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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Kinematically redundant arm formulations for coordinated multiple arm implementations

Although control laws for kinematically redundant robotic arms were presented as early as 1969, redundant arms have only recently become recognized as viable solutions to limitations inherent to kinematically sufficient arms. The advantages of run-time control optimization and arm reconfiguration are becoming increasingly attractive as the complexity and criticality of robotic systems continues to progress. A generalized control law for a spatial arm with 7 or more degrees of freedom (DOF) based on Whitney's resolved rate formulation is given. Results from a simulation implementation utilizing this control law are presented. Furthermore, results from a two arm simulation are presented to demonstrate the coordinated control of multiple arms using this formulation.

Robert W Bailey↗
NASA NTRS1979

Controller arm for a remotely related slave arm

A segmented controller arm configured and dimensioned to form a miniature kinematic replica of a remotely related slave arm is disclosed. The arm includes: (1) a plurality of joints for affording segments of the arm simultaneous angular displacement about a plurality of pairs of intersecting axes, (2) a plurality of position sensing devices for providing electrical signals indicative of angular displacement imparted to corresponding segments of the controller shaft about the axes, and (3) a control signal circuit for generating control signals to be transmitted to the slave arm. The arm is characterized by a plurality of yokes, each being supported for angular displacement about a pair of orthogonally related axes and counterbalanced against gravitation by a cantilevered mass.

Salisbury, J. K., Jr.↗
NASA NTRS1988

Molecular clouds in the Carina arm - The largest objects, associated regions of star formation, and the Carina arm in the Galaxy

The Columbia CO survey of the southern Galactic plane is used to identify giant molecular clouds and cloud complexes in the Vela-Carina-Centaurus section of the Galaxy. Twenty-seven giant molecular clouds between l = 270 and 300 deg are catalogued and their heliocentric distances given. In addition, 16 clouds at l greater than 300 deg beyond the solar circle extend the catalog to include the very distant portion of the Carina arm. The most massive clouds in the catalog trace the Carina arm over 23 kpc in the plane of the Galaxy. The average mass of these objects is 1.4 x 10 to the 6th solar, and their average spacing along the arm is 700 pc. The composite distribution projected onto the Galactic plane of the largest molecular clouds in the Carina arm and of similarly massive clouds in the first and second quadrants strongly suggests that the Carina and Sagittarius arms form a single spiral arm about 40 kpc in length wrapping two-thirds of the way around the Galaxy. Descriptions of each cloud, including identification of associated star-forming regions, are presented in an appendix.

Grabelsky, D. A.↗
NASA NTRS1989

Dual redundant arm configuration optimization with task-oriented dual arm manipulability

It is shown that the required motion and force trajectories of a given task can be abstracted by a series of desired manipulability ellipsoids, and that a task-oriented dual-arm manipulability measure (TODAMM) can be mathematically defined by quantifying how the manipulability of one arm affects the other and measuring the geometrical closeness between the desired and the actual manipulability ellipsoids. TODAMM can be used in the optimization of dual-arm joint configurations. The task-oriented manipulability measure developed can also be used in the joint configuration optimization of a single arm, providing efficient joint configurations in terms of joint motions and joint torques for the required Cartesian motions and static forces. The dual-arm joint configuration optimization based on TODAMM can be applied to a variety of tasks which require dual-arm cooperation.

Lee, Sukhan↗
NASA NTRS1999

Haptic stabilization of posture: changes in arm proprioception and cutaneous feedback for different arm orientations

Postural sway during quiet stance is attenuated by actively maintained contact of the index finger with a stationary surface, even if the level of applied force (<1 N) cannot provide mechanical stabilization. In this situation, changes in force level at the fingertip lead changes in center of foot pressure by approximately 250 ms. These and related findings indicate that stimulation of the fingertip combined with proprioceptive information about the hand and arm can serve as an active sensor of body position relative to the point of contact. A geometric analysis of the relationship between hand and torso displacement during body sway led to the prediction that arm and hand proprioceptive and finger somatosensory information about body sway would be maximized with finger contact in the plane of body sway. Therefore, the most postural stabilization should be possible with such contact. To test this analysis, subjects touched a laterally versus anteriorly placed surface while in each of two stances: the heel-to-toe tandem Romberg stance that reduces medial-lateral stability and the heel-to-heel, toes-outward, knees-bent, "duck stance" that reduces fore-aft stability. Postural sway was always least with finger contact in the unstable plane: for the tandem stance, lateral fingertip contact was significantly more effective than frontal contact, and, for the duck stance, frontal contact was more effective than lateral fingertip contact. Force changes at the fingertip led changes in center of pressure of the feet by approximately 250 ms for both fingertip contact locations for both test stances. These results support the geometric analysis, which showed that 1) arm joint angles change by the largest amount when fingertip contact is maintained in the plane of greatest sway, and 2) the somatosensory cues at the fingertip provide both direction and amplitude information about sway when the finger is contacting a surface in the unstable plane.

