This paper discusses the implementation of unilateral force override of rate control of a PUMA 560 robot manipulator in three degrees of freedom. A control system is developed utilizing the necessary sensors, hardware, and software interface to enable one to operate the manipulator in rate control with unilateral force control override. A review of the theory behind such a controller is conducted and stability issues addressed. A comparison of experimental results with the theoretical results...
Topics: Force control, Robot control
Sun drying is a conventional drying method of paddy commonly used in Asia. During the process, grains are mixed and turned continuously using a rake to maintain good quality. For this reason, a robotic rake or Rakebot was developed in this study to properly mix the grains during sun drying. Rakebot is manually controlled using a mobile application through Bluetooth connection but can also move automatically using the previous movements that were recorded on the first used. It was developed...
Topics: Agricultural robots, Microcontrollers, Robot control, Mobile application
This paper describes a method for reducing the positioning errors of a robot during a given trajectory by using differential load cell transformer feedback to minimize the mean positioning error of the end-effector along the assigned trajectories result from the deflections and torques during operation and payloads, without changing the total motion time. In order to simulate this method, a new control system is presented and discussed in this paper to deal with the robotics technology design,...
Topics: Differential-Transformer Transducers, Encoder Feedback & Robot Control System
Robot Motion control represents a major problem when developing efficient robotic control system. Linear motion controllers such as PD or PID are widely used for most of applications because they have straightforward structures and tuning procedures. It was approved that Fuzzy controllers highly enhance the control system performance but they require a complex or not systematic tuning and implementation. This paper introduces a systematic approach for developing efficient Fuzzy-PD controller...
Topics: Robot Motion Control, Decentralized Robot Control, Fuzzy Controller
603
603
May 31, 2011
05/11
by
Zimmerman, Curtis; Dukeman, Greg; Hanson, Joh
texts
eye 603
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Determining how to properly manipulate the controls of a re-entering re-usable launch vehicle (RLV) so that it is able to safely return to Earth and land involves the solution of a two-point boundary value problem (TPBVP). This problem, which can be quite difficult, is traditionally solved on the ground prior to flight. If necessary, a nearly unlimited amount of time is available to find the 'best' solution using a variety of trajectory design and optimization tools. The role of entry guidance...
Topics: ORBITAL ASSEMBLY, ROBOTS, ROBOT CONTROL, AUTONOMY, SIMULATION, ARCHITECTURE (COMPUTERS), ALGORITHMS
This paper presents an innovative algorithm for improvement of the walking robot dynamic stability, using the Desert Smarandache Theory (DSmT) and the neutrosophic logic set. Starting from the hybrid force-position control, by applying the Robot Neutrosophic Control (RNC) method we extend the fuzzy control for walking robot stability motion on uneven terrain and in unstructured environments. Results analysis through virtual experimentation for motion control of a mobile walking robot proves...
Topics: Hybrid Force Position Control, Walking Robot Control, Sliding Control, Fuzzy Control
197
197
May 22, 2011
05/11
by
Bedrossian, Nazareth S
texts
eye 197
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Hyper-redundant spatial manipulators possess fault-tolerant features because of their redundant structure. The kinematic control of these manipulators is investigated with special emphasis on fault-tolerant control. The manipulator tasks are viewed in the end-effector space while actuator commands are in joint-space, requiring an inverse kinematic algorithm to generate joint-angle commands from the end-effector ones. The rate-inverse kinematic control algorithm presented in this paper utilizes...
Topics: ARTIFICIAL INTELLIGENCE, ROBOT CONTROL, ROBOT SENSORS, ROBOTICS, TELEOPERATORS, TELEROBOTICS,...
7
7.0
Jan 16, 2021
01/21
by
Onur Engineer (EnGiNeErOnUr)
data
eye 7
favorite 0
comment 0
Arduino Controlled Robot Chassis and code set Also android apk is available for this robot. You can find the link below. Android application : https://drive.google.com/open?id=1l_duAyMQFUZULuSzecvu7cBXSqzKTuYI Callibration File : https://drive.google.com/open?id=1gylVu19AWt1kwKRH3BhX60fHNpKdkPfN Circuit : https://drive.google.com/open?id=1majaNcXQrx2oS1DwFxV87N-PzSd_mpll Arduino INO File : https://drive.google.com/open?id=1aQoKIUcm7h0XHTRq6Ep9xAaetBWzDxP0 You can find the detailed video below.
