Aerial Manipulation: A Literature Review

Aerial manipulation aims at combining the versatil- ity and the agility of some aerial platforms with the manipulation capabilities of robotic arms. This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view. A brief literature review of general aerial robotics and space manipulation is carried out as well

Aerospace medicine and biology. A continuing bibliography with indexes, supplement 224

This bibliography lists 127 reports, articles, and other documents introduced into the NASA scientific and technical information system in September 1981

Dynamics, control and sensor issues pertinent to robotic hands for the EVA retriever system

Basic dynamics, sensor, control, and related artificial intelligence issues pertinent to smart robotic hands for the Extra Vehicular Activity (EVA) Retriever system are summarized and discussed. These smart hands are to be used as end effectors on arms attached to manned maneuvering units (MMU). The Retriever robotic systems comprised of MMU, arm and smart hands, are being developed to aid crewmen in the performance of routine EVA tasks including tool and object retrieval. The ultimate goal is to enhance the effectiveness of EVA crewmen

Aerospace Medicine and Biology: A continuing bibliography with indexes (supplement 133)

This special bibliography lists 276 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System in September 1974

Shuttle Communications and Tracking Systems Modeling and TDRSS Link Simulations Studies

An analytical simulation package (LinCsim) which allows the analytical verification of data transmission performance through TDRSS satellites was modified. The work involved the modeling of the user transponder, TDRS, TDRS ground terminal, and link dynamics for forward and return links based on the TDRSS performance specifications (4) and the critical design reviews. The scope of this effort has recently been expanded to include the effects of radio frequency interference (RFI) on the bit error rate (BER) performance of the S-band return links. The RFI environment and the modified TDRSS satellite and ground station hardware are being modeled in accordance with their description in the applicable documents

Model-free Optimization of Trajectory And Impedance Parameters on Exercise Robots With Applications To Human Performance And Rehabilitation

This dissertation focuses on the study and optimization of human training and its physiological effects through the use of advanced exercise machines (AEMs). These machines provide an invaluable contribution to advanced training by combining exercise physiology with technology. Unlike conventional exercise machines (CEMs), AEMs provide controllable trajectories and impedances by using electric motors and control systems. Therefore, they can produce various patterns even in the absence of gravity. Moreover, the ability of the AEMs to target multiple physiological systems makes them the best available option to improve human performance and rehabilitation. During the early stage of the research, the physiological effects produced under training by the manual regulation of the trajectory and impedance parameters of the AEMs were studied. Human dynamics appear as not only complex but also unique and time-varying due to the particular features of each person such as its musculoskeletal distribution, level of fatigue,fitness condition, hydration, etc. However, the possibility of the optimization of the AEM training parameters by using physiological effects was likely, thus the optimization objective started to be formulated. Some previous research suggests that a model-based optimization of advanced training is complicated for real-time environments as a consequence of the high level of v complexity, computational cost, and especially the many unidentifiable parameters. Moreover, a model-based method differs from person to person and it would require periodic updates based on physical and psychological variations in the user. Consequently, we aimed to develop a model-free optimization framework based on the use of Extremum Seeking Control (ESC). ESC is a non-model based controller for real-time optimization which its main advantage over similar controllers is its ability to deal with unknown plants. This framework uses a physiological effect of training as bio-feedback. Three different frameworks were performed for single-variable and multi-variable optimization of trajectory and impedance parameters. Based on the framework, the objective is achieved by seeking the optimal trajectory and/or impedance parameters associated with the orientation of the ellipsoidal path to be tracked by the user and the stiffness property of the resistance by using weighted measures of muscle activations

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 354)

This bibliography lists 225 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during September, 1991. 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

A school-based physical activity program to improve health and fitness in children aged 6–13 years ("Kinder-Sportstudie KISS"): study design of a randomized controlled trial [ISRCTN15360785]

BACKGROUND: Childhood obesity is the result of a long lasting imbalance between energy intake and energy expenditure. A major contributing factor is physical inactivity which is closely linked to bone health, cardiovascular disease risk, fitness and psychological factors. The school seems to provide an excellent setting to enhance levels of physical activity (PA). However, there is insufficient data from previous school-based intervention trials on how to enhance overall PA. It is also unknown whether an intervention aimed at increasing PA is effective in improving the children's health. The purpose of this paper is to outline the design of a school-based randomized, controlled trial (RCT) aiming to increase overall PA and to improve fitness and health in 6- to 13-year-old children. METHODS/DESIGN: 15 schools were randomized to the intervention (n = 9) or the control (n = 6) group, stratified by geographic region (urban vs. rural) and by age (1(st )and 5(th )grade). Participation was given for all children in the intervention group since in this group the intervention was part of the normal school curriculum. The intervention during one academic year consisted of: 1. two additional physical education classes per week given by trained physical education teachers adding up to a total of five PA classes per week, 2. short PA breaks (2–5 min each) during academic lessons, 3. PA home work, and 4. adaptation of recreational areas around the school. All children underwent anthropometric measurements, blood pressure assessment, fitness testing, measurement of PA and they filled out questionnaires. At least 70% of all children agreed to blood sampling and measurements of body composition and bone mineral measurements by dual energy x-ray absorptiometry. The primary endpoints of the study after one year were an increase in total PA by accelerometry, an increase in aerobic fitness measured by the 20 m shuttle run, a decrease in percent body fat derived from skinfold measurements and an increase in quality of life as assessed by the child health questionnaire in the intervention group compared to the control group. Secondary outcomes were overall fitness, differences in body composition including body fat distribution, cardiovascular risk factors, psychosocial health, bone mineral content and density of femur, lumbar spine and total body and food intake. DISCUSSION: Our preliminary data suggest that the children were representative of Swiss children with respect to sex, socio-demographic status, and body mass index. Short-term results can be expected by the beginning of 2007. We hypothesized that our intervention will lead to an increase in PA, fitness and overall health. Based on our data, we aim to provide important information regarding the influence of such an intervention on these outcome measures in school-aged children and to provide nationwide guidelines to improve PA in children

Development of an Emulated Free-Floating Environment for On-Earth Testing of Space Robots

The ability to perform experiments on space robotic systems within a laboratory setting is crucial to development and testing of satellites and space robots prior to launch. One of the most widely used techniques which recreate the on-orbit motion of space robots and targets is hardware-in-the-loop simulation. This method requires extensive knowledge of the space robot model dynamic parameters. This research proposes a method which uses force feedback to control a robotic platform on which the space robot is mounted. The robotic platform is driven in such a way that the gravity-compensated forces and torques at the mounting interface are nullified. This method requires minimal knowledge of the system model and dynamic parameters. In this thesis, simulations are performed on both two-dimensional and three-dimensional systems and experimental validation on a two-dimensional system is conducted for proof-of-concept

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