Non-NASA Center↗
NASA NTRS1995

Cloud Properties Derived From GOES-7 for Spring 1994 ARM Intensive Observing Period Using Version 1.0.0 of ARM Satellite Data Analysis Program

This document describes the initial formulation (Version 1.0.0) of the Atmospheric Radiation Measurement (ARM) program satellite data analysis procedures. Techniques are presented for calibrating geostationary satellite data with Sun synchronous satellite radiances and for converting narrowband radiances to top-of-the-atmosphere fluxes and albedos. A methodology is documented for combining geostationary visible and infrared radiances with surface-based temperature observations to derive cloud amount, optical depth, height, thickness, temperature, and albedo. The analysis is limited to two grids centered over the ARM Southern Great Plains central facility in north-central Oklahoma. Daytime data taken during 5 Apr. - 1 May 1994, were analyzed on the 0.3 deg and 0.5 deg latitude-longitude grids that cover areas of 0.9 deg x 0.9 deg and 10 deg x 14 deg, respectively. Conditions ranging from scattered low cumulus to thin cirrus and thick cumulonimbus occurred during the study period. Detailed comparisons with hourly surface observations indicate that the mean cloudiness is within a few percent of the surface-derived sky cover. Formats of the results are also provided. The data can be accessed through the World Wide Web computer network.

Minnis, Patrick↗
NASA NTRS1990

Experiments in cooperative-arm object manipulation with a two-armed free-flying robot

Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

Koningstein, Ross↗
NASA NTRS2004

Sensory-Feedback Exoskeletal Arm Controller

An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment between the exoskeletal mechanism and the shoulder. 4. The fourth DOF is that of flexion and extension of the elbow. The reflected torque for this DOF is provided by motor 4 and drum 4, which are mounted on a bracket that can slide longitudinally by a pin-and-slot engagement with the upper-arm cuff to compensate for slight variations in the position of the kinematic center of the elbow. Attached to drum 4 is an adapter plate to which is attached a CRCM for the lower arm. 5. The lower-arm CRCM implements the fifth DOF, which is the twist of the forearm about its longitudinal axis. Motor 5 provides the reflected torque for this DOF by driving the lower-arm cuff. A rod transmits twist and torsion between the lower-arm cuff and the hand cuff. With this system, the motion of the wearer s joints and the reflected torques applied to these joints can be measured and controlled in a relatively simple manner. This is because the anthropomorphic design of the mechanism imitates the kinematics of the human arm, eliminating the need for kinematic conversion of joint-torque and joint-angle data.

An, Bin↗
NASA NTRS1990

Dual redundant arm system operational quality measures and their applications - Dynamic measures

Dual-arm dynamic operation quality measures are presented which quantify the efficiency and capability of generating Cartesian accelerations by two cooperative arms based on the analysis of dual-arm dynamic interactions. Dual-arm dynamic manipulability is defined as the efficiency of generating Cartesian accelerations under the dynamic and kinematic interactions between individual arms and an object under manipulation. The analysis of dual-arm dynamic interactions is based on the so-called Cartesian space agent model of an arm, which represents an individual arm as a force source acting upon a point mass with the effective Cartesian space arm dynamics and an environment or an object under manipulation. The Cartesian space agent model of an arm makes it possible to derive the dynamic and kinematic constraints involved in the transport, assembly and grasping modes of dual-arm cooperation. A task-oriented operational quality measure, (TOQd) is defined by evaluating dual-arm dynamic manipulability in terms of given task requirements. TOQd is used in dual-arm joint configuration optimization. Simulation results are shown. A complete set of forward dynamic equations for a dual-arm system is derived, and dual-arm dynamic operational quality measures for various modes of dual-arm cooperation allowing sliding contacts are established.

Lee, Sukhan↗
NASA NTRS1995

Motor adaptation to Coriolis force perturbations of reaching movements: endpoint but not trajectory adaptation transfers to the nonexposed arm

