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Magnetic-shift-register circuit controls bidirectional operations of a phase-pulsed step motor. The circuit draws no power in standby, is nonregenerative, and is insensitive to switching transients.
The traditional theory equating the brain bases of language with Broca's and Wernicke's neocortical areas is wrong. Neural circuits linking activity in anatomically segregated populations of neurons in subcortical structures and the neocortex throughout the human brain regulate complex behaviors such as walking, talking, and comprehending the meaning of sentences. When we hear or read a word, neural structures involved in the perception or real-world associations of the word are activated as well as posterior cortical regions adjacent to Wernicke's area. Many areas of the neocortex and subcortical structures support the cortical-striatal-cortical circuits that confer complex syntactic ability, speech production, and a large vocabulary. However, many of these structures also form part of the neural circuits regulating other aspects of behavior. For example, the basal ganglia, which regulate motor control, are also crucial elements in the circuits that confer human linguistic ability and abstract reasoning. The cerebellum, traditionally associated with motor control, is active in motor learning. The basal ganglia are also key elements in reward-based learning. Data from studies of Broca's aphasia, Parkinson's disease, hypoxia, focal brain damage, and a genetically transmitted brain anomaly (the putative "language gene," family KE), and from comparative studies of the brains and behavior of other species, demonstrate that the basal ganglia sequence the discrete elements that constitute a complete motor act, syntactic process, or thought process. Imaging studies of intact human subjects and electrophysiologic and tracer studies of the brains and behavior of other species confirm these findings. As Dobzansky put it, "Nothing in biology makes sense except in the light of evolution" (cited in Mayr, 1982). That applies with as much force to the human brain and the neural bases of language as it does to the human foot or jaw. The converse follows: the mark of evolution on the brains of human beings and other species provides insight into the evolution of the brain bases of human language. The neural substrate that regulated motor control in the common ancestor of apes and humans most likely was modified to enhance cognitive and linguistic ability. Speech communication played a central role in this process. However, the process that ultimately resulted in the human brain may have started when our earliest hominid ancestors began to walk.
Astronauts experience disturbances in sensorimotor function following their return to Earth due to adaptive responses that occur during exposure to the microgravity conditions of space flight. As part of the Crew Exploration Vehicle design requirements, the crewmember adapted to the microgravity state may need to egress the vehicle within a few minutes for safety and operational reasons in various sea state conditions following a water landing. The act of emergency egress includes and is not limited to rapid motor control tasks (including both fine motor such as object manipulation and gross motor such as opening a hatch) and visual acuity tasks while maintaining spatial orientation and postural stability in time to escape safely. Exposure to even low frequency motions (0.2-2.0 Hz) induced by sea conditions surrounding a vessel can cause significant fine and gross motor control problems affecting critical functions. These motion frequencies coupled with the varying sea state conditions (frequencies ranging from 0.125-0.5 Hz) cause performance deficits by affecting the efficacy of motor and visual acuity dependent skills in tasks critical to emergency egress activities such as visual monitoring of displays, actuating discrete controls, operating auxiliary equipment and communicating with Mission Control and recovery teams. Thus, during exploration class missions the sensorimotor disturbances due to the crewmember's adaptation to microgravity may lead to disruption in the ability to maintain postural stability and perform functional egress tasks during the initial introduction to the Earth's gravitational environment. At present, the functional implication of the interactions between a debilitated crewmember during readaptation to Earth s gravity and the environmental constraints imposed by a water landing scenario is not defined and no operational countermeasure has been implemented to mitigate this risk. Stochastic resonance (SR) is a mechanism whereby noise can assist and hence enhance the response of neural systems to relevant, subthreshold sensory signals. Application of subthreshold stochastic resonance noise coupled to sensory input either through the proprioceptive, visual or vestibular sensory systems, has been shown to improve motor function. Crew members who have adapted to microgravity have acquired new sensorimotor strategies that take time to discard. We hypothesize that detection of time-critical subthreshold sensory signals will play a crucial role in improving strategic responses and thus the rate of skill re-acquisition will be faster, leading to faster recovery of function during their re-adaptation to Earth G. Therefore, we expect the use of stochastic resonance mechanisms will enhance the acquisition of new strategic abilities. This process should ensure rapid restoration of functional egress capabilities during the initial return to Earth G after prolonged space flight. Therefore, the overall goals of this project are to investigate performance of motor and visual tasks during varying sea state conditions and develop a countermeasure based on stochastic resonance that could be implemented to enhance sensorimotor capabilities with the aim of facilitating rapid adaptation to Earth s gravity, allowing rapid CEV egress on water in varying sea states following long-duration space flight.
Sensitivity to variations in electrical and mechanical characteristics reduced. Proposed control system for motor-driven rotary actuator includes three nested feedback loops which, when properly designed, decoupled from each other. Intended to increase accuracy of control by mitigating such degrading effects as vibrations and variations in electrical and mechanical characteristics of structure rotated. Lends itself to optimization of performance via independent optimization of each of three loops. Includes outer, actuator, and driver feedback loops, configured so that actuator is subsystem, and driver is subsystem of actuator.
