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At least 109 records · Page 6

Planning strategies for the Ambler walking robot

A hierarchy of planning strategies is proposed and explained for a walking robot called the Ambler. The hierarchy decomposes planning into levels of trajectory, gait, and footfall. An abstraction of feasible traversability allows the Ambler's trajectory planner to identify acceptable trajectories by finding paths that guarantee footfalls without specifying exactly which footfalls. Leg and body moves that achieve this trajectory can be generated by the Ambler's gait planner, which incorporates pattern constraints and measures of utility to search for the best next move. By combining constraints from the quality and details of the terrain, the Ambler's footfall planner can select footfalls that insure stability and remain within the tolerances of the gait.

Wettergreen, David↗

Techniques for determination of impact forces during walking and running in a zero-G environment

One of the deleterious adaptations to the microgravity conditions of space flight is the loss of bone mineral content. This loss appears to be at least partially attributable to the minimal skeletal axial loading concomitant with microgravity. The purpose of this study was to develop and fabricate the instruments and hardware necessary to quantify the vertical impact forces (Fz) imparted to users of the space shuttle passive treadmill during human locomotion in a three-dimensional zero-gravity environment. The shuttle treadmill was instrumented using a Kistler forceplate to measure vertical impact forces. To verify that the instruments and hardware were functional, they were tested both in the one-G environment and aboard the KC-135 reduced gravity aircraft. The magnitude of the impact loads generated in one-G on the shuttle treadmill for walking at 0.9 m/sec and running at 1.6 and 2.2 m/sec were 1.1, 1.7, and 1.7 G, respectively, compared with loads of 0.95, 1.2, and 1.5 G in the zero-G environment.

Greenisen, Michael↗

Design of a walking robot

Carnegie Mellon University's Autonomous Planetary Exploration Program (APEX) is currently building the Daedalus robot; a system capable of performing extended autonomous planetary exploration missions. Extended autonomy is an important capability because the continued exploration of the Moon, Mars and other solid bodies within the solar system will probably be carried out by autonomous robotic systems. There are a number of reasons for this - the most important of which are the high cost of placing a man in space, the high risk associated with human exploration and communication delays that make teleoperation infeasible. The Daedalus robot represents an evolutionary approach to robot mechanism design and software system architecture. Daedalus incorporates key features from a number of predecessor systems. Using previously proven technologies, the Apex project endeavors to encompass all of the capabilities necessary for robust planetary exploration. The Ambler, a six-legged walking machine was developed by CMU for demonstration of technologies required for planetary exploration. In its five years of life, the Ambler project brought major breakthroughs in various areas of robotic technology. Significant progress was made in: mechanism and control, by introducing a novel gait pattern (circulating gait) and use of orthogonal legs; perception, by developing sophisticated algorithms for map building; and planning, by developing and implementing the Task Control Architecture to coordinate tasks and control complex system functions. The APEX project is the successor of the Ambler project.

Whittaker, William↗

ODYSSEUS autonomous walking robot: The leg/arm design

ODYSSEUS is an autonomous walking robot, which makes use of three wheels and three legs for its movement in the free navigation space. More specifically, it makes use of its autonomous wheels to move around in an environment where the surface is smooth and not uneven. However, in the case that there are small height obstacles, stairs, or small height unevenness in the navigation environment, the robot makes use of both wheels and legs to travel efficiently. In this paper we present the detailed hardware design and the simulated behavior of the extended leg/arm part of the robot, since it plays a very significant role in the robot actions (movements, selection of objects, etc.). In particular, the leg/arm consists of three major parts: The first part is a pipe attached to the robot base with a flexible 3-D joint. This pipe has a rotated bar as an extended part, which terminates in a 3-D flexible joint. The second part of the leg/arm is also a pipe similar to the first. The extended bar of the second part ends at a 2-D joint. The last part of the leg/arm is a clip-hand. It is used for selecting several small weight and size objects, and when it is in a 'closed' mode, it is used as a supporting part of the robot leg. The entire leg/arm part is controlled and synchronized by a microcontroller (68CH11) attached to the robot base.

