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At least 163 records · Page 9

Multi-Dimensional Compliance of Soft Grippers Enables Gentle Interaction with Thin, Flexible Objects

In this paper, we discuss the role of gripper compliance in successful grasping and manipulation of thin, flexible materials. We show, both conceptually and empirically, that each axis of compliance in a planar gripper provides unique benefits in this domain. Vertical compliance allows robust grasping of thin materials in the presence of large uncertainty in positioning. Lateral compliance increases opportunity to respond to unexpected snags by increasing the time window over which tensile forces are applied. Rotational compliance avoids damage to objects by decreasing the maximum tensile forces applied during snags. We explore these three benefits through empirical tests comparing a rigid gripper to a soft gripper, evaluating the level of vertical uncertainty each can handle for prehensile and non-prehensile manipulation, as well as the forces and displacements incurred during snags. The results show how a soft gripper’s three-axis compliance provides a passive ability to prevent damage to delicate materials.

Clark B. Teeple↗

Modeling Deformable Linear Objects for Autonomous Robotic Outfitting of Lunar Surface Systems

This paper presents structural models of deformable linear objects (DLOs). DLOs are a subclass of deformable objects that encompasses common outfitting elements such as cables and ropes. Models are validated through hardware experiments, and integration in a robotic autonomy architecture for space environments is discussed. A persistent human presence on the lunar surface is one of the next major milestones in space exploration. This requires the development of robust extraplanetary construction technologies including structures and materials modeling and robotic systems. Previous robotic construction technology development has primarily focused on structural assembly, with significantly less focus on robotically performed outfitting tasks to instantiate subsystems providing power, data, life support, etc. These tasks involve manipulation of highly flexible elements, which are difficult to model, such as cable harnesses, ropes, and hoses. Robotic manipulation of DLOs, especially cable harnesses, is an active area of research as cable harnesses are essential for providing power and data to space assets. DLO models that can be used for robot manipulator trajectory generation are necessary for autonomous operation of lunar infrastructure. There are many proposed methods for modeling DLOs, and they primarily fall into three types: 1) discrete model-based, 2) continuum model-based, and 3) Neural Network-based. These types each have pros and cons, and the tradeoff between model accuracy and computational speed informs which type should be used. An understanding of this trade-off is imperative for real-time control of autonomous systems. High computational requirements reduce the speed of the model, making real-time control difficult, while accuracy is critical to preventing collisions. Discrete models, such as a mass-spring multibody representation, require relatively few calculations, and accuracy is directly tied to the step size of the discretization. Continuum models, such as a B-spline representation or a Cosserat rod model (a mix of continuous and discrete), are more informed of the structural properties of the cable and are much more accurate than a rigid body mass-spring model, but at significant computational cost. A Neural Network approach can provide an online solution with very few computational steps, but properly generating training data can be difficult and validation for an in-space application is not trivial. This paper explores the trade-off between different modeling approaches and compares accuracy and computational speed/complexity of the three types mentioned above. Model accuracy is evaluated using a cable in a static configuration. True cable shape is obtained using a depth camera for RGB images and point-cloud segmentation. The purpose of this experiment is to evaluate the trade-offs of different approaches to the DLO modeling problem. Understanding the tradeoffs between different cable modeling techniques paves the way for developing robotic control and planning architectures necessary for real-time manipulation of DLOs for lunar infrastructure outfitting. Real-time control is required for robotic systems to be able to actively manipulate a cable in a harsh environment where model and sensor errors compound, and environmental conditions can cause significant disturbances. Cable routing must be performed in areas with high density of objects/obstacles: through truss structures, near solar panels or mirror arrays, next to bundles of electrical equipment. Understanding the best way to plan and manipulate a cable without disrupting the environment or damaging the cable is imperative to robotic outfitting operations on the lunar surface.

Amy M Quartaro↗

Rapid rotational/translational maneuvering experiments of a flexible steel beam

Future space manipulators may need translational base motion to expand the access region of a manipulator. An experiment was conducted to demonstrate slewing of flexible structures with coupled rotational and translational axes while simultaneously suppressing vibrational motion during the maneuver. In the experiment, a flexible steel beam carried by a translational cart was maneuvered by an active controller to perform position-control tasks. Experimental results are presented to show how the flexibility of the steel beam influences the multi-input multi-output feedback controller.