1. Reaching movements made in a rotating room generate Coriolis forces that are directly proportional to the cross product of the room's angular velocity and the arm's linear velocity. Such Coriolis forces are inertial forces not involving mechanical contact with the arm. 2. We measured the trajectories of arm movements made in darkness to a visual target that was extinguished at the onset of each reach. Prerotation subjects pointed with both the right and left arms in alternating sets of eight movements. During rotation at 10 rpm, the subjects reached only with the right arm. Postrotation, the subjects pointed with the left and right arms, starting with the left, in alternating sets of eight movements. 3. The initial perrotary reaching movements of the right arm were highly deviated both in movement path and endpoint relative to the prerotation reaches of the right arm. With additional movements, subjects rapidly regained straight movement paths and accurate endpoints despite the absence of visual or tactile feedback about reaching accuracy. The initial postrotation reaches of the left arm followed straight paths to the wrong endpoint. The initial postrotation reaches of the right arm had paths with mirror image curvature to the initial perrotation reaches of the right arm but went to the correct endpoint. 4. These observations are inconsistent with current equilibrium point models of movement control. Such theories predict accurate reaches under our experimental conditions. Our observations further show independent implementation of movement and posture, as evidenced by transfer of endpoint adaptation to the nonexposed arm without transfer of path adaptation. Endpoint control may occur at a relatively central stage that represents general constraints such as gravitoinertial force background or egocentric direction relative to both arms, and control of path may occur at a more peripheral stage that represents moments of inertia and muscle dynamics unique to each limb. 5. Endpoint and path adaptation occur despite the absence both of mechanical contact cues about the perturbing force and visual or tactile cues about movement accuracy. These findings point to the importance of muscle spindle signals, monitoring of motor commands, and possibly joint and tendon receptors in a detailed trajectory monitoring process. Muscle spindle primary and secondary afferent signals may differentially influence adaptation of movement shape and endpoint, respectively.

Non-NASA Center↗
NASA NTRS2010

Robotic Arm Comprising Two Bending Segments

The figure shows several aspects of an experimental robotic manipulator that includes a housing from which protrudes a tendril- or tentacle-like arm 1 cm thick and 1 m long. The arm consists of two collinear segments, each of which can be bent independently of the other, and the two segments can be bent simultaneously in different planes. The arm can be retracted to a minimum length or extended by any desired amount up to its full length. The arm can also be made to rotate about its own longitudinal axis. Some prior experimental robotic manipulators include single-segment bendable arms. Those arms are thicker and shorter than the present one. The present robotic manipulator serves as a prototype of future manipulators that, by virtue of the slenderness and multiple- bending capability of their arms, are expected to have sufficient dexterity for operation within spaces that would otherwise be inaccessible. Such manipulators could be especially well suited as means of minimally invasive inspection during construction and maintenance activities. Each of the two collinear bending arm segments is further subdivided into a series of collinear extension- and compression-type helical springs joined by threaded links. The extension springs occupy the majority of the length of the arm and engage passively in bending. The compression springs are used for actively controlled bending. Bending is effected by means of pairs of antagonistic tendons in the form of spectra gel spun polymer lines that are attached at specific threaded links and run the entire length of the arm inside the spring helix from the attachment links to motor-driven pulleys inside the housing. Two pairs of tendons, mounted in orthogonal planes that intersect along the longitudinal axis, are used to effect bending of each segment. The tendons for actuating the distal bending segment are in planes offset by an angle of 45 from those of the proximal bending segment: This configuration makes it possible to accommodate all eight tendons at the same diameter along the arm. The threaded links have central bores through which power and video wires can be strung (1) from a charge-coupled-device camera mounted on the tip of the arms (2) back along the interior of the arm into the housing and then (3) from within the housing to an external video monitor.

Mehling, Joshua S.↗
NASA NTRS1990

The molecular spiral arms of NGC 6946

From CO-12(J=1 to 0) observations at 45 seconds resolution Tacconi and Young (1989) have found evidence for enhancements in both the CO emissivity and the massive star formation efficiency (MSFE) on optical spiral arms of the bright spiral galaxy NGC 6946. In the optically luminous and well-defined spiral arm in the NE quadrant, there are enhancements in both the H2 surface density and MSFE relative to the interarm regions. In contrast, a poorly defined arm in the SW shows no arm-interarm contrast in the MSFE. To further investigate the molecular gas content of these two spiral arms, researchers have made CO-12 J=2 to 1 and 3 to 2 observations with the James Clerk Maxwell Telescope. In the J=2 to 1 line, they made observations of the NE and SW spiral arm and interarm regions in 4 x 9 10 seconds spaced grids (36 points per grid). Because of decreased sensitivity in the J=3 to 2 line, they were limited to mapping the two arm regions in 2 x 3 10 seconds spaced grids (6 points per grid). The centers of each of the grids lie 2.4 minutes to the NE and 2.3 minutes to the SW of the nucleus of NGC 6946. With the CO J=2 to 1 data researchers are able to fully resolve the two observed spiral arms in NGC 6946. In both cases the CO emission is largely confined to the optical spiral arm regions with the peak observed T asterisk sub A being up to 4 times higher on the spiral arms than in the interarm regions. Researchers are currently estimating massive star formation efficiencies on and off the spiral arms through direct comparison of the CO maps with an H alpha image. They are also comparing the CO J=2 to 1 data with an HI map made at similar resolution. Thus, they will be able to determine structure in all components of the IS on scales of less than 20 inches.