Bourbakis, N. G.↗

The rotation of photospheric magnetic fields: A random walk transport model

In an earlier study of solar differential rotation, we showed that the transport of magnetic flux across latitudes acts to establish quasi-stationary patterns, therby accounting for the observed rigid rotation of the large-scale photospheric field. In that paper, the effect of supergranular convection was represented by a continuum diffusion, limiting the applicability of the calculations to large spatial scales. Here we extend the model to scales comparable to that of the supergranulation itself by replacing the diffusive transport with a discrete random walk process. Rotation curves are derived by cross-correlating the simulated photospheric field maps for a variety of time lags and spatial resolutions. When the lag between maps is relatively short less than or approximately = 15 days), the midlatitude correlation functions show two distinct components: a broad feature associated with the large-scale unipolar patterns and a narrow feature originating from small magnetic structures encompossing from one to several supergranular cells. By fitting the broad component we obtain the rigid rotation profile of the patterns, whereas by fitting the narrow component, we recover the differential rate of the photospheric plasma itself. For time lags of 1 month or greater, only the broad feature associated with the long-lived patterns remains clearly identifiable in the simulations.

Wang, Y. -M.↗

Walking to Olympus: An EVA Chronology

Spacewalkers enjoy a view of Earth once reserved for Apollo, Zeus, and other denizens of Mt. Olympus. During humanity's first extravehicular activity (EVA), Alexei Leonov floated above Gibraltar, the rock ancient seafarers saw as the gateway to the great unknown Atlantic. The symbolism was clear, Leonov stepped past a new Gibraltar when he stepped into space. More than 32 years and 154 EVAs later, Jerry Linenger conducted an EVA with Vladimir Tsibliyev as part of International Space Station Phase 1. They floated together above Gibraltar. Today the symbolism has new meaning: humanity is starting to think of stepping out of Earth orbit, space travel's new Gibraltar, and perhaps obtaining a new olympian view, a close-up look at Olympus Mons on Mars. Walking to Olympus: An EVA Chronology chronicles the 154 EVAs conducted from March 1965 to April 1997. It is intended to make clear the crucial role played by EVA in the history of spaceflight, as well as to chronicle the large body of EVA "lessons learned." Russia and the U.S. define EVA differently. Russian cosmonauts are said to perform EVA any time they are in vacuum in a space suit. A U.S. astronaut must have at least his head outside his spacecraft before he is said to perform an EVA. The difference is based in differing spacecraft design philoso- phies. Russian and Soviet spacecraft have always had a specialized airlock through which the EVA cosmonaut egressed, leaving the main habitable volume of the spacecraft pressurized. The U.S. Gemini and Apollo vehicles, on the other hand, depressurized their entire habitable volume for egress. In this document, we apply the Russian definition to Russian EVAS, and the U.S. definition to U.S. EVAS. Thus, for example, Gemini 4 Command Pilot James McDivitt does not share the honor of being first American spacewalker with Ed White, even though he was suited and in vacuum when White stepped out into space. Non-EVA spaceflights are listed in the chronology to provide context and to display the large num- ber of flights in which EVA played a role. This approach also makes apparent significant EVA gaps, for example, the U.S. gap between 1985 and 1991 following the Challenger accident. This NASA History Monograph is an edited extract from an extensive EVA Chronology and Reference Book being produced by the EVA Project Office, NASA Johnson Space Center, Houston, Texas. The larger work will be published as part of the NASA Formal Series in 1998. The authors gratefully acknowledge the assistance rendered by Max Ary, Ashot Bakunts, Gert-Jan Bartelds, Frank Cepollina, Andrew Chaikin, Phillip Clark, Richard Fullerton, Steven Glenn, Linda Godwin, Jennifer Green, Greg Harris, Clifford Hess, Jeffrey Hoffman, David Homan, Steven Hopkins, Nicholas Johnson, Eric Jones, Neville Kidger, Joseph Kosmo, Alexei Lebedev, Mark Lee, James LeBlanc, Dmitri Leshchenskii, Jerry Linenger, Igor Lissov, James McBarron, Clay McCullough, Joseph McMann, Story Musgrave, Dennis Newkirk, James Oberg, Joel Powell, Lee Saegesser, Andy Salmon, Glen Swanson, Joseph Tatarewicz, Kathy Thornton, Chris Vandenberg, Charles Vick, Bert Vis, David Woods, Mike Wright, John Young, and Keith Zimmerman. Special thanks to Laurie Buchanan, John Charles, Janet Kovacevich, Joseph Loftus, Sue McDonald, Martha Munies, Colleen Rapp, and Jerry Ross. Any errors remain the responsibility of the authors.

