Multi-axis control of telemanipulators

The development of multi-axis hand controllers for use in telemanipulator systems is described. Experience in the control of the SRMS (shuttle remote manipulator system) arm is reviewed together with subsequent tests involving a number of simulators and configurations, including use as a side-arm flight control for helicopters. The factors affecting operator acceptability are reviewed

Multi-axis manual controllers: A state-of-the-art report

A literature search was carried out to examine the feasibility of a six degree of freedom hand controller. Factors addressed included related areas, approaches to manual control, applications of manual controllers, and selected studies of the human neuromuscular system. Results are presented

Simulation of multi-axis machining processes using z-mapping technique

Parameter selection in machining operations is curial for product quality and high productivity. Process parameters such as feed, spindle speed and depth of cuts are often chosen by trial-error methods. Mathematical models can be employed to predict the mechanics and the dynamics of the process. In this study, Z-mapping technique is utilized to simulate the process step by step by updating the workpiece according the given tool path where the cutter engagement areas are also determined. Using the numerical generalized process model, whole process is simulated for any milling tool geometry including intricate profiling tools, serrated cutters and tools with variable edge geometries

An approach to the multi-axis problem in manual control

The multiaxis control problem is addressed within the context of the optimal pilot model. The problem is developed to provide efficient adaptation of the optimal pilot model to complex aircraft systems and real world, multiaxis tasks. This is accomplished by establishing separability of the longitudinal and lateral control problems subject to the constraints of multiaxis attention and control allocation. Control solution adaptation to the constrained single axis attention allocations is provided by an optimal control frequency response algorithm. An algorithm is developed to solve the multiaxis control problem. The algorithm is then applied to an attitude hold task for a bare airframe fighter aircraft case with interesting multiaxis properties

Multi-axis hand controller for the shuttle remote manipulator system

The Shuttle Remote Manipulator System, has a articulated arm of 50 ft. length with six motor-driven joints. The basic purpose is to establish physical contact with various space hardware items and maneuver these to the desired position and attitude with respect to the Orbiter, nulling out relative velocities and stabilizing the free-body system by managing residual energies. The normal operating mode is resolved-motion end-point rate control by man-in-loop command. The translational freedoms are defined so that the End Effector (EEFTR) of the arm will move in planes parallel to the principal translational planes of the Orbiter, at a rate commanded by the displacement of the Translation Hand Controller in the corresponding freedom and direction. The rotational freedoms are rate-controlled by the Rotation Hand Controller about pivot axes parallel to Orbiter roll, pitch and yaw, originating at the EEFTR reference point

MaxViT: Multi-Axis Vision Transformer

Transformers have recently gained significant attention in the computer vision community. However, the lack of scalability of self-attention mechanisms with respect to image size has limited their wide adoption in state-of-the-art vision backbones. In this paper we introduce an efficient and scalable attention model we call multi-axis attention, which consists of two aspects: blocked local and dilated global attention. These design choices allow global-local spatial interactions on arbitrary input resolutions with only linear complexity. We also present a new architectural element by effectively blending our proposed attention model with convolutions, and accordingly propose a simple hierarchical vision backbone, dubbed MaxViT, by simply repeating the basic building block over multiple stages. Notably, MaxViT is able to "see" globally throughout the entire network, even in earlier, high-resolution stages. We demonstrate the effectiveness of our model on a broad spectrum of vision tasks. On image classification, MaxViT achieves state-of-the-art performance under various settings: without extra data, MaxViT attains 86.5\% ImageNet-1K top-1 accuracy; with ImageNet-21K pre-training, our model achieves 88.7\% top-1 accuracy. For downstream tasks, MaxViT as a backbone delivers favorable performance on object detection as well as visual aesthetic assessment. We also show that our proposed model expresses strong generative modeling capability on ImageNet, demonstrating the superior potential of MaxViT blocks as a universal vision module. We will make the code and models publicly available

Multi-Axis Machining Project Development

Multi-axis milling is a manufacturing material removal process in which computer numerically controlled (CNC) tools cut away excess material through movement in four or more axes. Compared to traditional three-axis machining, multi-axis machining greatly increases the capability and accuracy of the CNC machining processes by reducing the amount of operations required to completely machine a part. Currently, the Industrial and Manufacturing Engineering Department at Cal Poly lacks an advanced CNC class that incorporates fourth and fifth axis CNC machining in the curriculum. This report describes the process behind creating a project for such a class. The class will demonstrate the increased capability of multi-axis machining through a multi-axis positioning machining project. To create the project for the class, a demo part was designed on SolidWorks to be machined on a multi-axis CNC mill. The part required initial operations to create a machining blank and workholding for the multi-axis mill, so these items were developed prior to the fabrication of the part. Each operation required a computer-aided design, computer-aided manufacturing, post-processing files, and engineering documentation. The project resulted in a multi-sided demonstration part that reflects the increased capabilities of fourth and fifth axis machining to be used in a class project in Cal Poly’s IME 336 Computer Aided Manufacturing II course