Topics: arduino, Robot Control, DIY, thingiverse, Arduino Controlled, arduino robot, stl, DIY Robot
This thesis proposes and develops two microprocessor controlled electronic systems which provide absolute coordinate reference for an autonomous sentry robot and a robotic manipulator. These systems close the position control loop which has never been fully closed in robotics and provide a better \"testbed\" for testing path planning and manipulator trajectory control. Each system involves know points of reference and ranges to these points which are determined by timing the interval...
Topics: Robot, Robotics, Ultrasonics, Position reference systems, Robot navigation, Manipulator control,...
454
454
May 22, 2011
05/11
by
NON
texts
eye 454
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A piezoelectric loudspeaker suitable for midrange frequencies uses a dome shaped piezoelectric actuator to drive a speaker membrane directly. The dome shaped actuator is made from a reduced and internally biased oxygen wafer, and generates excursion of the apex of the dome in the order of 0.02 - 0.05 inches when a rated drive voltage of 350 V rms is applied between the convex and the concave surfaces of the dome shaped actuator. The load capacity exceeds 10 lbs. The edge of the rim of the dome...
Topics: MAN MACHINE SYSTEMS, ROBOT CONTROL, TELEOPERATORS, TELEROBOTICS, VIRTUAL REALITY, REMOTE CONTROL,...
423
423
Jun 11, 2011
06/11
by
Burner, A. W.; Snow, W. L.; Goad, W. K
texts
eye 423
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A photogrammetric closed circuit television system to measure model deformation at the National Transonic Facility (NTF) is described. The photogrammetric approach was chosen because of its inherent rapid data recording of the entire object field. Video cameras are used to acquire data instead of film cameras due to the inaccessibility of cameras which must be housed within the cryogenic, high pressure plenum of this facility. Data reduction procedures and the results of tunnel tests at the NTF...
Topics: ROBOT CONTROL, ORBITAL ASSEMBLY, LARGE SPACE STRUCTURES, CONTROL THEORY, CONTROL SIMULATION,...
207
207
Jul 26, 2010
07/10
by
Alexander, Richard M
texts
eye 207
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Two mathematical representations of noise due to atmospheric turbulence are presented. These representations are derived and used in computer simulations of the Bartlett Estimate implementation of beamforming. Beamforming is an array processing technique employing an array of acoustic sensors used to determine the bearing of an acoustic source. Atmospheric wind conditions introduce noise into the beamformer output. Consequently, the accuracy of the process is degraded and the bearing of the...
Topics: END EFFECTORS, ROTATION, MANIPULATORS, ROBOT ARMS, ROBOT CONTROL, ROBOT DYNAMICS, BEARINGS,...
542
542
Sep 20, 2010
09/10
by
Juhasz, Albert J.; El-Genk, Mohamed S.; Harper, William B., Jr
texts
eye 542
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Capitalizing on past and future development of high temperature gas reactor (HTGR) technology, a low mass 15 MWe closed gas turbine cycle power system using a pellet bed reactor heating helium working fluid is proposed for Nuclear Electric Propulsion (NEP) applications. Although the design of this directly coupled system architecture, comprising the reactor/power system/space radiator subsystems, is presented in conceptual form, sufficient detail is included to permit an assessment of overall...
Topics: AUTOMATIC CONTROL, COMPUTER PROGRAMS, PROCESS CONTROL (INDUSTRY), ROBOT CONTROL, WELDING,...
203
203
May 22, 2011
05/11
by
Jong, Jen-Y
texts
eye 203
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comment 0
This study will provide timely assessment of SSME component operational status, identify probable causes of malfunction, and indicate feasible engineering solutions. The final result of this program will yield an advanced nonlinear signal analysis topographical mapping system (ATMS) of nonlinear and nonstationary spectral analysis software package integrated with the Compressed SSME TOPO Data Base (CSTDB) on the same platform. This system will allow NASA engineers to retrieve any unique defect...
Topics: AUTONOMOUS NAVIGATION, DYNAMIC CONTROL, ROBOT CONTROL, ROBOTICS, AUTONOMY, DOMAINS, SURFACE...
