Adaptive Hexapod Simulator Motion Based on Aircraft Stability

This paper determined the feasibility of an adaptive hexapod simulator motion algorithm based on aircraft roll stability. An experiment was conducted that used a transport aircraft model in the Vertical Motion Simulator at NASA Ames Research Center. Eighteen general aviation pilots flew a heading-capture task and a stall task consecutively under four motion configurations: baseline hexapod, adaptive hexapod, optimized hexapod, and full motion. The adaptive motion was more similar to the baseline hexapod motion in the heading-capture task when the aircraft was more stable, and more similar to the optimized hexapod motion in the stall task when the aircraft was more unstable. Pilot motion ratings and task performance in the heading-capture task under the adaptive hexapod motion were more similar to baseline hexapod motion compared to optimized hexapod motion. However, motion ratings and task performance in the stall task under the adaptive motion were not significantly more similar to the optimized hexapod motion compared to baseline hexapod motion. Motion ratings and overall task performance under optimized hexapod motion as opposed to baseline hexapod motion were always more similar to the full motion condition. This paper showed that adaptive motion based on aircraft stability is feasible and can be implemented in a straightforward way. More research is required to test the adaptive motion algorithm in different tasks

Hexapod Design For All-Sky Sidereal Tracking

In this paper we describe a hexapod-based telescope mount system intended to provide sidereal tracking for the Fly's Eye Camera project -- an upcoming moderate, 21"/pixel resolution all-sky survey. By exploiting such a kind of meter-sized telescope mount, we get a device which is both capable of compensating for the apparent rotation of the celestial sphere and the same design can be used independently from the actual geographical location. Our construction is the sole currently operating hexapod telescope mount performing dedicated optical imaging survey with a sub-arcsecond tracking precision.Comment: Accepted for publication in PASP, 10 page

A SpiNNaker Application: Design, Implementation and Validation of SCPGs

In this paper, we present the numerical results of the implementation of a Spiking Central Pattern Generator (SCPG) on a SpiNNaker board. The SCPG is a network of current-based leaky integrateand- fire (LIF) neurons, which generates periodic spike trains that correspond to different locomotion gaits (i.e. walk, trot, run). To generate such patterns, the SCPG has been configured with different topologies, and its parameters have been experimentally estimated. To validate our designs, we have implemented them on the SpiNNaker board using PyNN and we have embedded it on a hexapod robot. The system includes a Dynamic Vision Sensor system able to command a pattern to the robot depending on the frequency of the events fired. The more activity the DVS produces, the faster that the pattern that is commanded will be.Ministerio de Economía y Competitividad TEC2016-77785-

Liaison Linkages

The complete classification of hexapods - also known as Stewart Gough platforms - of mobility one is still open. To tackle this problem, we can associate to each hexapod of mobility one an algebraic curve, called the configuration curve. In this paper we establish an upper bound for the degree of this curve, assuming the hexapod is general enough. Moreover, we provide a construction of hexapods with curves of maximal degree, which is based on liaison, a technique used in the theory of algebraic curves.Comment: 40 pages, 6 figure

Shifts in hexapod diversification and what Haldane could have said

Data on species richness and taxon age are assembled for the extant hexapod orders (insects and their six-legged relatives). Coupled with estimates of phylogenetic relatedness, and simple statistical null models, these data are used to locate where, on the hexapod tree, significant changes in the rate of cladogenesis (speciation-minus-extinction rate) have occurred. Significant differences are found between many successive pairs of sister taxa near the base of the hexapod tree, all of which are attributable to a shift in diversification rate after the origin of the Neoptera (insects with wing flexion) and before the origin of the Holometabola (insects with complete metamorphosis). No other shifts are identifiable amongst supraordinal taxa. Whilst the Coleoptera have probably diversified faster than either of their putative sister lineages, they do not stand out relative to other closely related clades. These results suggest that any Creator had a fondness for a much more inclusive clade than the Coleoptera, definitely as large as the Eumetabola (Holometabola plus bugs and their relatives), and possibly as large as the entire Neoptera. Simultaneous, hence probable causative events are discussed, of which the origin of wing flexion has been the focus of much attention

Free singularity path planning of hybrid parallel robot

This paper presents a singularity-free path planning approach for a hybrid parallel robot. The hybrid robot is composed of two well-known parallel robots, a hexapod and a tripod, that are serially connected. In this paper a methodology is developed to avoid singularity configurations of the hybrid parallel robot. Nominal polynomial paths are used for motion of end effector, and the strokes of each actuator is calculated by using the developed inverse kinematic. A MATLAB program has been developed to generate the designed paths, and several poses have been tested in a CAD model of the hybrid parallel robot to validate the feasibility of the path planning approach

Automated precision alignment of optical components for hydroxide catalysis bonding

We describe an interferometric system that can measure the alignment and separation of a polished face of a optical component and an adjacent polished surface. Accuracies achieved are ∼ 1μrad for the relative angles in two orthogonal directions and ∼ 30μm in separation. We describe the use of this readout system to automate the process of hydroxide catalysis bonding of a fused-silica component to a fused-silica baseplate. The complete alignment and bonding sequence was typically achieved in a timescale of a few minutes, followed by an initial cure of 10 minutes. A series of bonds were performed using two fluids - a simple sodium hydroxide solution and a sodium hydroxide solution with some sodium silicate solution added. In each case we achieved final bonded component angular alignment within 10 μrad and position in the critical direction within 4 μm of the planned targets. The small movements of the component during the initial bonding and curing phases were monitored. The bonds made using the sodium silicate mixture achieved their final bonded alignment over a period of ∼ 15 hours. Bonds using the simple sodium hydroxide solution achieved their final alignment in a much shorter time of a few minutes. The automated system promises to speed the manufacture of precision-aligned assemblies using hydroxide catalysis bonding by more than an order of magnitude over the more manual approach used to build the optical interferometer at the heart of the recent ESA LISA Pathfinder technology demonstrator mission. This novel approach will be key to the time-efficient and low-risk manufacture of the complex optical systems needed for the forthcoming ESA spaceborne gravitational waves observatory mission, provisionally named LISA

Fast Damage Recovery in Robotics with the T-Resilience Algorithm

Damage recovery is critical for autonomous robots that need to operate for a long time without assistance. Most current methods are complex and costly because they require anticipating each potential damage in order to have a contingency plan ready. As an alternative, we introduce the T-resilience algorithm, a new algorithm that allows robots to quickly and autonomously discover compensatory behaviors in unanticipated situations. This algorithm equips the robot with a self-model and discovers new behaviors by learning to avoid those that perform differently in the self-model and in reality. Our algorithm thus does not identify the damaged parts but it implicitly searches for efficient behaviors that do not use them. We evaluate the T-Resilience algorithm on a hexapod robot that needs to adapt to leg removal, broken legs and motor failures; we compare it to stochastic local search, policy gradient and the self-modeling algorithm proposed by Bongard et al. The behavior of the robot is assessed on-board thanks to a RGB-D sensor and a SLAM algorithm. Using only 25 tests on the robot and an overall running time of 20 minutes, T-Resilience consistently leads to substantially better results than the other approaches