High speed, precision motion strategies for lightweight structures

Research on space telerobotics is summarized. Adaptive control experiments on the Robotic Arm, Large and Flexible (RALF) were preformed and are documented, along with a joint controller design for the Small Articulated Manipulator (SAM), which is mounted on the RALF. A control algorithm is described as a robust decentralized adaptive control based on a bounded uncertainty approach. Dynamic interactions between SAM and RALF are examined. Unstability of the manipulator is studied from the perspective that the inertial forces generated could actually be used to more rapidly damp out the flexible manipulator's vibration. Currently being studied is the modeling of the constrained dynamics of flexible arms

On the structure of context-sensitive grammars

Context sensitive grammar and generation of noncontext free language

High speed precision motion strategies for lightweight structures

Work during the recording period proceeded along the lines of the proposal, i.e., three aspects of high speed motion planning and control of flexible structures were explored: fine motion control, gross motion planning and control, and automation using light weight arms. In addition, modeling the large manipulator arm to be used in experiments and theory has lead to some contributions in that area. These aspects are reported below. Conference, workshop and journal submissions, and presentations related to this work were seven in number, and are listed. Copies of written papers and abstracts are included

Terminal context in context-sensitive grammars

Context-free language generation using nontrivial constraints on context-sensitive grammar rule

Lensing of 21-cm Fluctuations by Primordial Gravitational Waves

Weak-gravitational-lensing distortions to the intensity pattern of 21-cm radiation from the dark ages can be decomposed geometrically into curl and curl-free components. Lensing by primordial gravitational waves induces a curl component, while the contribution from lensing by density fluctuations is strongly suppressed. Angular fluctuations in the 21-cm background extend to very small angular scales, and measurements at different frequencies probe different shells in redshift space. There is thus a huge trove of information with which to reconstruct the curl component of the lensing field, allowing tensor-to-scalar ratios conceivably as small as r∼10^(-9)—far smaller than those currently accessible—to be probed