250
250
Jun 2, 2011
06/11
by
Phillips, Thomas A.; Bailey, Mark; Ho, Fat Due
texts
eye 250
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The use of a Metal-Ferroelectric-Semiconductor Field-Effect Transistor (MFSFET) in a resistive-load SRAM memory cell has been investigated A typical two-transistor resistive-load SRAM memory cell architecture is modified by replacing one of the NMOS transistors with an n-channel MFSFET. The gate of the MFSFET is connected to a polling voltage pulse instead of the other NMOS transistor drain. The polling voltage pulses are of sufficient magnitude to saturate the ferroelectric gate material and...
Topics: ROBOTICS, WALKING MACHINES, ROBOT SENSORS, ROBOT CONTROL, HUMAN-COMPUTER INTERFACE, SYSTEMS...
145
145
May 22, 2011
05/11
by
Lewis, Christopher L.; Maciejewski, Anthony A
texts
eye 145
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Redundant manipulators may compensate for failed joints with their additional degrees of freedom. In this paper such a manipulator is considered fault tolerant if it can guarantee completion of a task after any one of its joints has failed. This fault tolerance of kinematically redundant manipulators is insured here. Methods to analyze the manipulator's work space find regions inherently suitable for critical tasks because of their high level of failure tolerance. Constraints are then placed on...
Topics: COMPUTER VISION, MONOCULAR VISION, ROBOT CONTROL, ROBOTICS, TELEROBOTICS, ARTIFICIAL INTELLIGENCE,...
6
6.0
Mar 3, 2021
03/21
by
john rigg (RobotHut)
data
eye 6
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This is a control device that can detect a 493 HZ tone to control a motor or other device like the Hex-A-Bot dual drive walking robot. https://www.thingiverse.com/thing:3262487 The Helmholtz resonator is what gives the Arduino type sound sensor the selectivity of sound. A mosfet is used as the output drive. a IRL Z24N will give you a high side drive or a IRL Z44n will give you a low side drive. Both are very common and cost very little. The whistle is tuned to match the Helmholtz enclosure....
Topics: Robotics, 3d printed robot, arduino, robot, helmholtz resononater, thingiverse, robot control, stl,...
277
277
May 22, 2011
05/11
by
Kline-Schoder, Robert J
texts
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Tethered spacecraft possess unique dynamic characteristics which make them advantageous for certain classes of experiments. One use for which tethers are particularly well suited is to provide an isolated platform for spaceborne observatories. The advantages of tethering a pointing platform 1 or 2 km from a space shuttle or space station are that, compared to placing the observatory on the parent spacecraft, vibrational disturbances are attenuated and contamination is eliminated. In practice,...
Topics: AUTOMATIC CONTROL, SEQUENCING, CONTROL SYSTEMS DESIGN, ROBOT CONTROL, ROBOTICS, ROBOTS, TRAJECTORY...
252
252
Jun 12, 2011
06/11
by
Magri, Adival Aparecido, Jr.; Alves, Claudio Jorge Pint
texts
eye 252
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The competition among airlines or among airports aiming at to increase the demand for its services has been more and more incited. Knowledge the perception of the users for the offered services means to meet the customer's needs and expectations in order either to keep the customer, and therefore keep a significant advantage over competitors. The passenger of the air transportation wants rapidity, security and convenience. Convenience can be translated by comfort that the passenger wants for...
Topics: OBSTACLE AVOIDANCE, ROBOT CONTROL, TEAMS, CONTROL SIMULATION, ROBOTS, KINETIC THEORY, GAS...
No abstract available
Topics: NASA Technical Reports Server (NTRS), TELEROBOTICS, END EFFECTORS, ROBOT DYNAMICS, ACTUATORS, ROBOT...
156
156
May 22, 2011
05/11
by
Erikson, Jon D
texts
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This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an obejective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a...
Topics: ARTIFICIAL INTELLIGENCE, ROBOT CONTROL, ROBOT DYNAMICS, ROBOTICS, ROBOTS, DATA INTEGRATION,...
The challenges of integrating a mobile robotic system into an application environment are many. Most problems inherent to installing the mobile robotic system fall into one of three categories: (1) the physical environment - location(s) where, and conditions under which, the mobile robotic system will work; (2) the technological environment - external equipment with which the mobile robotic system will interact; and (3) the human environment - personnel who will operate and interact with the...
Topics: NASA Technical Reports Server (NTRS), NAVIGATION, ROBOT CONTROL, ROBOTS, AUTONOMY, COLLISION...
