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At least 37 records · Page 2

Rehabilitation Tool

Biotran, or Fastex as named by Cybex, the company that manufactures it, is a force sensing system that helps physicians and physical therapists treat people with movement deficiencies. Based on NASA sensor technology, it also has applications in sports training and evaluation. Biotran provides a means of testing weight-bearing capabilities that may have been compromised by injury or disease. It also assists in the rehabilitation process by putting patients through a course of computer-directed exercises designed to improve strength and balance reaction time. The system tests and documents progress until maximum medical improvement is achieved. Lewis Research Center also assisted the company in the selection of the material used in the Biotran force sensing platforms. Biotran is currently manufactured by Cybex under the name Fastex.

Source record↗

Tissue Engineered Skeletal Myofibers can Directly "Sense" Gravitational Force Changes

Long-term manned space flight requires a better understanding of skeletal muscle atrophy resulting from microgravity. Atrophy most likely results from changes at both the systemic level (e.g. decreased circulating growth hormone, increased circulating glucocorticoids) and locally (e.g. decreased myofiber resting tension). Differentiated skeletal myofibers in tissue culture have provided a model system over the last decade for gaining a better understanding of the interactions of exogenous growth factors, endogenous growth factors, and muscle fiber tension in regulating protein turnover rates and muscle cell growth. Tissue engineering these cells into three dimensional bioartificial muscle (BAM) constructs has allowed us to extend their use to Space flight studies for the potential future development of countermeasures. Embryonic avian muscle cells were isolated and BAMs tissue engineered as described previously. The myoblasts proliferate and fuse into aligned postmitotic myofibers after ten to fourteen days in vitro. A cylindrical muscle-like structure containing several thousand myofibers is formed which is approximately 30 mm in length, 2-3 mm in diameter, and attached at each end. For the Space Shuttle experiments, the BAMs were transferred to 55 mL bioreactor cartridges (6 BAMs/cartridge). At Kennedy Space Center, the cartridges were mounted in two Space Tissue Loss (STL) Modules (three to four cartridges per Module) and either maintained as ground controls or loaded in a Mid-Deck locker of the Space Shuttle. The BAM cartridges were continuously perfused during the experiment at 1.5 mL/ min with tissue culture medium. Eighteen BAMs were flown for nine days on Mission STS66 while eighteen BAMs served as ground controls. The complete experiment was repeated on Mission STS77 with twenty four BAMs in each group. BAMs could be maintained in a healthy state for at least 30 days in the perfusion bioreactor cartridges. The BAM muscle fibers directly detected both the loss of gravity and the reloading effects of 1 x g. While total cellular metabolism and total protein degradation rates were not altered during 9 to 10 days in Space, protein synthesis rates were significantly reduced and resulted in significant myofiber atrophy compared to ground controls. One g reloading of the flight muscle cells post-flight significantly increased protein synthesis rates and the synthesis rates of myosin heavy chain, fibronectin, and collagen. Tissue cultured muscle cells can directly "sense" changes in gravity and provide a valid model to begin the study of countermeasures. Based on our ground based experiments, and the experiments of others, growth hormone and/or insulin-like growth factors are attractive protein therapeutics which may assisting attenuating skeletal muscle wasting in space. Our laboratory is developing a new cell-based delivery system for this and other potential therapeutic factors for attenuating muscle and bone wasting.

Vandenburgh, Herman H.↗

Quantum Enhanced Cavity QED Interferometer with Partially Delocalized Atoms in Lattices

Herein, we propose a quantum enhanced interferometric protocol for gravimetry and force sensing using cold atoms in an optical lattice supported by a standing-wave cavity. By loading the atoms in partially delocalized Wannier-Stark states, it is possible to cancel the undesirable inhomogeneities arising from the mismatch between the lattice and cavity fields and to generate spin squeezed states via a uniform one-axis twisting model. The quantum enhanced sensitivity of the states is combined with the subsequent application of a compound pulse sequence that allows us to separate atoms by several lattice sites. This, together with the capability to load small atomic clouds in the lattice at micrometric distances from a surface, make our setup ideal for sensing short-range forces. We show that for arrays of 10 4 atoms, our protocol can reduce the required averaging time by a factor of 10 compared to unentangled lattice-based interferometers after accounting for primary sources of decoherence.