Portree, David S. F.↗

Medical Aspects of Space Walking

Dr. Musgrave has acquired extensive experience during a distinguished and impressive career that includes flying as an astronaut on six Shuttle missions, participating in many hours of extravehicular activity, and contributing his myriad talents toward great public service, especially in the area of education. He has a unique perspective as a physician, scientist, engineer, pilot, and scholar. His interests and breadth of knowledge, which astound even the seasoned space enthusiast, have provided the space program an extraordinary scientific and technical expertise. Dr. Musgrave presented a personal perspective on space flight with particular emphasis on extravehicular activity (EVA or space walking), which was copiously illustrated with photographs from many space missions. His theme was two fold: the exacting and detailed preparations required for successful execution of a mission plan and a cosmic view of mankind's place in the greater scheme of things.

Musgrave, Story↗

STS-93: Columbia Flight Crew Arrival on FSS 195' Level, Walk Across OAA and Ingress into White Room

The primary objective of the STS-93 mission was to deploy the Advanced X-ray Astrophysical Facility, which had been renamed the Chandra X-ray Observatory in honor of the late Indian-American Nobel Laureate Subrahmanyan Chandrasekhar. The mission was launched at 12:31 on July 23, 1999 onboard the space shuttle Columbia. The mission was led by Commander Eileen Collins. The crew was Pilot Jeff Ashby and Mission Specialists Cady Coleman, Steve Hawley and Michel Tognini from the Centre National d'Etudes Spatiales (CNES). This videotape opens with a view of the shuttle on the launch pad. It then shows the flight crew arrival on the 195 foot level of the fixed service structure (FSS), walks across the orbiter access arm (OAA) into the white room, where the crew is assisted in putting on the final stages of their spacesuits, and then their crawl into the orbiter.

Source record↗

Design and Testing of a 2-Hour Oxygen Prebreathe Protocol for Space Walks from the International Space Station

To develop and test a 2-hour prebreathe protocol for performing extravehicular activities (EVAs) from the International Space Station (ISS). Combinations of adynamia (non-walking), prebreathe exercise, and space suit donning options (10.2 vs. 14.7 psi) were evaluated, against timeline and consumable contraints to develop an operational 2- hour prebreathe protocol. Prospective accept/reject criteria were defined for decompression sickness (DCS) and venous gas emboli (VGE) from analysis of historical DCS data, combined with risk management of DCS under ISS mission circumstances. Maximum operational DCS levels were defined based on protecting for EVA capability with two crew-members at 95% confidence, throughout ISS lifetime (within the constraints of NASA DCS disposition policy JPG 1800.3). The accept/reject limits were adjusted for greater safety based on analysis of related medical factors. Monte-Carlo simulation was performed to design a closed sequential, multi-center human trial. Protocols were tested with 4 different prebreathe exercises (Phases I-IV), prior to exposure to 4.3 psi for 4 hrs. Subject selection, Doppler monitoring for VGE, test termination criteria, and DCS definitions were standardized. Phase I: upper and lower body exercises using dual-cycle ergometry (75% VO2 max for 10 min). Phase II: ergometry plus 24 min of light exercise (simulating space-suit preparations). Phase III: same 24 min of light exercise but no ergometry, and Phase IV: 56 min of light exercise without ergometry. A prebreathe procedure was accepted if, at 95% confidence, the incidence of DCS was less than 15% (with no Type II DCS), and Grade IV VGE was less than 20%.

