Synthesis and Validation of Nondiagonal Accommodation Matrices for Error-Corrective Assembly

A methodology is described by which erroneous contact configurations for a given task are used to synthesize an appropriate accommodation matrix (either diagonal or nondiagonal) such that the motions which result from contact with the environment are error corrective. The methodology is verified by the synthesis and experimental validation of a nondiagonal accommodation matrix sufficient for an error-corrective place-in-detent robotic assembly operation, an operation that fails if a diagonal accommodation matrix is used

Cumulative index to NASA Tech Briefs, 1986-1990, volumes 10-14

Tech Briefs are short announcements of new technology derived from the R&D activities of the National Aeronautics and Space Administration. These briefs emphasize information considered likely to be transferrable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. This cumulative index of Tech Briefs contains abstracts and four indexes (subject, personal author, originating center, and Tech Brief number) and covers the period 1986 to 1990. The abstract section is organized by the following subject categories: electronic components and circuits, electronic systems, physical sciences, materials, computer programs, life sciences, mechanics, machinery, fabrication technology, and mathematics and information sciences

Applications of Geodesy to Geodynamics, an International Symposium

Geodetic techniques in detecting and monitoring geodynamic phenomena are reviewed. Specific areas covered include: rotation of the earth and polar motion; tectonic plate movements and crustal deformations (space techniques); horizontal crustal movements (terrestrial techniques); vertical crustal movements (terrestrial techniques); gravity field, geoid, and ocean surface by space techniques; surface gravity and new techniques for the geophysical interpretation of gravity and geoid undulation; and earth tides and geodesy