74 ATOMIC AND MOLECULAR PHYSICS↗

Anthropomorphic Telemanipulation System in Terminus Control Mode

This paper describes a prototype anthropomorphic kinesthetic telepresence system that is being developed at JPL. It utilizes dexterous terminus devices in the form of an exoskeleton force-sensing master glove worn by the operator and a replica four finger anthropomorphic slave hand. The newly developed master glove is integrated with our previously developed non-anthropomorphic six degree of freedom (DOF) universal force-reflecting hand controller (FRHC). The mechanical hand and forearm are mounted to an industrial robot (PUMA 560), replacing its standard forearm. The notion of 'terminus control mode' refers to the fact that only the terminus devices (glove and robot hand) are of anthropomorphic nature, and the master and slave arms are non-anthropomorphic. The system is currently being evaluated, focusing on tool handling and astronaut equivalent task executions. The evaluation revealed the system's potential for tool handling but it also became evident that hand tool manipulations and space operations require a dual arm robot. This paper describes the system's principal components, its control and computing architecture, discusses findings of the tool handling evaluation, and explains why common tool handling and EVA space tasks require dual arm robots.

glove exoskeleton force-sensing master glove EVA s↗

Embedded Fluidic Sensing and Control with Soft Open‐Cell Foams

Abstract The synthesis of soft matter intelligence with circuit‐driven logic has enabled a new class of robots that perform complex tasks or conform to specialized form factors in unique ways that cannot be realized through conventional designs. Translating this hybrid approach to fluidic systems, the present work addresses the need for sheet‐based circuit materials by leveraging the innate porosity of foam—a soft material—to develop pneumatic components that support digital logic, mixed‐signal control, and analog force sensing in wearables and soft robots. Analytical tools and experimental techniques developed in this work serve to elucidate compressible gas flow through porous sheets, and to inform the design of centimeter‐sized foam resistors with fluidic resistances on the order of 10 9 Pa s m −3 . When embedded inside soft robots and wearables, these resistors facilitate diverse functionalities spanning both sensing and control domains, including digital logic using textile logic gates, digital‐to‐analog signal conversion using ladder networks, and analog sensing of forces up to 40 N via compression‐induced changes in resistance. By combining features of both circuit‐based and materials‐based approaches, foam‐enabled fluidic circuits serve as a useful paradigm for future hybrid robotic architectures that fully embody the sensing and computing capabilities of soft fluidic materials.

Rajappan, Anoop↗

Performance Robustness of Manipulator Collision Controller

In this paper, we propose that the manipulator impact control problem be approached from a stochastic optimal control perspective. The reason is that not only is such approach be able to model uncertainties in contact environment, force sensing, as well as manipulator dynamics, the controllers obtained is optimally robust in terms of performance. This result is verified by analyses and simulations.

model uncertainties contact environment force sens↗

Dual-arm supervisory and shared control space servicing task experiments

A dual-arm task execution primitive has been implemented for cooperative dual-arm telerobotic task execution utilizing multiple sensors concurrently. The primitive has been integrated into a telerobot task execution system and can be called by a task planning system for execution of tasks requiring dual-arm sensor based motion, e.g., force control, teleoperation, and shared control. The primitive has a large input parameter set which is used to specify the desired behavior of the motion. Move-squeeze decomposition is utilized to decompose forces sensed at the wrists of the two manipulators into forces in the move subspace, which cause system motion, and forces in the squeeze subspaces, which cause internal forces. The move and squeeze forces are then separately controlled. Several space servicing tasks utilizing the cooperative dual-arm control capability are described, and experimental results from the tasks are given. The supervisory and shared control tasks include capture of a rotating satellite, orbital replacement unit changeout, fluid coupler seating and locking, and contour following.

