Developing an Intrinsically Information Limiting Radiation Detection System for Use in Future Arms Control Treaty Verification
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Alimehri, Farnaz Lyla [Sandia National Laboratorie↗
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Optimal output fast feedback in two-time scale control of flexible arms
Control of lightweight flexible arms moving along predefined paths can be successfully synthesized on the basis of a two-time scale approach. A model following control can be designed for the reduced order slow subsystem. The fast subsystem is a linear system in which the slow variables act as parameters. The flexible fast variables which model the deflections of the arm along the trajectory can be sensed through strain gage measurements. For full state feedback design the derivatives of the deflections need to be estimated. The main contribution of this work is the design of an output feedback controller which includes a fixed order dynamic compensator, based on a recent convergent numerical algorithm for calculating LQ optimal gains. The design procedure is tested by means of simulation results for the one link flexible arm prototype in the laboratory.
Siciliano, B.↗
Lyapunov function-based control laws for revolute robot arms - Tracking control, robustness, and adaptive control
A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to a recently proposed energy-like Liapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates (i.e., certainty equivalence adaptation).
Wen, John T.↗
A new class of energy based control laws for revolute robot arms - Tracking control, robustness enhancement and adaptive control
A class of joint-level control laws for all-revolute robot arms is introduced. The analysis is similar to the recently proposed energy Liapunov function approach except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. By using energy Liapunov functions with the modified potential energy, a much simpler analysis can be used to show closed-loop global asymptotic stability and local exponential stability. When Coulomb and viscous friction and model parameter errors are present, a sliding-mode-like modification of the control law is proposed to add a robustness-enhancing outer loop. Adaptive control is also addressed within the same framework. A linear-in-the-parameters formulation is adopted, and globally asymptotically stable adaptive control laws are derived by replacing the model parameters in the nonadaptive control laws by their estimates.
Wen, John T.↗
Multi-functional Electric Module for a Vehicle
A multi-functional electric module (eModule) is provided for a vehicle having a chassis, a master controller, and a drive wheel having a propulsion-braking module. The eModule includes a steering control assembly, mounting bracket, propulsion control assembly, brake controller, housing, and control arm. The steering control assembly includes a steering motor controlled by steering controllers in response to control signals from the master controller. A mounting feature of the bracket connects to the chassis. The propulsion control assembly and brake controller are in communication with the propulsion-braking module. The control arm connects to the lower portion and contains elements of a suspension system, with the control arm being connectable to the drive wheel via a wheel input/output block. The controllers are responsive to the master controller to control a respective steering, propulsion, and braking function. The steering motor may have a dual-wound stator with windings controlled via the respective steering controllers.
Bluethmann, William J.↗
Motion control of 7-DOF arms - The configuration control approach
Graphics simulation and real-time implementation of configuration control schemes for a redundant 7-DOF Robotics Research arm are described. The arm kinematics and motion control schemes are described briefly. This is followed by a description of a graphics simulation environment for 7-DOF arm control on the Silicon Graphics IRIS Workstation. Computer simulation results are presented to demonstrate elbow control, collision avoidance, and optimal joint movement as redundancy resolution goals. The laboratory setup for experimental validation of motion control of the 7-DOF Robotics Research arm is then described. The configuration control approach is implemented on a Motorola-68020/VME-bus-based real-time controller, with elbow positioning for redundancy resolution. Experimental results demonstrate the efficacy of configuration control for real-time control.
Seraji, Homayoun↗
Anthropometric considerations for a 4-axis side-arm flight controller
A data base on multiaxis side-arm flight controls was generated. The rapid advances in fly-by-light technology, automatic stability systems, and onboard computers have combined to create flexible flight control systems which could reduce the workload imposed on the operator by complex new equipment. This side-arm flight controller combines four controls into one unit and should simplify the pilot's task. However, the use of a multiaxis side-arm flight controller without complete cockpit integration may tend to increase the pilot's workload.