Gernhardt, Michael L.↗

Task Adaptive Walking Robots for Mars Surface Exploration

There are exciting opportunities for robot science that lie beyond the reach of current manipulators, rovers, balloons, penetrators, etc. Examples include mobile explorations of the densely cratered Mars highlands, of asteroids, and of moons. These sites are believed to be rich in geologic history and mineralogical detail, but are difficult to robotically access and sample. The surface terrains are rough and changeable, with variable porosity and dust layering; and the small bodies present further challenges of low-temperature, micro-gravity environments. Even the more benign areas of Mars are highly variegated in character (>VL2 rock densities), presenting significant risk to conventional rovers. The development of compact walking robots would have applications to the current mission set for Mars surface exploration, as well as enabling future Mars Outpost missions, asteroid rendezvous missions for the Solar System Exploration Program (SSE) and the mechanical assembly/inspection of large space platforms for the Human Exploration and Development of Spaces (HEDS).

Huntsberger, Terry↗

Self-Avoiding Walks Over Adaptive Triangular Grids

Space-filling curves is a popular approach based on a geometric embedding for linearizing computational meshes. We present a new O(n log n) combinatorial algorithm for constructing a self avoiding walk through a two dimensional mesh containing n triangles. We show that for hierarchical adaptive meshes, the algorithm can be locally adapted and easily parallelized by taking advantage of the regularity of the refinement rules. The proposed approach should be very useful in the runtime partitioning and load balancing of adaptive unstructured grids.

Heber, Gerd↗

Random Walk Method for Potential Problems

A local Random Walk Method (RWM) for potential problems governed by Lapalace's and Paragon's equations is developed for two- and three-dimensional problems. The RWM is implemented and demonstrated in a multiprocessor parallel environment on a Beowulf cluster of computers. A speed gain of 16 is achieved as the number of processors is increased from 1 to 23.

Krishnamurthy, T.↗

Fractal landscape analysis of DNA walks

By mapping nucleotide sequences onto a "DNA walk", we uncovered remarkably long-range power law correlations [Nature 356 (1992) 168] that imply a new scale invariant property of DNA. We found such long-range correlations in intron-containing genes and in non-transcribed regulatory DNA sequences, but not in cDNA sequences or intron-less genes. In this paper, we present more explicit evidences to support our findings.

NASA Program Space Physiology and Countermeasures↗

A polymer, random walk model for the size-distribution of large DNA fragments after high linear energy transfer radiation

DNA double-strand breaks (DSBs) produced by densely ionizing radiation are not located randomly in the genome: recent data indicate DSB clustering along chromosomes. Stochastic DSB clustering at large scales, from > 100 Mbp down to < 0.01 Mbp, is modeled using computer simulations and analytic equations. A random-walk, coarse-grained polymer model for chromatin is combined with a simple track structure model in Monte Carlo software called DNAbreak and is applied to data on alpha-particle irradiation of V-79 cells. The chromatin model neglects molecular details but systematically incorporates an increase in average spatial separation between two DNA loci as the number of base-pairs between the loci increases. Fragment-size distributions obtained using DNAbreak match data on large fragments about as well as distributions previously obtained with a less mechanistic approach. Dose-response relations, linear at small doses of high linear energy transfer (LET) radiation, are obtained. They are found to be non-linear when the dose becomes so large that there is a significant probability of overlapping or close juxtaposition, along one chromosome, for different DSB clusters from different tracks. The non-linearity is more evident for large fragments than for small. The DNAbreak results furnish an example of the RLC (randomly located clusters) analytic formalism, which generalizes the broken-stick fragment-size distribution of the random-breakage model that is often applied to low-LET data.

