Aerospace medicine and biology: A continuing bibliography with indexes (supplement 344)

This bibliography lists 125 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during January, 1989. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance

Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Modeling, Sensorization and Control of Concentric-Tube Robots

Since the concept of the Concentric-Tube Robot (CTR) was proposed in 2006, CTRs have been a popular research topic in the field of surgical robotics. The unique mechanical design of this robot allows it to navigate through narrow channels in the human anatomy and operate in highly constrained environments. It is therefore likely to become the next generation of surgical robots to overcome the challenges that cannot be addressed by current technologies. In CSTAR, we have had ongoing work over the past several years aimed at developing novel techniques and technologies for CTRs. This thesis describes the contributions made in this context, focusing primarily on topics such as modeling, sensorization, and control of CTRs. Prior to this work, one of the main challenges in CTRs was to develop a kinematic model that achieves a balance between the numerical accuracy and computational efficiency for surgical applications. In this thesis, a fast kinematic model of CTRs is proposed, which can be solved at a comparatively fast rate (0.2 ms) with minimal loss of accuracy (0.1 mm) for a 3-tube CTR. A Jacobian matrix is derived based on this model, leading to the development of a real-time trajectory tracking controller for CTRs. For tissue-robot interactions, a force-rejection controller is proposed for position control of CTRs under time-varying force disturbances. In contrast to rigid-link robots, instability of position control could be caused by non-unique solutions to the forward kinematics of CTRs. This phenomenon is modeled and analyzed, resulting in design criteria that can ensure kinematic stability of a CTR in its entire workspace. Force sensing is another major difficulty for CTRs. To address this issue, commercial force/torque sensors (Nano43, ATI Industrial Automation, United States) are integrated into one of our CTR prototypes. These force/torque sensors are replaced by Fiber-Bragg Grating (FBG) sensors that are helically-wrapped and embedded in CTRs. A strain-force calculation algorithm is proposed, to convert the reflected wavelength of FBGs into force measurements with 0.1 N force resolution at 100 Hz sampling rate. In addition, this thesis reports on our innovations in prototyping drive units for CTRs. Three designs of CTR prototypes are proposed, the latest one being significantly more compact and cost efficient in comparison with most designs in the literature. All of these contributions have brought this technology a few steps closer to being used in operating rooms. Some of the techniques and technologies mentioned above are not merely limited to CTRs, but are also suitable for problems arising in other types of surgical robots, for example, for sensorizing da Vinci surgical instruments for force sensing (see Appendix A)

Technological developments allowing for the widespread clinical adoption of proton radiotherapy

External beam radiation therapy using accelerated protons has undergone significant development since the first patients were treated with accelerated protons in 1954. Widespread adoption of proton therapy is now taking place and is fully justified based on early clinical and technical research and development. Two of the main advantages of proton radiotherapy are improved healthy tissue sparing and increased dose conformation. The latter has been improved dramatically through the clinical realization of Pencil Beam Scanning (PBS). Other significant advancements in the past 30 years have also helped to establish proton radiotherapy as a major clinical modality in the cancer-fighting arsenal. Proton radiotherapy technologies are constantly evolving, and several major breakthroughs have been accomplished which could allow for a major revolution in proton therapy if clinically implemented. In this thesis, I will present research and innovative developments that I personally initiated or participated in that brought proton radiotherapy to its current state as well as my ongoing involvement in leading research and technological developments which will aid in the mass adoption of proton radiotherapy. These include beam dosimetry, patient positioning technologies, and creative methods that verify the Monte Carlo dose calculations which are now used in proton treatment planning. I will also discuss major technological advances concerning beam delivery that should be implemented clinically and new paradigms towards patient positioning. Many of these developments and technologies can benefit the cancer patient population worldwide and are now ready for mass clinical implementation. These developments will improve proton radiotherapy efficiencies and further reduce the cost of proton therapy facilities. This thesis therefore reflects my historical and ongoing efforts to meet market costs and time demands so that the clinical benefit of proton radiotherapy can be realized by a more significant fraction of cancer patients worldwide

Workshop on multisensor integration in manufacturing automation

Journal ArticleMany people helped make the Workshop a success, but special thanks must be given to Howard Moraff for his support, and to Vicky Jackson for her efforts in making things run smoothly. Finally, thanks to Jake Aggarwal for helping to start the ball rolling

Proceedings of the NASA Conference on Space Telerobotics, volume 3

The theme of the Conference was man-machine collaboration in space. The Conference provided a forum for researchers and engineers to exchange ideas on the research and development required for application of telerobotics technology to the space systems planned for the 1990s and beyond. The Conference: (1) provided a view of current NASA telerobotic research and development; (2) stimulated technical exchange on man-machine systems, manipulator control, machine sensing, machine intelligence, concurrent computation, and system architectures; and (3) identified important unsolved problems of current interest which can be dealt with by future research

Proceedings of the NASA Conference on Space Telerobotics, volume 4

Papers presented at the NASA Conference on Space Telerobotics are compiled. The theme of the conference was man-machine collaboration in space. The conference provided a forum for researchers and engineers to exchange ideas on the research and development required for the application of telerobotic technology to the space systems planned for the 1990's and beyond. Volume 4 contains papers related to the following subject areas: manipulator control; telemanipulation; flight experiments (systems and simulators); sensor-based planning; robot kinematics, dynamics, and control; robot task planning and assembly; and research activities at the NASA Langley Research Center

NASA Tech Briefs, June 2001

Topics covered include: Sensors; Electronic Components and Systems; Software Engineering; Materials; Manufacturing/Fabrication; physical Sciences; Information Sciences