Debellis, W. B.↗
Fuel control system for an engine
A fuel control system responsive to a power controller and controlling a fuel delivery system. The fuel control system includes a control arm connected to both the power controller and the fuel delivery system, a position sensor connected to the control arm, and a trim controller connected to the control arm at a pivot point and connected to the position sensor.
Brogdon, James William↗
Robot-Arm Dynamic Control by Computer
Feedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.
Bejczy, Antal K.↗
Robot arm force control through system linearization by nonlinear feedback
Based on a differential geometric feedback linearization technique for nonlinear time-varying systems, a dynamic force control method for robot arms is developed. It uses active force-moment measurements at the robot wrist. The controller design fully incorporate the robot-arm dynamics and is so general that it can be reduced to pure position control, hybrid position/force control, pure force control. The controller design is independent of the tasks to be performed. Computer simulations show that the controller improves the position error by a factor of ten in cases in which position errors generate force measurements. A theorem on linearization of time-varying system is also presented.
Tarn, T. J.↗
Task driven feedback control of robot arms - A step toward intelligent control
The process of connecting task descriptions originating from machine intelligence planning programs to the mechanization of feedback control of robot arms is analyzed. It is shown in this paper that control theories and practices can be extended to a higher level where feedback control of robot arms directly can respond to work space task commands provided that the work space task as a command is given in the form of a closed function of time. A general mathematical procedure using tools from differential geometry is introduced for synthesizing task space motion planning so that the planned motion can be used as a direct input to the robot arm feedback control system to achieve desired robot hand motion. By definition, 'intelligent control' is being manifested through robot performance in the task space relative to task space commands. Thus, the capability of implementing feedback control of robot arms directly driven by appropriate task descriptions in the workspace as commands is a step toward intelligent control.
Bejczy, A. K.↗
Two-Arm-Manipulator Controller
Shoulder harness allows wearer to control simultaneously and independently two remote manipulator arms and end effectors. Each manipulator arm would have 7 degrees of freedom. Two arm mechanisms of controller moved by operator's arms and hands. Remote manipulator, located elsewhere, responds to operator's arm and hand movements. Adjustable shoulder straps, waist belt, and leg straps hold harness securely on wearer. Mechanisms and harness allow operator to reach almost normally at control station.
Coryell, S.↗
Formal Methods for Provably Secure Software and Firmware
This project addresses a gap observed in verifying the programming in embedded devices used in international arms control: namely verifying that embedded programming in an arms control device does exactly what it is supposed to do, no more and no less, every time without fail, and without disclosing unauthorized information accidentally or intentionally. In critical military, aerospace, and industrial safety systems this problem is sometimes addressed using formal methods (FM). This multi-year project seeks to identify formal methods toolsets useable in arms control regimes, with emphasis on applicability, ease of use, long term availability, and support.
formal methods, Arms Control Verification↗
Cyber Deterrence and Stability
Throughout the 20th and early 21st centuries, deterrence and arms control have been cornerstones of strategic stability between the superpowers. However, the weaponization of the cyber realm by State actors and the multipolar nature of cyber conflict now undermines that stability. Strategic stability is the state in which nations believe that if they act aggressively to undermine U.S. national interests and the post-World War II liberal democratic order, the consequences will outweigh the benefits. The sense of lawlessness and lack of consequences in the cyber realm embolden States to be more aggressive in taking actions that undermine stability. Accordingly, this paper examines 1) the role of deterrence and arms control in securing cyber stability, and 2) the limitations and challenges associated with these traditional national security paradigms as applied to this emerging threat domain. This paper demonstrates that many 20th-century deterrence and arms control concepts are not particularly applicable in the cyber realm. However, they are not entirely irrelevant. The United States can distill lessons learned from this rich deterrence and arms control experience to develop and deploy a strategy to advance cyber stability.