Backes, Paul G.↗

Load measurement system with load cell lock-out mechanism

In the frame work of the project Shuttle Plume Impingement Flight Experiment (SPIFEX), a Load Measurement System was developed and fabricated to measure the impingement force of Shuttle Reaction Control System (RCS) jets. The Load Measurement System is a force sensing system that measures any combination of normal and shear forces up to 40 N (9 lbf) in the normal direction and 22 N (5 lbf) in the shear direction with an accuracy of +/- 0.04 N (+/- 0.01 lbf) Since high resolution is required for the force measurement, the Load Measurement System is built with highly sensitive load cells. To protect these fragile load cells in the non-operational mode from being damaged due to flight loads such as launch and landing loads of the Shuttle vehicle, a motor driven device known as the Load Cell Lock-Out Mechanism was built. This Lock-Out Mechanism isolates the load cells from flight loads and re-engages the load cells for the force measurement experiment once in space. With this highly effective protection system, the SPIFEX load measurement experiment was successfully conducted on STS-44 in September 1994 with all load cells operating properly and reading impingement forces as expected.

Le, Thang↗

Problems and research issues associated with the hybrid control of force and displacement

The hybrid control of force and position is basic to the science of robotics but is only poorly understood. Before much progress can be made in robotics, this problem needs to be solved in a robust manner. However, the use of hybrid control implies the existence of a model of the environment, not an exact model (as the function of hybrid control is to accommodate these errors), but a model appropriate for planning and reasoning. The monitored forces in position control are interpreted in terms of a model of the task as are the monitored displacements in force control. The reaction forces of the task of writing are far different from those of hammering. The programming of actions in such a modeled world becomes more complicated and systems of task level programming need to be developed. Sensor based robotics, of which force sensing is the most basic, implies an entirely new level of technology. Indeed, robot force sensors, no matter how compliant they may be, must be protected from accidental collisions. This implies other sensors to monitor task execution and again the use of a world model. This new level of technology is the task level, in which task actions are specified, not the actions of individual sensors and manipulators.

Paul, R. P.↗

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

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

Sneckenberger, John E.↗

Hybrid position/force control of manipulators

A new conceptually simple approach to controlling compliant motions of a robot manipulator is presented. The 'hybrid' technique described combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system. Analysis, simulation, and experiments are used to evaluate the controller's ability to execute trajectories using feedback from a force sensing wrist and from position sensors found in the manipulator joints. The results show that the method achieves stable, accurate control of force and position trajectories for a variety of test conditions.

Raibert, M. H.↗

Indirect Blood Pressure Measuring Device

Design and performance of a blood pressure recording device for pediatric use are reported. A strain gage transducer with a copper-beryllium strip as force sensing element is used to monitor skin movements and to convert them into electrical signals proportional to those displacements. Experimental tests with this device in recording of force developed above the left femoral artery of a dog accurately produced a blood pressure curve.

Hum, L.↗

Quantum Sensing of Displacements with Stabilized Gottesman-Kitaev-Preskill States

We demonstrate how recent protocols developed for the stabilization of Gottesman-Kitaev-Preskill states can be used for the estimation of two-quadrature displacement sensing, with sensitivities approaching the multivariate quantum Cramer-Rao bound. Thanks to the stabilization, this sensor is backaction evading and can function continuously without reset, making it well suited for the detection of itinerant signals. Additionally, we provide numerical simulations showing that the protocol can unconditionally surpass the Gaussian limit of displacement sensing with prior information, even in the presence of realistic noise. Our work shows how reservoir engineering in bosonic systems can be leveraged for quantum metrology, with potential applications in force sensing, waveform estimation, and quantum channel learning.

Labarca, Lautaro [Univ. of Sherbrooke, QC (Canada)↗

Quantum Sensing using Geometrical Phase in Qubit-Oscillator Systems

We present a quantum sensing protocol for coupled qubit-oscillator systems that surpasses the standard quantum limit (SQL) by exploiting a geometrical phase. The signal is encoded in the geometrical phase that is proportional to the area enclosed in oscillator phase space. This area is amplified through squeezing, enabling sensitivities beyond the SQL. Our method is independent of oscillator's initial state, amenable to sensing with high-temperature or logical error-corrected states. The protocol shows robustness to qubit Markovian noise and preserves its state-independence, underscoring its practicality for next-generation quantum metrology. We demonstrate application to force sensing beyond the SQL in longitudinally coupled systems, and to high-precision measurements of couplings and pulse calibration surpassing SQL in dispersively coupled circuit quantum electrodynamics (cQED) architectures.