Juang, Jer-Nan↗

Determination of joint drives for stable end-effector motion in flexible robotic systems

The prescribed tasks in high speed robotic systems are severely deteriorated because of their manipulator dynamic deflections. On the other hand conventional dynamic modeling techniques fail to reveal appropriate control forces in flexible systems. The conventional dynamic equations of motion for systems subject to kinematical constraints are modified by a new concept of control force representation. The directions of the control forces are selected such that they correspond to the joint degrees of freedom. Then the joint control forces and torques that yield unperturbed prescribed motions are solved simultaneously with the system motion. A flexible manipulator is presented to illustrate the methods proposed.

Ider, Sitki Kemal↗

High speed, precision motion strategies for lightweight structures

Research on space telerobotics is summarized. Adaptive control experiments on the Robotic Arm, Large and Flexible (RALF) were preformed and are documented, along with a joint controller design for the Small Articulated Manipulator (SAM), which is mounted on the RALF. A control algorithm is described as a robust decentralized adaptive control based on a bounded uncertainty approach. Dynamic interactions between SAM and RALF are examined. Unstability of the manipulator is studied from the perspective that the inertial forces generated could actually be used to more rapidly damp out the flexible manipulator's vibration. Currently being studied is the modeling of the constrained dynamics of flexible arms.

Book, Wayne J.↗

Anthropomorphic teleoperation: Controlling remote manipulators with the DataGlove

A two phase effort was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real-time based on hand shape, orientation, and movement. The first phase was a period for system integration, checkout, and familiarization in a virtual environment. The second phase was a formal experiment using the DataGlove as input device to control the protoflight manipulator arm (PFMA) - a large telerobotic arm with an 8-ft reach. The first phase was used to explore and understand how the DataGlove functions in a virtual environment, build a virtual PFMA, and consider and select a reasonable teleoperation control methodology. Twelve volunteers (six males and six females) participated in a 2 x 3 (x 2) full-factorial formal experiment using the DataGlove to control the PFMA in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0, 1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible), were manipulated. Gender served as a blocking variable. A main effect of time delay was found for slewing and total task times. Correlations among questionnaire responses, and between questionnaire responses and session mean scores and gender were computed. The experimental data were also compared with data collected in another study that used a six degree-of-freedom handcontroller to control the PFMA in the same task. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface. From an operational point of view, it compares favorably with other 'standard' telerobotic input devices and should be considered in future trades in teleoperation systems' designs.

Hale, J. P., II↗

2D Exotic Optical Lattice via a Digital‐Coding Circular Airy Beam

Optical lattices have been widely used from classical to quantum physics. The tunable and scalable fabrication of lattices would be of great significance in lattice‐based multipartite applications. This work demonstrates first that a circular Airy beam (CAB), which has the peculiar properties of self‐healing and abrupt autofocusing, can be used to generate two‐dimensional (2D) optical lattices in propagation when encoded by a programmable spatial mask, resulting in the formation of large‐scale and tunable optical lattices with both axis and axial symmetry, and even high‐orbital kaleidoscope shapes. The efficient diffraction of CAB during the spatial crosstalk with the mask enables the realization of tunable lattices with rich periodicity and complexity. The study shows a flexible method to manipulate lattices with large‐scale and versatile structures for potential applications in integrated and scalable optical and photonic devices.

Sun, Peisheng↗

Stress calculator speedily converts strain data

Stress calculator permits speedy conversion of strain data directly into maximum and minimum stresses and also determines stress direction. The calculator has a movable slide with logarithmic and linear scales, and an information and grid board. Its size is flexible for easy manipulation.

Cornett, D. W.↗

Interactive graphics system for IBM 1800 computer

A FORTRAN compatible software system that has been developed to provide an interactive graphics capability for the IBM 1800 computer is described. The interactive graphics hardware consists of a Hewlett-Packard 1300A cathode ray tube, Sanders photopen, digital to analog converters, pulse counter, and necessary interface. The hardware is available from IBM as several related RPQ's. The software developed permits the application programmer to use IBM 1800 FORTRAN to develop a display on the cathode ray tube which consists of one or more independent units called pictures. The software permits a great deal of flexibility in the manipulation of these pictures and allows the programmer to use the photopen to interact with the displayed data and make decisions based on information returned by the photopen.