Tacconi, L. J.↗
NASA NTRS1991

Summary of compliant and multi-arm control at NASA. Langley Research Center

The topics are presented in viewgraph form and include the: single arm system, single arm axis system, single arm control systems, single arm hand controller axis system, single arm position axis system, single arm vision axis system, single arm force axis system, multi-arm system, multi-arm axis system, and the dual arm hand control axis system with control signals.

Fenton W Harrison↗
NASA NTRSDate not supplied

OceanWATERS Lander Robotic Arm Operation

Ocean Worlds Autonomy Testbed for Exploration Research and Simulation (OceanWATERS) is an open-source simulator for developing onboard autonomy software for robotic exploration of ocean worlds, such as Europa, Enceladus, and Titan, built on the Robot Operating System (ROS) and Gazebo simulation environment. Inevitable ground communication delays increase demand for a high degree of autonomy during excavation, collection and transfer of samples to scientific instruments for in-situ analysis. This paper offers a detailed discussion of the robotic arm design and operation for such autonomous surface exploration, taking as reference the Europa Lander mission. The lander arm, which is designed primarily to acquire icy surface and subsurface samples within the arm’s workspace, is a 6-degree-of-freedom manipulator with two end effectors: a sample excavation tool and a trenching end-effector. The robotic arm’s modes and operations can be summarized as follows: stowed arm, intended as the lander arm default configuration characterized by zero-power consumption; un-stowed arm, target arm configuration after its first deployment; selection and deployment of the end-effector to use next; guarded move, to detect ground level at the desired trenching location; drill ice using the grinder; dig trench at a particular location using the scoop; deliver sample to the sample transfer dock; discard redundant samples. The motion planning tool used for the lander arm is MoveIt, a ROS package. MoveIt uses sampling-based planning and collision checking libraries to determine safe paths. The Rapidly Exploring Random Trees* (RRT*) has been chosen as default planning algorithm as it provides optimal plans with an exponential speed and is guaranteed to find a solution, if feasible solutions exist. Furthermore, this work quantifies and discusses the energy requirements for excavating and collecting samples. In OceanWATERS, force feedback from the terrain, which influences the arm dynamics, is modelled using a discrete element method (DEM) simulation. The DEM and Gazebo software run in parallel and communicate through a co-simulation plugin. This paper presents an analysis and comparison of three DEM open source software (YADE, ESyS-Particle, Project Chrono) for implementation in OceanWATERS and motivates the choice of YADE as most suitable candidate.

Damiana Catanoso↗
NASA NTRS1986

Molecular clouds in the Carina arm

Results from the first large-scale survey in the CO(J = 1 to 0) line of the Vela-Carina-Centaurus region of the Southern Milky Way are reported. The observations, made with the Columbia University 1.2 m millimeter-wave telescope at Cerro Tololo, were spaced every beamwidth (0.125 deg) in the range 270 deg is less than or = l is less than or = 300 deg and -1 deg less than or = b less then or = 1 deg, with latitude extensions to cover all Carina arm emission beyond absolute b = 1 deg. In a concurrent survey made with the same telescope, every half-degree in latitude and longitude was sampled. Both surveys had a spectral coverage of 330 km/s with a resolution of 1.3 km/s. The Carina arm is the dominant feature in the data. Its abrupt tangent at l is approx. = 280 deg and characteristic loop in the l,v diagram are unmistakable evidence for CO spiral structure. When the emission is integrated over velocity and latitude, the height of the step seen in the tangent direction suggests that the arm-interarm contrast is at least 13:1. Comparison of the CO and H I data shows close agreement between these two species in a segment of the arm lying outside the solar circle. The distribution of the molecular layer about the galactic plane in the outer Galaxy is determined. Between R = 10.5 and 12.5 kpc, the average CO midplane dips from z = -48 to -167 pc below the b = 0 deg plane, following a similar well-known warping of the H I layer. In the same range of radii the half-thickness of the CO layer increases from 112 to 182 pc. Between l = 270 deg and 300 deg, 27 molecular clouds are identified and cataloged along with heliocentric distances and masses. An additional 16 clouds beyond 300 deg are cataloged from an adjoining CO survey made with the same telescope. The average mass for the Carina arm clouds is 1.4x 10(6)M (solar), and the average intercloud spacing along the arm is 700 pc. Comparison of the distribution of the Carina arm clouds with that of similarly massive molecular clouds in the first and second quadrants strongly suggests that the Carina and Sagittarius arms form a single spiral arm approx. 40 kpc long wrapping two-thirds of the way around the Galaxy.

Grabelsky, D. A.↗