351
351
May 22, 2011
05/11
by
Schoppers, Marce
texts
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The design of a flexible, real-time software architecture for trajectory planning and automatic control of redundant manipulators is described. Emphasis is placed on a technique of designing control systems that are both flexible and robust yet have good real-time performance. The solution presented involves an artificial intelligence algorithm that dynamically reprograms the real-time control system while planning system behavior.
Topics: ARTIFICIAL INTELLIGENCE, REMOTE CONTROL, ROBOT CONTROL, ROBOTICS, ROBOTS, TELEOPERATORS,...
257
257
May 22, 2011
05/11
by
Mitra, Debasis; Loganantharaj, Rasia
texts
eye 257
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An interval-based temporal reasoning algorithm is applied to planning problems. The generation of all feasible temporal plans and its importance are discussed.
Topics: ALGORITHMS, ARTIFICIAL INTELLIGENCE, AUTONOMOUS NAVIGATION, COMPUTER VISION, ROBOT CONTROL,...
1,067
1.1K
Sep 20, 2010
09/10
by
NON
texts
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The six studies which are the subjects of this report are entitled: Design Modularity and Commonality; Modification of Existing Hardware (COTS) vs. New Hardware Build Cost Analysis; Automation Cost vs. Crew Utilization; Hardware Miniaturization versus Cost; Space Station Freedom/Spacelab Modules Compatibility vs. Cost; and Prototype Utilization in the Development of Space Hardware. The product of these six studies was intended to provide a knowledge base and methodology that enables equipment...
Topics: PAYLOAD CONTROL, SCREWS, ROBOT CONTROL, ROBOTICS, SPACECRAFT DOCKING, CAPACITANCE, END EFFECTORS,...
306
306
May 22, 2011
05/11
by
Chalfant, Eugene C
texts
eye 306
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A subsumption planner using a parallel distributed computational paradigm based on the subsumption architecture for control of real-world capable robots is described. Virtual sensor state space is used as a planning tool to visualize the robot's anticipated effect on its environment. Decision sequences are generated based on the environmental situation expected at the time the robot must commit to a decision. Between decision points, the robot performs in a preprogrammed manner. A rudimentary,...
Topics: ALGORITHMS, ROBOTS, SONAR, COMPUTER PROGRAMS, COMPUTERIZED SIMULATION, OBSTACLE AVOIDANCE,...
299
299
May 22, 2011
05/11
by
NON
texts
eye 299
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Disclosed is a thermally-stable SnO2-surfaced polyimide film wherein the electrical conductivity of the SnO2 surface is within the range of about 3.0 x 10(exp -3) to about 1 x 10(exp -2) ohms(exp -1). Also disclosed is a method of preparing this film from a solution containing a polyamic acid and SnCl4 (DMSO)2.
Topics: COMMUNICATION NETWORKS, LABORATORY EQUIPMENT, PERFORMANCE TESTS, KINESTHESIA, MANIPULATORS, REMOTE...
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207
May 22, 2011
05/11
by
Gottlieb, David; Shu, Chi-Wan
texts
eye 207
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We continue our investigation of overcoming Gibbs phenomenon, i.e., to obtain exponential accuracy at all points (including at the discontinuities themselves), from the knowledge of a spectral partial sum of a discontinuous but piecewise analytic function. We show that if we are given the first N Gegenbauer expansion coefficients, based on the Gegenbauer polynomials C(sub k)(sup mu)(x) with the weight function (1 - x(exp 2))(exp mu - 1/2) for any constant mu is greater than or equal to 0, of an...
Topics: LOCOMOTION, ROBOT CONTROL, WHEELS, ROBOT ARMS, ROBOT DYNAMICS, ROBOTS, WALKING MACHINES, AUTONOMY,...
403
403
May 22, 2011
05/11
by
Williams, Vernon E
texts
eye 403
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At a fundamental level, intellectual property is the core work product of a technical organization. The National Aeronautics and Space Administration (NASA), produces a variety of intellectual property including: patents, trademarks, data rights, copyright and rights associated with National Security. For a scientific organization to properly manage its work product it has to manage its intellectual property. This paper endeavors to describe how the intellectual property rights are generated...
Topics: REVERSE ENGINEERING, ROBOT CONTROL, ROBOT DYNAMICS, ROBOTICS, SURFACE FINISHING, TRAJECTORY...