Carleton, T. P.↗

Concurrent processing simulation of the space station

The development of a new capability for the time-domain simulation of multibody dynamic systems and its application to the study of a large angle rotational maneuvers of the Space Station is described. The effort was divided into three sequential tasks, which required significant advancements of the state-of-the art to accomplish. These were: (1) the development of an explicit mathematical model via symbol manipulation of a flexible, multibody dynamic system; (2) the development of a methodology for balancing the computational load of an explicit mathematical model for concurrent processing; and (3) the implementation and successful simulation of the above on a prototype Custom Architectured Parallel Processing System (CAPPS) containing eight processors. The throughput rate achieved by the CAPPS operating at only 70 percent efficiency, was 3.9 times greater than that obtained sequentially by the IBM 3090 supercomputer simulating the same problem. More significantly, analysis of the results leads to the conclusion that the relative cost effectiveness of concurrent vs. sequential digital computation will grow substantially as the computational load is increased. This is a welcomed development in an era when very complex and cumbersome mathematical models of large space vehicles must be used as substitutes for full scale testing which has become impractical.

Gluck, R.↗

NASA technology applications team: Applications of aerospace technology

Two critical aspects of the Applications Engineering Program were especially successful: commercializing products of Application Projects; and leveraging NASA funds for projects by developing cofunding from industry and other agencies. Results are presented in the following areas: the excimer laser was commercialized for clearing plaque in the arteries of patients with coronary artery disease; the ultrasound burn depth analysis technology is to be licensed and commercialized; a phased commercialization plan was submitted to NASA for the intracranial pressure monitor; the Flexible Agricultural Robotics Manipulator System (FARMS) is making progress in the development of sensors and a customized end effector for a roboticized greenhouse operation; a dual robot are controller was improved; a multisensor urodynamic pressure catherer was successful in clinical tests; commercial applications were examined for diamond like carbon coatings; further work was done on the multichannel flow cytometer; progress on the liquid airpack for fire fighters; a wind energy conversion device was tested in a low speed wind tunnel; and the Space Shuttle Thermal Protection System was reviewed.

Source record↗

Robotic System For Greenhouse Or Nursery

Report presents additional information about robotic system described in "Robotic Gripper With Force Control And Optical Sensors" (MFS-28537). "Flexible Agricultural Robotics Manipulator System" (FARMS) serves as prototype of robotic systems intended to enhance productivities of agricultural assembly-line-type facilities in large commercial greenhouses and nurseries.

Gill, Paul↗

Modelling robotic systems with DADS

With the appearance of general off-the-shelf software packages for the simulation of mechanical systems, modelling and simulation of mechanisms has become an easier task. The authors have recently used one such package, DADS, to model the dynamics of rigid and flexible-link robotic manipulators. In this paper, we present this overview of our learning experiences with DADS, in the hope that it will shorten the learning process for others interested in this software.

Churchill, L. W.↗

Microgravity Science Glovebox

The Microgravity Science Glovebox (MSG) is a versatile research facility designed to permit the flexibility of crew manipulated investigations on the International Space Station (ISS). The MSG configuration has been planned around the concept of an experimental workstation where a variety of experiments can be installed and operated in a fashion very similar to their operation in a ground-based laboratory. The approach has been to provide a large working volume with a significant set of power, data and imaging resources, all enclosed, but accessible by the crew through sealed glove ports. This arrangement allows the advantage of interactive experimentation without unduly compromising the experiment design with restrictions imposed by protective and containment challenges that normally arise in manned space-flight laboratories. In addition, the data and imaging resources allow cooperative monitoring of experiment progress between the crew and ground-based scientists. As ISS utilization evolves, the MSG is scheduled to become a major pathfinder for developing and exploiting the scientific advantages of truly enabling the coupling of experimentation in space with an evaluative response from the crew and investigators.