Suri, Nishchay [LBNL, Berkeley]↗

System for Controlling the Stirring Pin of a Friction Stir Welding Apparatus

A control is provided for a friction stir welding apparatus comprising a pin tool which includes a shoulder and a rotating pin extending outwardly from the shoulder of the pin tool and which, in use, is plunged into a workpiece formed contacting workpiece members to stir weld the members together. The control system controls the penetration of the pin tool into the workpiece members which are mounted on a support anvil. The control system includes a pin length controller for controlling pin length relative to the shoulder and for producing a corresponding pin length signal. A pin force sensor senses the force being exerted on the pin during welding and produces a corresponding actual pin force signal. A probe controller controls a probe extending outwardly from the pin, senses a parameter related to the distance between the probe and the supporting anvil and produces a corresponding probe signal. A workpiece standoff sensor senses the standoff distance between the workpiece and the standoff sensor and produces a corresponding standoff signal. A control unit receives the various signals, together with a weld schedule, and, based on these signals and the weld schedule, controls the pin length controller so as to control pin penetration into the workpiece.

Ding, R. Jeffrey↗

Six component robotic force-torque sensor

The results of a two-phase contract studying the feasibility of a miniaturized six component force-torque sensor and development of a working laboratory system were described. The principle of operation is based upon using ultrasonic pulse-echo ranging to determine the position of ultrasonic reflectors attached to a metal or ceramic cover plate. Because of the small size of the sensor, this technology may have application in robotics, to sense forces and torques at the finger tip of a robotic end effector. Descriptions are included of laboratory experiments evaluating materials and techniques for sensor fabrication and of the development of support electronics for data acquisition, computer interface, and operator display.

Grahn, Allen R.↗

Entanglement-enhanced optomechanical sensor array with application to dark matter searches

Abstract Squeezed light has long been used to enhance the precision of a single optomechanical sensor. An emerging set of proposals seeks to use arrays of optomechanical sensors to detect weak distributed forces, for applications ranging from gravity-based subterranean imaging to dark matter searches; however, a detailed investigation into the quantum-enhancement of this approach remains outstanding. Here, we propose an array of entanglement-enhanced optomechanical sensors to improve the broadband sensitivity of distributed force sensing. By coherently operating the optomechanical sensor array and distributing squeezing to entangle the optical fields, the array of sensors has a scaling advantage over independent sensors (i.e., $$\sqrt{M}\to M$$ M → M , where M is the number of sensors) due to coherence as well as joint noise suppression due to multi-partite entanglement. As an illustration, we consider entanglement-enhancement of an optomechanical accelerometer array to search for dark matter, and elucidate the challenge of realizing a quantum advantage in this context.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Advances in the photon avalanche luminescence of inorganic lanthanide-doped nanomaterials

Photon avalanche (PA)—where the absorption of a single photon initiates a ‘chain reaction’ of additional absorption and energy transfer events within a material—is a highly nonlinear optical process that results in upconverted light emission with an exceptionally steep dependence on the illumination intensity. Over 40 years following the first demonstration of photon avalanche emission in lanthanide-doped bulk crystals, PA emission has been achieved in nanometer-scale colloidal particles. The scaling of PA to nanomaterials has resulted in significant and rapid advances, such as luminescence imaging beyond the diffraction limit of light, optical thermometry and force sensing with (sub)micron spatial resolution, and all-optical data storage and processing. In this review, we discuss the fundamental principles underpinning PA and survey the studies leading to the development of nanoscale PA. Finally, we offer a perspective on how this knowledge can be used for the development of next-generation PA nanomaterials optimized for a broad range of applications, including mid-IR imaging, luminescence thermometry, (bio)sensing, optical data processing and nanophotonics.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