental protection, compliance, and sustainability and to ensuring the validity and accuracy of the monitoring data presented in this Annual Site Environmental Report. This Site Environmental Report for 2020 was prepared in accordance with DOE Order 231.1B, Environment, Safety and Health Reporting (DOE 2012). The report provides a summary of environmental monitoring information and compliance activities that occurred at SNL/CA during calendar year 2020, unless noted otherwise. General site and environmental program information is also included.

54 ENVIRONMENTAL SCIENCES↗

Maintenance Plan for the Composite Analysis of the Hanford Site, Southeast Washington

The objective of this document is to provide a maintenance plan (MP) that supports the Hanford Site composite analysis (CA). Maintenance consists of four activities: compliance and performance monitoring; research and development; planned reviews and analysis; and revisions to the CA. This MP will be reviewed annually by the site and updated as needed to address priorities based upon new information or proposed changes, the status of any disposal authorization statement (DAS) conditions/limitations and Low-Level Waste Disposal Facility Federal Review Group (LFRG) issues. This revision supersedes Revision 4.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

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

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

Haley, D. C.↗

Evaluation of automated decision making methodologies and development of an integrated robotic system simulation: Study results

The implementation of a generic computer simulation for manipulator systems (ROBSIM) is described. The program is written in FORTRAN, and allows the user to: (1) Interactively define a manipulator system consisting of multiple arms, load objects, targets, and an environment; (2) Request graphic display or replay of manipulator motion; (3) Investigate and simulate various control methods including manual force/torque and active compliance control; and (4) Perform kinematic analysis, requirements analysis, and response simulation of manipulamotion. Previous reports have described the algorithms and procedures for using ROBSIM. These reports are superseded and additional features which were added are described. They are: (1) The ability to define motion profiles and compute loads on a common base to which manipulator arms are attached; (2) Capability to accept data describing manipulator geometry from a Computer Aided Design data base using the Initial Graphics exchange Specification format; (3) A manipulator control algorithm derived from processing the TV image of known reference points on a target; and (4) A vocabulary of simple high level task commands which can be used to define task scenarios.

Haley, D. C.↗

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

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

Haley, D. C.↗

Telerobotic research for in-space structural assembly and servicing

The paper reviews Langley's Telerobotic Technology Program and the recent and planned research in automated space assembly. Research areas include multiple manipulator coordination and control, automatic modes, evaluation of control modalities for teleoperated tasks, active sensing for world modeling and control, and architectures for distributed telerobotic systems. Studies of master/slave teleoperators performing representative space tasks showed that current teleoperator systems can be used to accomplish remote space operations. These studies also identified that research is required to improve the systems to reduce operator workload and task completion time. Closed-loop noncontact and contact sensor based control for automatic acquisition, positioning, and active compliance have been developed. A control structure for multiple manipulator coordination and control with manual, shared, and automatic modes performing space type tasks is being evaluated.

Meintel, Alfred J., Jr.↗

The JAU-JPL anthropomorphic telerobot

Work in progress on the new anthropomorphic telerobot is described. The initial robot configuration consists of a seven DOF arm and a sixteen DOF hand, having three fingers and a thumb. The robot has active compliance, enabling subsequent dual arm manipulations. To control the rather complex configuration of this robot, an exoskeleton master arm harness and a glove controller were built. The controller will be used for teleoperational tasks and as a research tool to efficiently teach the computer controller advanced manipulation techniques.

Jau, Bruno M.↗

Robot arm system for automatic satellite capture and berthing

Load control is one of the most important technologies for capturing and berthing free flying satellites by a space robot arm because free flying satellites have different motion rates. The performance of active compliance control techniques depend on the location of the force sensor and the arm's structural compliance. A compliance control technique for the robot arm's structural elasticity and a consideration for an end-effector appropriate for it are presented in this paper.

Nishida, Shinichiro↗

Update on SLD Engineering Tools Development

The airworthiness authorities (FAA, JAA, Transport Canada) will be releasing a draft rule in the 2006 timeframe concerning the operation of aircraft in a Supercooled Large Droplet (SLD) environment aloft. The draft rule will require aircraft manufacturers to demonstrate that their aircraft can operate safely in an SLD environment for a period of time to facilitate a safe exit from the condition. It is anticipated that aircraft manufacturers will require a capability to demonstrate compliance with this rule via experimental means (icing tunnels or tankers) and by analytical means (ice prediction codes). Since existing icing research facilities and analytical codes were not developed to account for SLD conditions, current engineering tools are not adequate to support compliance activities in SLD conditions. Therefore, existing capabilities need to be augmented to include SLD conditions. In response to this need, NASA and its partners conceived a strategy or Roadmap for developing experimental and analytical SLD simulation tools. Following review and refinement by the airworthiness authorities and other international research partners, this technical strategy has been crystallized into a project plan to guide the SLD Engineering Tool Development effort. This paper will provide a brief overview of the latest version of the project plan and technical rationale, and provide a status of selected SLD Engineering Tool Development research tasks which are currently underway.

Miller, Dean R.↗