The goal of this effort was to develop a digital motor controller using field programmable gate arrays (FPGAs). This is a more rugged approach than a conventional microprocessor digital controller. FPGAs typically have higher radiation (rad) tolerance than both the microprocessor and memory required for a conventional digital controller. Furthermore, FPGAs can typically operate at higher speeds. (While speed is usually not an issue for motor controllers, it can be for other system controllers.) Other than motor power, only a 3.3-V digital power supply was used in the controller; no analog bias supplies were used. Since most of the circuit was implemented in the FPGA, no additional parts were needed other than the power transistors to drive the motor. The benefits that FPGAs provide over conventional designs-lower power and fewer parts-allow for smaller packaging and reduced weight and cost.
Multi-channel proportional control system for operation of dc motors for use with externally-powered orthotic arm braces is described. Components of circuitry and principles of operation are described. Schematic diagram of control circuit is provided.
The following tasks were proposed for the Cosmos project: 1) Complete recordings of all preflight candidates during performance of a foot pedal motor control task while in the space capsule mock-up. 2) Complete recordings of all preflight candidates during locomotion and postural tasks. 3) Complete recordings of 24-hour spontaneous cage activity in the two flight monkeys before and after flight and of at least three control (non-flight) monkeys after the flight has been completed. 4) Complete recordings of the foot pedal and motor control tasks during flight and postflight as scheduled. 5) Complete recordings of the vertical drop test pre, during and postflight for the two flight and three control monkeys. 6) Complete recordings of locomotion and posture tests of the two flight monkeys postflight. 7) Complete recordings of locomotion and postural tests of at least three control (non-flight) monkeys during the postflight period. 8) Recalibrate buckles of the two flight and of at least three control monkeys postflight. 9) Complete analysis of the 24 hour EMG recordings of all monkeys. 10) Complete analysis of the foot pedal, locomotor and postural motor control tasks for the two flight and three control monkeys. It was proposed that efforts in the first postflight year be concentrated on the two flight animals and three postflight animals.
This paper presents the results of NASA’s Game Changing Technology development entitled “Ultra Low Temperature Electronics” and ColdTech technology effort entitled “Cold Survivable Distributed Motor Controller”. The purpose of these back-to-back projects is to address the Command & Data Handling (CDH), Power and Motor Control needs for missions to ocean worlds such as the potential Europa Lander project. We addressed the mass reduction challenge by developing the key technologies necessary to design a next generation compact motor control avionics. The project’s goal is to allow a Europa Lander to last longer on the surface and provide more room for additional science by reducing the volume, mass and power of its avionics and the amount of energy required to keep the avionics warm.
Central processing of inertial sensory information about head attitude and motion in space is crucial for motor control. Vestibular signals are coded relative to a non-inertial system, the head, that is virtually continuously in motion. Evidence for transformation of vestibular signals from head-fixed sensory coordinates to gravity-centered coordinates have been provided by studies of the vestibulo-ocular reflex. The underlying central processing depends on otolith afferent information that needs to be resolved in terms of head translation related inertial forces and head attitude dependent pull of gravity. Theoretical solutions have been suggested, but experimental evidence is still scarce. It appears, along these lines, that gaze control systems are intimately linked to motor control of head attitude and posture.
Feedback circuit controls fluctuations in speed of synchronous ac motor. Voltage proportional to phase angle is developed by phase detector, rectified, amplified, compared to threshold, and reapplied positively or negatively to motor excitation circuit. Speed control reduces wow and flutter of audio turntables and tape recorders, and enhances hunting in gyroscope motors.
In this work we describe in detail the architecture, design, testing and operation of the Electrical Ground Support Equipment (EGSE) “Blue Box” used to test and validate the Sampling Caching System (SCS) of the Mars 2020 Perseverance rover. The Blue Box architecture is centered around COTS motor controllers and COTS input-output modules communicating over an EtherCAT bus. A custom, low-level safety subsystem ensures no harm can be done to the flight articles. The modular architecture of the EGSE reduces cost and complexity while expediting assembly time. The Blue Box drives the 19 actuators of the SCS which span the main robotic arm, the corer system, the internal sample handling arm, the sample tube sealing system and the gas dust removal tool; mimicking the Rover Motor Control Assembly (RMCA). Due to the limited availability of RMCA’s, the EGSE enabled and performed the bulk of testing activities for SCS. The majority of the SCS actuators are composed of a 3-phase DC brushless motors, hall sensors for commutation, dual resolvers for output angular measurement, brakes, heaters and platinum thermistors. Additionally, the EGSE read 12 strain gauges forming part of a force torque sensor, and switches used for external positioning references. Over the 3-year span of the V&V campaign for the SCS, over 32 EGSE systems were built, tested and deployed to test venues at JPL and externally. The EGSE tested several families of the SCS subsystem, ranging from engineering units, life test units and two flight units. Test venues that this EGSE supported included lab benches, ultra-clean cleanrooms, ATLO facilities, and thermal vacuum chambers. Together with the test software systems, SSDEV and SSDEV-ECAT, the Blue Box EGSE enabled the team to efficiently test flight hardware and flight software together. We go over the safety features and fault management techniques employed to protect flight hardware. The effects of the long, 50-feet, EGSE harnesses on motor performance, EMI, electrical noise, and motor control performance are explained. Mitigations to these unwanted effects, including shielding strategy and inductance compensation, are summarized. We go over an excerpt of notable anomalies that this EGSE suffered through its operation, along with investigations and resolutions. Lessons learned, areas of improvement as part of future work, and recommendations for future implementations for similar EGSE’s, are shared.