287
287
Jul 25, 2010
07/10
by
Vancleef, Garrett Warren; Shaw, John H
texts
eye 287
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Atmospheric winds at heights between 25 and 120 km have been retrieved with precisions of 5/ms from the Doppler shifts of atmospheric absorption lines measured from a satellite-borne instrument. Lines of the upsilon 3 CO2 and upsilon 2 H2O rotation-vibration bands caused by gases in the instrument allowed the instrumental frequency scale to be absolutely calibrated so that accurate relative speeds could be obtained. By comparing the positions of both sets of instrumental lines the calibration...
Topics: ATTITUDE CONTROL, DYNAMIC MODELS, JOINTS (JUNCTIONS), MANEUVERABILITY, ROBOT CONTROL, ROBOTICS,...
330
330
May 22, 2011
05/11
by
Choset, Howie; Burdick, Joe
texts
eye 330
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Partial Shape Modification (PSM) is a local sensor feedback method used for hyper-redundant robot manipulators, in which the redundancy is very large or infinite such as that of a robot snake. This aspect of redundancy enables local obstacle avoidance and end-effector placement in real time. Due to the large number of joints or actuators in a hyper-redundant manipulator, small displacement errors of such easily accumulate to large errors in the position of the tip relative to the base. The...
Topics: ARCHITECTURE (COMPUTERS), SYSTEMS ENGINEERING, COMPATIBILITY, COMPUTER PROGRAMS, ROBOT CONTROL,...
224
224
Jul 26, 2010
07/10
by
Kvaternik, Raymond G.; Murthy, T. Sreekant
texts
eye 224
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An an overview and discussion of those aspects of airframe structural dynamics that have a strong influence on rotor design optimization is provided. Primary emphasis is on vibration requirements. The vibration problem is described, the key vibratory forces are identified, the role of airframe response in rotor design is summarized, and the types of constraints which need to be imposed on rotor design due to airframe dynamics are discussed. Some considerations of ground and air resonance as...
Topics: HUMAN FACTORS ENGINEERING, SYSTEMS ENGINEERING, REMOTE CONTROL, ROBOT CONTROL, ROBOTS, SPACE...
Our artifacts are getting smarter, and a loose parallel with the evolution of animal intelligence suggests one future course for them. Computerless industrial machinery exhibits the behavioral flexibility of single-celled organisms. Today's best computer-controlled robots are like the simpler invertebrates. A thousand-fold increase in computer power in the next decade should make possible machines with reptile-like sensory and motor competence. Properly configured, such robots could do in the...
Topics: NASA Technical Reports Server (NTRS), ARTIFICIAL INTELLIGENCE, NUMERICAL CONTROL, ROBOT CONTROL,...
287
287
Jun 12, 2011
06/11
by
McGinley, Catherine B.; Jenkins, Luther N.; Watson, Ralph D.; Bertelrud, Aril
texts
eye 287
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An analysis of the flow state on a trapezoidal wing model from the NASA 3-D High Lift Flow Physics Experiment is presented. The objective of the experiment was to characterize the flow over a non-proprietary semi-span three-element high-lift configuration to aid in assessing the state of the art in the computation of three-dimensional high-lift flows. Surface pressures and hot-film sensors are used to determine the flow conditions on the slat, main, and flap. The locations of the attachments...
Topics: BAYES THEOREM, AIRCRAFT RELIABILITY, AIRCRAFT CONTROL, AIRCRAFT DESIGN, CONTROL MOMENT GYROSCOPES,...
The paper discusses the incorporation of vision into a robotic cell to obtain cell status information and use this information to influence the robot operation. It discusses both mechanical and informational solutions to the operational issues which are present. The cell uses a machine vision system to determine information about part presence in the shipping tray, part location in the tray, and tray orientation. The vision system's edge detector algorithm is used to identify the orientation of...
Topics: NASA Technical Reports Server (NTRS), COMPUTER VISION, ROBOT CONTROL, ROBOTS, ACTUATORS, END...
275
275
Sep 20, 2010
09/10
by
NON
texts
eye 275
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A method for determining the angle of impact of an object on a thin-walled structure which determines the angle of impact through analysis of the acoustic waves which result when an object impacts a structure is presented. Transducers are placed on and in the surface of the structure which sense the wave caused in the structure by impact. The waves are recorded and saved for analysis. For source motion normal to the surface, the antisymmetric mode has a large amplitude while that of the...