DNA/radiation effects↗

Plantar soft tissue thickness during ground contact in walking

A technique is introduced for the measurement of plantar soft tissue thickness during barefoot walking. Subjects stepped into an adjustable Plexiglas frame which ensured that the required bony landmarks were appropriately positioned relative to a linear ultrasound probe connected to a conventional 7.5 MHz ultrasound scanner. Clear images of the metatarsal condyles or other foot bones were obtained throughout ground contact. Subsequent analysis of the video taped images using a motion analysis system allowed the tissue displacement to be calculated as a function of time. The tissue underneath the second metatarsal head was shown to undergo an average maximum compression of 45.7% during the late stages of ground contact during first step gait in a group of five normal subjects with a mean unloaded tissue thickness of 15.2 mm. The technique has a number of applications, including use in the validation of deformation predicted by finite element models of the soft tissue of the foot, and the study of alterations in the cushioning properties of the heel by devices which constrain the displacement of the heel pad.

Non-NASA Center↗

Centric rings, acentric rings and excess acentric fragments based on a random-walk interphase chromosome model

Excess acentric fragments, consisting of acentric rings and acentric linear fragments, are among the most frequent kinds of chromosome-type aberrations produced by radiation. The frequency of acentric rings cannot be obtained directly by experiment but is estimated here from the ratio of acentric to centric rings, evaluated using a random-walk model for the organization of chromatin during interphase and an assumption that the probability of an exchange formation is proportional to the rate of collision between two DSB. This ratio is calculated to be 2.5 in low-LET irradiated human fibroblasts, significantly greater than the ratio if proximity effects are not considered. The calculated frequency of acentric rings is insufficient to account for all the observed excess acentric fragments. Assuming that the rest of the excess acentric fragments are due to incomplete exchanges, all possible recombinations between two DSB that result in acentric rings and acentric linear fragments have been identified. From the chromosome aberration data, the incompleteness parameter has been estimated. Intra-arm chromosome exchanges, either complete or incomplete, were estimated to account for more than 50% of the excess acentric fragments in human fibroblasts.

NASA Center JSC↗

A Hexapod Robot to Demonstrate Mesh Walking in a Microgravity Environment

The JPL Micro-Robot Explorer (MRE) Spiderbot is a robot that takes advantage of its small size to perform precision tasks suitable for space applications. The Spiderbot is a legged robot that can traverse harsh terrain otherwise inaccessible to wheeled robots. A team of Spiderbots can network and can exhibit collaborative efforts to SUCCeSSfUlly complete a set of tasks. The Spiderbot is designed and developed to demonstrate hexapods that can walk on flat surfaces, crawl on meshes, and assemble simple structures. The robot has six legs consisting of two spring-compliant joints and a gripping actuator. A hard-coded set of gaits allows the robot to move smoothly in a zero-gravity environment along the mesh. The primary objective of this project is to create a Spiderbot that traverses a flexible, deployable mesh, for use in space repair. Verification of this task will take place aboard a zero-gravity test flight. The secondary objective of this project is to adapt feedback from the joints to allow the robot to test each arm for a successful grip of the mesh. The end result of this research lends itself to a fault-tolerant robot suitable for a wide variety of space applications.

Foor, David C.↗

Visual Acuity During Treadmill Walking

An awareness of the physical world is essential for successful navigation through the environment. Vision is the means by which this awareness is made possible for most people. However, without adequate compensation, the movements of the body during walking could impair vision. Previous research has shown how the eyes, head and trunk movements are coordinated to provide the compensation necessary for clear vision, but the overall effectiveness of these coordinated movements is unknown. The goal of the research presented here was to provide a direct measure of visual performance during locomotion, while also investigating the degree to which coordinated head and body movements can be altered to facilitate the goal of seeing clearly.

Peters, B. T.↗