97 MATHEMATICS AND COMPUTING↗
The WCSAR telerobotics test bed
Component technologies for use in telerobotic systems for space are being developed. As part of this effort, a test bed was established in which these technologies can be verified and integrated into telerobotic systems. The facility consists of two slave industrial robots, an articulated master arm controller, a cartesian coordinate master arm controller, and a variety of sensors, displays and stimulators for feedback to human operators. The controller of one of the slave robots remains in its commercial state, while the controller of the other robot has been replaced with a new controller that achieves high-performance in telerobotic operating modes. A dexterous slave hand which consists of two fingers and a thumb is being developed, along with a number of force-reflecting and non-force reflecting master hands, wrists and arms. A tactile sensing finger tip based on piezo-film technology has been developed, along with tactile stimulators and CAD-based displays for sensory feedback and sensory substitution. The telerobotics test bed and its component technologies are described, as well as the integration of these component technologies into telerobotic systems, and their performance in conjunction with human operators.
Duffie, N.↗
Delayed Gamma-ray Assay for Nuclear Materials Safeguards. Comprehensive Technology Readiness Assessment
Spectroscopic analysis of beta-delayed gamma-rays emitted from fission products following active interrogation was investigated as a non-destructive assay technique for detection and characterization of nuclear materials in shielded and complex configurations. This measurement technique is expected to be applicable to a variety of applications within the nuclear material safeguards, arms control, and emergency response areas, where active neutron interrogation is acceptable. Potential applications of the delayed gamma-ray assay in the nuclear material safeguards area include characterization of U and Pu isotopic content in spent and unirradiated nuclear fuel, enrichment measurements, verification of bulk material in containers, and the characterization of nuclear wastes. In the arms control area, this method can be used as a part of warhead dismantlement measurements to confirm separation of components, and may be applicable in warhead confirmation. In the context of emergency response, it can be used for detailed diagnostics of an unknown item. At present, the delayed gamma-ray assay technology reliably qualifies for the Technical Readiness Level 3 (TRL 3). The R&D work completed under this project has successfully demonstrated the empirical proof-of-concept for this active interrogation technology for a variety of measurement configurations, neutron sources, and nuclear material samples. A robust first-principles analytical signature modeling methodology was developed, experimentally validated, and can be easily extrapolated to a range of realistic measurement scenarios. Several response analysis methodologies have been implemented and deemed reliable for a variety of active interrogation applications in the areas of nuclear material safeguards, arms control, and emergency response. The initial readiness level before the start of this project was assessed at TRL 0, since only fragmentary records of the signature observations and speculative statements of the relevant non-destructive assay applications existed at that time. The delayed gamma-ray technology readiness can be easily advanced to TRL 4 in a short period, if a certain measurement application is specified and set for a demonstration in a laboratory environment. The critical hardware components of the delayed gamma-ray measurement technology (neutron generators, gamma-ray spectrometers) are readily available as COTS and can be configured for a specific deployment configuration. The primary risk of the delayed gamma-ray assay methodology is defined by the applicationspecific uncertainties. Evaluation of the system performance can be effectively completed once the expected measurement purpose, nuclear material characteristics, dimensions, and radiation exposure constraints are specified. A minor risk can be associated with the delayed gamma-ray response analysis techniques. Several approaches were proposed and demonstrated primarily using the modeled signatures. The observed performance may not be easily transferrable to the conditions of a real measurement setup, and some additional R&D may be required. Overall, the delayed gamma-ray assay technology can be recommended for follow-up demonstrations addressing relevant measurement applications in the areas of nuclear material safeguards, arms control, and emergency response.
73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
Rigid/Compliant Helicopter Rotor
Rotor structure ensures both effective aerodynamic support and efficient pitch changes. Four blades are shells with rigid inner I-beam arms integrated with rotor hub. Through each blade, control arm extends from pitch-control actuator in hub. Elastomeric bearings allow control arms to twist blades and thus change blade pitch without turning I-beam arms. Centrifugal force carried by tension strap. Leading and lagging movements of blades restrained by dampers. Ducts inside leading and trailing edges of blade shells carry air for partial cyclic aerodynamic control of lift and pitch. Structure permits more efficient pitch control with less weight. At same time, improves reliability through redundancy in supports and control mechanisms.
Jeffery, P.↗