Topics: CONTROL SYSTEMS DESIGN, DYNAMIC CONTROL, MANIPULATORS, ROBOT ARMS, ROBOT CONTROL, ROBOT DYNAMICS,...
521
521
Jul 25, 2010
07/10
by
Taylor, Nancy L.; Hammond, Dana P.; Hofler, Alicia S.; Miner, David L
texts
eye 521
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Users are introduced to and instructed in the use of the Langley Easy (LEZ) routines of the Common Graphics Library (CGL). The LEZ routines form an application independent graphics package which enables the user community to view data quickly and easily, while providing a means of generating scientific charts conforming to the publication and/or viewgraph process. A distinct advantage for using the LEZ routines is that the underlying graphics package may be replaced or modified without...
Topics: ADAPTIVE CONTROL, FEEDBACK CONTROL, MATRICES, CONTROL THEORY, DYNAMIC MODELS, MANIPULATORS, ROBOT...
No abstract available
Topics: NASA Technical Reports Server (NTRS), ROBOTS, ROBOTICS, ROBOT CONTROL, ROBOT DYNAMICS,...
388
388
May 22, 2011
05/11
by
Sankovic, John M.; Haag, Thomas W.; Manzella, David H
texts
eye 388
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Performance measurements of a Russian engineering-model Thruster with Anode Layer (TAL) were obtained as part of a program to evaluate the operating characteristics of Russian Hall-thruster technology. The TAL model D-55 was designed to operate in the 1-2 kW power range on xenon. When received, the thruster had undergone only a few hours of acceptance testing by the manufacturer. Direct thrust measurements were obtained at a background pressure of 0.0003 Pa (2 x 10(exp -6) torr) at power levels...
Topics: COMPUTER PROGRAMS, CLEANING, POLISHING, CONTROL THEORY, MAN MACHINE SYSTEMS, MANIPULATORS, MEDICAL...
610
610
May 22, 2011
05/11
by
Rall, Jonathan A. R
texts
eye 610
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Lidar measurements using pseudonoise code modulated AlGaAs lasers are reported. Horizontal path lidar measurements were made at night to terrestrial targets at ranges of 5 and 13 km with 35 mW of average power and integration times of one second. Cloud and aerosol lidar measurements were made to thin cirrus clouds at 13 km altitude with Rayleigh (molecular) backscatter evident up to 9 km. Average transmitter power was 35 mW and measurement integration time was 20 minutes. An AlGaAs laser was...
Topics: ARTIFICIAL INTELLIGENCE, AUTONOMOUS NAVIGATION, CONTROL SYSTEMS DESIGN, LUNAR BASES, ROBOT CONTROL,...
364
364
May 22, 2011
05/11
by
NON
texts
eye 364
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This final report provides a summary of achievements and activities performed under Contract NAS8-39215. The contract's objective was to explore a new way of delivering, storing, accessing, and archiving study products and information and to define top level system requirements for Heavy Lift Launch Vehicle (HLLV) avionics that incorporate Vehicle Health Management (VHM). This report includes technical objectives, methods, assumptions, recommendations, sample data, and issues as specified by...
Topics: AUTONOMOUS NAVIGATION, SEQUENCING, CONTROL SYSTEMS DESIGN, FEEDBACK CONTROL, ROBOT CONTROL, ROBOT...
595
595
Jul 25, 2010
07/10
by
Gavin, Joseph G., Jr.; Vandevender, J. Pace, et al; Burkes, Tommy R.; English, Robert E.; Grant, Nicholas J.; Kulcinski, Gerald L.; Mullin, Jerome P.; Peddicord, K. Lee; Purvis, Carolyn K.; Sarjeant, W. James
texts
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Approaches to satisfying the power requirements of space-based Strategic Defense Initiative (SDI) missions are studied. The power requirements for non-SDI military space missions and for civil space missions of the National Aeronautics and Space Administration (NASA) are also considered. The more demanding SDI power requirements appear to encompass many, if not all, of the power requirements for those missions. Study results indicate that practical fulfillment of SDI requirements will...
Topics: ADAPTIVE CONTROL, LIAPUNOV FUNCTIONS, CONTROL SYSTEMS DESIGN, CONTROL THEORY, MANIPULATORS, ROBOT...
Presentation describes some of the issues and consideration for software that supports space robot research and development.
Topics: NASA Technical Reports Server (NTRS), ROBOTICS, ROBOTS, ROBOT CONTROL, SPACE EXPLORATION, COMPUTER...