Roark, Walt↗

The Sugar Model: Catalytic Flow Reactor Dynamics of Pyruvaldehyde Synthesis from Triose Catalyzed by Poly-L-Lysine Contained in a Dialyzer

The formation of pyruvaldehyde from triose sugars was catalyzed by poly-L-lysine contained in a small dialyzer (100 MWCO) suspended in a much larger triose substrate reservoir. The polylysine confined in the dialyzer functioned as a catalytic flow reactor that constantly brought in triose from the substrate reservoir by diffusion to offset the drop in triose concentration within the reactor caused by its conversion to pyruvaldehyde. A 400 mM solution of poly-L-lysine contained in a 0.35 ml dialyzer placed in a 120 ml solution of triose substrate (pH 5.5, 40 C) generated pyruvaldehyde 11 -times faster than an a control reaction without the catalytic dialyzer. However, since the catalytic dialyzer's volume was 343-times smaller than the control reaction, the synthetic intensity (rate/volume) of pyruvaldehyde synthesis within the catalytic dialyzer was 3400-times greater than that of the control reaction and substrate solution. A similar result was obtained using a dialyzer with a 500 MWCO value. Acting as a catalytic flow reactor the polylysine catalytic dialyzer synthesized about 3.5 molecules of pyruvaldehyde per lysine residue in 7 days -- an amount of triose equal to twice the weight of the catalyst. At 7 days the catalytic activity of polylysine was 16% of its initial value, a result indicating catalyst-poisoning caused by reaction of pyruvaldehyde with the e-amino groups of polylysine. The dialyzer method of catalyst containment was selected it provides a simple, flexible, and easily manipulated experimental system for studying the dynamics and evolutionary development of confined autocatalytic processes related to the origin of life under anaerobic conditions.

Weber, Arthur L.↗

Computational Control of Flexible Aerospace Systems

The main objective of this project is to establish a distributed parameter modeling technique for structural analysis, parameter estimation, vibration suppression and control synthesis of large flexible aerospace structures. This report concentrates on the research outputs produced in the last two years of the project. The main accomplishments can be summarized as follows. A new version of the PDEMOD Code had been completed. A theoretical investigation of the NASA MSFC two-dimensional ground-based manipulator facility by using distributed parameter modelling technique has been conducted. A new mathematical treatment for dynamic analysis and control of large flexible manipulator systems has been conceived, which may provide a embryonic form of a more sophisticated mathematical model for future modified versions of the PDEMOD Codes.

Sharpe, Lonnie, Jr.↗

Computational control of flexible aerospace systems

The main objective of this project is to establish a distributed parameter modeling technique for structural analysis, parameter estimation, vibration suppression and control synthesis of large flexible aerospace structures. This report concentrates on the research outputs produced in the last two years. The main accomplishments can be summarized as follows. A new version of the PDEMOD Code had been completed based on several incomplete versions. The verification of the code had been conducted by comparing the results with those examples for which the exact theoretical solutions can be obtained. The theoretical background of the package and the verification examples has been reported in a technical paper submitted to the Joint Applied Mechanics & Material Conference, ASME. A brief USER'S MANUAL had been compiled, which includes three parts: (1) Input data preparation; (2) Explanation of the Subroutines; and (3) Specification of control variables. Meanwhile, a theoretical investigation of the NASA MSFC two-dimensional ground-based manipulator facility by using distributed parameter modeling technique has been conducted. A new mathematical treatment for dynamic analysis and control of large flexible manipulator systems has been conceived, which may provide an embryonic form of a more sophisticated mathematical model for future modified versions of the PDEMOD Codes.

Sharpe, Lonnie, Jr.↗

Dynamics and control of high precision magnetically levitated vibration isolation systems

Vibration control of flexible structures has received a great deal of interest in recent years. Several authors have investigated this topic in the areas of robot manipulators, space structures, and flexible rotors. Key issues associated with the dynamics and control of vibration isolation systems are addressed. Among other important issues to consider in the control of such systems, the location and number of actuators and sensors are essential to effectively control and suppress vibration. We first address the selection of proper actuator and sensor locations leading to a controllable and observable system. The Rayleigh-Ritz modal analysis method is used to develop a lumped-parameter model of a flexible vibration isolation table top. This model is then used to investigate the system's controllability and observability including the coupling effects introduced by the magnetic bearing. This analysis results in necessary and sufficient conditions for proper selection of actuator and sensor locations. These locations are also important for both controller system's complexity and stability of point of views. A favorable pole-zero plot of the open loop transfer functions is presented. Necessary and sufficient conditions for reducing the controller complexity are derived. The results are illustrated by examples using approximate mode shape functions.

Youcef-Toumi, K.↗