Research on descending motor pathways to caudal brainstem and spinal cord in the spinal motor system is reviewed. Particular attention is given to somatic and autonomic motoneurons in the spinal cord and brainstem, local projections to motoneurons, bulbospinal interneurons projecting to motoneurons, descending pathways of somatic motor control systems, and descending pathways involved in limbic motor control systems.
In the microgravity environment of spaceflight, the relationship between sensory input and motor output is altered. During prolonged missions, neural adaptive processes come into play to recalibrate central nervous system function, thereby permitting new motor control strategies to emerge in the novel sensory environment of microgravity. However, the adaptive state achieved during spaceflight is inappropriate for a unit gravity environment and leads to motor control alterations upon return to Earth that include disturbances in locomotion. Indeed, gait and postural instabilities following the return to Earth have been reported in both U.S. astronauts and Russian cosmonauts even after short duration (5- to 10-day) flights. After spaceflight, astronauts may: (1) experience the sensation of turning while attempting to walk a straight path, (2) encounter sudden loss of postural stability, especially when rounding corners, (3) perceive exaggerated pitch and rolling head movements during walking, (4) experience sudden loss of orientation in unstructured visual environments, or (5) experience significant oscillopsia during locomotion.
A tendon tensioning system includes a tendon having a proximal end and a distal end, an actuator, and a motor controller. The actuator may include a drive screw and a motor, and may be coupled with the proximal end of the tendon and configured to apply a tension through the tendon in response to an electrical current. The motor controller may be electrically coupled with the actuator, and configured to provide an electrical current having a first amplitude to the actuator until a stall tension is achieved through the tendon; provide a pulse current to the actuator following the achievement of the stall tension, where the amplitude of the pulse current is greater than the first amplitude, and return the motor to a steady state holding current following the conclusion of the pulse current.
Hydraulic power controlled through multiple feedback loops. In hydraulic drive unit, power closely matched to demand, thereby saving energy. Hydraulic flow to and from motor adjusted by motor-control valve connected to wobbler. Wobbler angle determines motor-control-valve position, which in turn determines motor displacement. Concept applicable to machine tools, aircraft controls, and marine controls.
Design, fabrication, and functional testing of brushless dc motors with split winding connected in series or parallel
Computerized dynamic posturography has been used to quantitatively assess the time course of functional sensorimotor recovery after exposure to spaceflight or to groundbased analogs such as head-down bed rest. An assessment of balance recovery may be confounded as subjects develop new strategies through repeated exposures to test paradigms. The purpose of this control study was to characterize the learning effects of sensory organization and motor control tests across multiple sessions. METHODS: Twenty-eight healthy subjects were tested over four sessions. To examine the effects of between-session interval, subjects were assigned to one of four groups in which the interval between the 1 st and 2nd sessions was 7 (+/- 1) days, 14 (+/-1) days, 28 (+/-2) days, or 56 (+/-3) days. The interval between remaining sessions was 28 (+/-4) days. Peak-to-peak anterior-posterior sway was measured during standard Sensory Organization Tests (SOTs) using either fixed or unstable sway-referenced support with eyes open, eyes closed, or sway-referenced vision. Sway was also measured during modified SOTs using eyes-closed conditions with either static or dynamic head tilts. Postural recovery to unexpected support surface perturbations (translations or rotations) was measured during Motor Control Tests. The test order was block randomized across subjects. RESULTS: The learning effects varied with test condition. There were no measurable differences with a stable support surface. The more challenging conditions (unstable support surface with and without head tilts) led to greater differences and took more trials to stabilize. The effect of time interval between the first two sessions was negligible across conditions. Evidence suggested that learning carried across similar conditions (such as unstable support SOTs). DISCUSSION: Familiarization session and/or trials are recommended to minimize learning effects when characterizing functional recovery after exposure to altered sensory environments. The number of practice trials required depends on task difficulty and similarity across conditions. Learning statement: This presentation will review the learning effects of computerized d
The status of development of the 12 m diameter parabolic dish concentrator which is planned for use with the Small Community Solar Thermal Power System. The PDC-1 unit features the use of plastic reflector film bonded to structural plastic gores supported by front-bracing steel ribs. An elevation-over-azimuth mount arrangement is employed, with a conventional wheel-and-track arrangement; outboard trunnions permit the dish to be stored in the face down position, with the added advantage of easy access to the power conversion assembly. The control system is comprised of a central computer (LSI 1123), a manual control panel, a concentrator control unit, two motor controllers, a Sun sensor, and two angular position resolvers. The system is designed for the simultaneous control of several concentrators. The optical testing of reflective panels is described.