243
243
Sep 20, 2010
09/10
by
Kuwajima, Saburo; Kamimori, Nolimits; Nakatani, Kensuke; Yano, Yoshiak
texts
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National Space Development Agency of Japan (NASDA) has conducted the research and development (R&D) of battery cells for space use. A new R&D program about a Nickel-Metal Hydride (Ni-MH) cell for space use from this year, based on good results in evaluations of commercial Ni-MH cells in Tsukuba Space Center (TKSC), was started. The results of those commercial Ni-MH cell's evaluations and recent status about the development of Ni-MH cells for space use are described.
Topics: ADAPTIVE CONTROL, EQUATIONS OF MOTION, CONTROL SYSTEMS DESIGN, CONTROLLERS, MANIPULATORS, NONLINEAR...
The completion of, and improvements made to, the software developed during 1990 for program maintenance on the PC and HEURIKON and transfer to the CYRO, and integration of the Rocketdyne vision software with the CYRO is documented. The new programs were used successfully by NASA, Rocketdyne, and UAH technicians and engineers to create, modify, upload, download, and control CYRO NC programs.
Topics: NASA Technical Reports Server (NTRS), DYNAMIC CONTROL, HARDWARE, ROBOT CONTROL, SOFTWARE...
250
250
May 22, 2011
05/11
by
Nanua, Prabjo
texts
eye 250
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Two control schemes are compared for parallel robotic mechanisms actuated by hydraulic cylinders. One scheme, the 'rate based scheme', uses the position and rate information only for feedback. The second scheme, the 'force based scheme' feeds back the force information also. The force control scheme is shown to improve the response over the rate control one. It is a simple constant gain control scheme better suited to parallel mechanisms. The force control scheme can be easily modified for the...
Topics: CONTROL SYSTEMS DESIGN, KALMAN-SCHMIDT FILTERING, MAN MACHINE SYSTEMS, ROBOT CONTROL, ROBOT...
208
208
Jun 12, 2011
06/11
by
Cameron, A. G. W
texts
eye 208
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A recent remarkable discovery by Katharina Lodders showed that the abundances of extinct radioactivities (relative to reference nuclei) in chondrites, achondrites, and irons are proportional to the squares of their mean lives, whereas no such abundance-mean life relationship is apparent for the data of calcium-aluminum rich inclusions (CAIs) and a variety of other inclusion types. In this talk I shall interpret these results in terms of galactic and solar nebula processes. The first step in...
Topics: MARS ROVING VEHICLES, MISSION PLANNING, SCHEDULING, GROUND SUPPORT SYSTEMS, UNMANNED GROUND...
431
431
Jul 26, 2010
07/10
by
Matus, Lawrence G.; Powell, J. Anthon
texts
eye 431
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In recent years, the aerospace propulsion and space power communities have expressed a growing need for electronic devices that are capable of sustained high temperature operation. Applications for high temperature electronic devices include development instrumentation within engines, engine control, and condition monitoring systems, and power conditioning and control systems for space platforms and satellites. Other earth-based applications include deep-well drilling instrumentation, nuclear...
Topics: CUTTING, HIGH PRESSURE, HYDRAULIC JETS, REUSABLE ROCKET ENGINES, WATER, ABLATIVE MATERIALS,...
The term "virtual feel" denotes a type of capaciflector (an advanced capacitive proximity sensor) and a methodology for designing and using a sensor of this type to guide a robot in manipulating a tool (e.g., a wrench socket) into alignment with a mating fastener (e.g., a bolt head) or other electrically conductive object. A capaciflector includes at least one sensing electrode, excited with an alternating voltage, that puts out a signal indicative of the capacitance between that...
Topics: NASA Technical Reports Server (NTRS), CAPACITANCE, ROBOTS, ROBOT CONTROL, ROBOTICS, TACTILE SENSORS...
Delta robot is a mechanical design in a kind of parallel type. It is moved by three groups of power structures on the platform of active arms and passive arms led by the end of the platform equipped with the fourth axis at the end of the structure. In this paper, the serial-parallel design of a modified delta robot is proposed, which SolidWorks is employed for designing the mechanics. Forward and inverse kinematics are analyzed to establish the robotic arms, and the wiring hardware system is...
Topics: Robotic arm, delta robot, forward and inverse kinematics, multi-axis robot control, engineering...
