Master/slave manipulator system

System capabilities are equivalent to mobility, dexterity, and strength of human arm. Arrangement of torque motor, harmonic drive, and potentiometer combination allows all power and control leads to pass through center of slave with position-transducer arrangement of master, and "stovepipe joint" is incorporated for manipulator applications

Complex Master Slave Interferometry

A general theoretical model is developed to improve the novel Spectral Domain Interferometry method denoted as Master/Slave (MS) Interferometry. In this model, two functions, g and h are introduced to describe the modulation chirp of the channeled spectrum signal due to nonlinearities in the decoding process from wavenumber to time and due to dispersion in the interferometer. The utilization of these two functions brings two major improvements to previous implementations of the MS method. A first improvement consists in reducing the number of channeled spectra necessary to be collected at Master stage. In previous MSI implementation, the number of channeled spectra at the Master stage equated the number of depths where information was selected from at the Slave stage. The paper demonstrates that two experimental channeled spectra only acquired at Master stage suffice to produce A-scans from any number of resolved depths at the Slave stage. A second improvement is the utilization of complex signal processing. Previous MSI implementations discarded the phase. Complex processing of the electrical signal determined by the channeled spectrum allows phase processing that opens several novel avenues. A first consequence of such signal processing is reduction in the random component of the phase without affecting the axial resolution. In previous MSI implementations, phase instabilities were reduced by an average over the wavenumber that led to reduction in the axial resolution

Improved electromechanical master-slave manipulator

Electric master-slave manipulator uses force multiplication and allows the operator to remotely control the slave arm. Both the master and slave arms execute seven distinct motions by a specially designed force-reflecting servo having a one to one correspondence between the motion at the master and slave

Anthropomorphic master/slave manipulator system

An anthropomorphic master/slave manipulator system including master arm apparatus with a plurality of master tubular articulated portions is outlined. Objectives of this investion were to provide a system that accurately and smoothly simulates human limb movement at a remote location. The system has a high frequency response, a high structural stiffness and a design that protects the components of the slave mechanism. Simulation of human movements is possible in outer space, underwater, and in a hazardous environment such as in a high radiation area. The equivalent ability, dexterity, and strength of a human arm are simulated

Master slave en-face OCT/SLO

Master Slave optical coherence tomography (MS-OCT) is an OCT method that does not require resampling of data and can be used to deliver en-face images from several depths simultaneously. As the MS-OCT method requires important computational resources, the number of multiple depth en-face images that can be produced in real-time is limited. Here, we demonstrate progress in taking advantage of the parallel processing feature of the MS-OCT technology. Harnessing the capabilities of graphics processing units (GPU)s, information from 384 depth positions is acquired in one raster with real time display of up to 40 en-face OCT images. These exhibit comparable resolution and sensitivity to the images produced using the conventional Fourier domain based method. The GPU facilitates versatile real time selection of parameters, such as the depth positions of the 40 images out of the set of 384 depth locations, as well as their axial resolution. In each updated displayed frame, in parallel with the 40 en-face OCT images, a scanning laser ophthalmoscopy (SLO) lookalike image is presented together with two B-scan OCT images oriented along rectangular directions. The thickness of the SLO lookalike image is dynamically determined by the choice of number of en-face OCT images displayed in the frame and the choice of differential axial distance between them

Implementation of Time-Delay Interferometry for LISA

We discuss the baseline optical configuration for the Laser Interferometer Space Antenna (LISA) mission, in which the lasers are not free-running, but rather one of them is used as the main frequency reference generator (the {\it master}) and the remaining five as {\it slaves}, these being phase-locked to the master (the {\it master-slave configuration}). Under the condition that the frequency fluctuations due to the optical transponders can be made negligible with respect to the secondary LISA noise sources (mainly proof-mass and shot noises), we show that the entire space of interferometric combinations LISA can generate when operated with six independent lasers (the {\it one-way method}) can also be constructed with the {\it master-slave} system design. The corresponding hardware trade-off analysis for these two optical designs is presented, which indicates that the two sets of systems needed for implementing the {\it one-way method}, and the {\it master-slave configuration}, are essentially identical. Either operational mode could therefore be implemented without major implications on the hardware configuration. We then.......Comment: 39 pages, 6 figures, 2 table

Two Algorithms for Network Size Estimation for Master/Slave Ad Hoc Networks

This paper proposes an adaptation of two network size estimation methods: random tour and gossip-based aggregation to suit master/slave mobile ad hoc networks. We show that it is feasible to accurately estimate the size of ad hoc networks when topology changes due to mobility using both methods. The algorithms were modified to account for the specific constraints of master/slave ad hoc networks and the results show that the proposed modifications perform better on these networks than the original protocols. Each of the two algorithms presents strengths and weaknesses and these are outlined in this paper.Comment: 3 pages, 2 figures, submitted to ANTS'09 - Corrected typos and definition

Exoskeleton master controller with force-reflecting telepresence

A thorough understanding of the requirements for successful master-slave robotic systems is becoming increasingly desirable. Such systems can aid in the accomplishment of tasks that are hazardous or inaccessible to humans. Although a history of use has proven master-slave systems to be viable, system requirements and the impact of specifications on the human factors side of system performance are not well known. In support of the next phase of teleoperation research being conducted at the Armstrong Research Laboratory, a force-reflecting, seven degree of freedom exoskeleton for master-slave teleoperation has been concepted, and is presently being developed. The exoskeleton has a unique kinematic structure that complements the structure of the human arm. It provides a natural means for teleoperating a dexterous, possibly redundant manipulator. It allows ease of use without operator fatigue and faithfully follows human arm and wrist motions. Reflected forces and moments are remotely transmitted to the operator hand grip using a cable transmission scheme. This paper presents the exoskeleton concept and development results to date. Conceptual design, hardware, algorithms, computer architecture, and software are covered