Computer hardware and software for robotic control

The KSC has implemented an integrated system that coordinates state-of-the-art robotic subsystems. It is a sensor based real-time robotic control system performing operations beyond the capability of an off-the-shelf robot. The integrated system provides real-time closed loop adaptive path control of position and orientation of all six axes of a large robot; enables the implementation of a highly configurable, expandable testbed for sensor system development; and makes several smart distributed control subsystems (robot arm controller, process controller, graphics display, and vision tracking) appear as intelligent peripherals to a supervisory computer coordinating the overall systems

An advanced telerobotic system for shuttle payload changeout room processing applications

To potentially alleviate the inherent difficulties in the ground processing of the Space Shuttle and its associated payloads, a teleoperated, semi-autonomous robotic processing system for the Payload Changeout Room (PCR) is now in the conceptual stages. The complete PCR robotic system as currently conceived is described and critical design issues and the required technologies are discussed

Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time

Designing a New Tactile Display Technology and its Disability Interactions

People with visual impairments have a strong desire for a refreshable tactile interface that can provide immediate access to full page of Braille and tactile graphics. Regrettably, existing devices come at a considerable expense and remain out of reach for many. The exorbitant costs associated with current tactile displays stem from their intricate design and the multitude of components needed for their construction. This underscores the pressing need for technological innovation that can enhance tactile displays, making them more accessible and available to individuals with visual impairments. This research thesis delves into the development of a novel tactile display technology known as Tacilia. This technology's necessity and prerequisites are informed by in-depth qualitative engagements with students who have visual impairments, alongside a systematic analysis of the prevailing architectures underpinning existing tactile display technologies. The evolution of Tacilia unfolds through iterative processes encompassing conceptualisation, prototyping, and evaluation. With Tacilia, three distinct products and interactive experiences are explored, empowering individuals to manually draw tactile graphics, generate digitally designed media through printing, and display these creations on a dynamic pin array display. This innovation underscores Tacilia's capability to streamline the creation of refreshable tactile displays, rendering them more fitting, usable, and economically viable for people with visual impairments

Suction force-suction distance relation during aspiration thrombectomy for ischemic stroke: A computational fluid dynamics study

Acute Ischemic Stroke (AIS) is the major type of stroke occurring in patients. Aspiration thrombectomy, which uses suction to remove the thrombosis, is a promising technique in the clinical treatment of AIS patients. In this research a computational fluid dynamics (CFD) analysis was conducted to model the blood flow dynamics in a simplified cerebral model during an aspiration thrombectomy procedure. The flow system being analysed was a typical in vitro cerebral flow model, and the system parameters were set based on the clinical and in vitro data reported in open literature. The simulated flow field features showed good correlation with the in vitro response as reported in literature. The CFD study provides detailed technical data including the peak velocity occurring at the catheter tip and the suction force/suction distance relation during the aspiration thrombectomy procedure, which are useful new knowledge and have the potential to influence future catheter design as well as clinical operational protocols used during thrombectomy intervention

Pixelated Interactions: Exploring Pixel Art for Graphical Primitives on a Pin Array Tactile Display

Two-dimensional pin array displays enable access to tactile graphics that are important for the education of students with visual impairments. Due to their prohibitive cost and limited access, there is limited research within HCI and the rules to design graphics on these low-resolution tactile displays are unclear. In this paper, eight tactile readers with visual impairments qualitatively evaluate the implementation of Pixel Art to create tactile graphical primitives on a pin array display. Every pin of the pin array is assumed to be a pixel on a pixel grid. Our findings suggest that Pixel Art tactile graphics on a pin array are clear and comprehensible to tactile readers, positively confirming its use to design basic tactile shapes and line segments. The guidelines provide a consistent framework to create tactile media which implies that they can be used to downsize basic shapes for refreshable pin-array displays

Harnessing Technology: new modes of technology-enhanced learning: a case study series

This report presents the outcomes and conclusions from a series of 18 case studies exploring the innovative use of technology for learning and teaching using new modes of technology

Wearable haptic systems for the fingertip and the hand: taxonomy, review and perspectives

In the last decade, we have witnessed a drastic change in the form factor of audio and vision technologies, from heavy and grounded machines to lightweight devices that naturally fit our bodies. However, only recently, haptic systems have started to be designed with wearability in mind. The wearability of haptic systems enables novel forms of communication, cooperation, and integration between humans and machines. Wearable haptic interfaces are capable of communicating with the human wearers during their interaction with the environment they share, in a natural and yet private way. This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. The paper also discusses the main technological and design challenges for the development of wearable haptic interfaces, and it reports on the future perspectives of the field. Finally, the paper includes two tables summarizing the characteristics and features of the most representative wearable haptic systems for the fingertip and the hand