Spiral lead platen robotic end effector

A robotic end effector is disclosed which makes use of a rotating platen with spiral leads used to impact lateral motion to gripping fingers. Actuation is provided by the contact of rolling pins with the walls of the leads. The use of the disclosed method of actuation avoids jamming and provides excellent mechanical advantage while remaining light in weight and durable. The entire end effector is compact and easily adapted for attachment to robotic arms currently in use

Double lead spiral platen parallel jaw end effector

The double lead spiral platen parallel jaw end effector is an extremely powerful, compact, and highly controllable end effector that represents a significant improvement in gripping force and efficiency over the LaRC Puma (LP) end effector. The spiral end effector is very simple in its design and has relatively few parts. The jaw openings are highly predictable and linear, making it an ideal candidate for remote control. The finger speed is within acceptable working limits and can be modified to meet the user needs; for instance, greater finger speed could be obtained by increasing the pitch of the spiral. The force relaxation is comparable to the other tested units. Optimization of the end effector design would involve a compromise of force and speed for a given application

Action-Angle variables for the Gel'fand-Dikii flows

Using the scattering transform for $n^{th}$ order linear scalar operators, the Poisson bracket found by Gel'fand and Dikii, which generalizes the Gardner Poisson bracket for the KdV hierarchy, is computed on the scattering side. Action-angle variables are then constructed. Using this, complete integrability is demonstrated in the strong sense. Real action-angle variables are constructed in the self-adjoint case

CETA truck and EVA restraint system

The Crew Equipment Translation Aid (CETA) experiment is an extravehicular activity (EVA) Space Transportation System (STS) based flight experiment which will explore various modes of transporting astronauts and light equipment for Space Station Freedom (SSF). The basic elements of CETA are: (1) two 25 foot long sections of monorail, which will be EVA assembled in the STS cargo bay to become a single 50 ft. rail called the track; (2) a wheeled baseplate called the truck which rolls along the track and can accept three cart concepts; and (3) the three carts which are designated manual, electric, and mechanical. The three carts serve as the astronaut restraint and locomotive interfaces with the track. The manual cart is powered by the astronaut grasping the track's handrail and pulling himself along. The electric cart is operated by an astronaut turning a generator which powers the electric motor and drives the cart. The mechanical cart is driven by a Bendix type transmission and is similar in concept to a man-propelled railroad cart. During launch and landing, the truck is attached to the deployable track by means of EVA removable restraint bolts and held in position by a system of retractable shims. These shims are positioned on the exterior of the rail for launch and landing and rotate out of the way for the duration of the experiment. The shims are held in position by strips of Velcro nap, which rub against the sides of the shim and exert a tailored force. The amount of force required to rotate the shims was a major EVA concern, along with operational repeatability and extreme temperature effects. The restraint system was tested in a thermal-vac and vibration environment and was shown to meet all of the initial design requirements. Using design inputs from the astronauts who will perform the EVA, CETA evolved through an iterative design process and represented a cooperative effort

The Relative Age Effect In Junior College Baseball

Korištenjem programirljivog logičkog kontrolera S7-1200, pretvarača napona i frekvencije SINAMICS S120, programskih paketa Starter i TIA Portal ostvaren je sustav za pozicioniranje asinkronom strojem. Opisana je korištena oprema i softver te je prikazano nihovo korištenje. Upotrebom programskog paketa Starter pokazano je kako konfigurirati i parametrirati neizravni četverokvadrantni izmjenični pretvarač. Prikazano je apsolutno i relativno pozicioniranje te pozicioniranje putem programskih blokova. Posebno je obrađena mogućnost programiranja programskih blokova čija je primjena široka u industriji. Korištenjem telegrama 111 koji je prvenstveno namjenjen za funkcijski modul EPos Basic Positioner je ostvarno pozicioniranje putem PLC-a. Koristeći programski paket TIA Portal objašnjen je proces stvaranja projekta, dodavanja uređaja, uspostave komunikacije (PROFIBUS i Ethernet odnosno PROFINET), programiranja PLC-a u ladder programskom jeziku te na kraju dizajniranja grafičkog sučelja za upravljanje i nadzor pozicioniranja korištenjem integriranog programa WinCC.Using the programmable logic controller S7-1200, frequency converter SINAMICS S120, Starter software and TIA Portal software a positioning system with an asynchronous motor has been accomplished. The used equipment and software have been described, and their use has been shown. Using the Starter software package it is shown how to parameterize and configure the AC coverter. Absolute and relative positioning and positioning using traversing blocks was represented. A special attention was given to traversing blocks whose application has a wide range in industry. Using the Siemens telegram 111 which was primarily made for the EPos Basic Positioner function module a positioning system via PLC was established. By using the TIA Portal software package the process of creating a project, adding devices, establishing communication (PROFIBUS and Ethernet), programming the PLC in ladder programming language and finally designing a graphical interface for managing and monitoring positioning using integrated software WinCC was thoroughly explained

Study of mechanical properties of uranium compounds

Study determines the mechanical properties, including brittleness and ductility of several uranium compounds. These include uranium dioxide, uranium sulfide, and uranium phosphide

On the frequency of permutations containing a long cycle

A general explicit upper bound is obtained for the proportion $P(n,m)$ of elements of order dividing $m$, where $n-1 \le m \le cn$ for some constant $c$, in the finite symmetric group $S_n$. This is used to find lower bounds for the conditional probabilities that an element of $S_n$ or $A_n$ contains an $r$-cycle, given that it satisfies an equation of the form $x^{rs}=1$ where $s\leq3$. For example, the conditional probability that an element $x$ is an $n$-cycle, given that $x^n=1$, is always greater than 2/7, and is greater than 1/2 if $n$ does not divide 24. Our results improve estimates of these conditional probabilities in earlier work of the authors with Beals, Leedham-Green and Seress, and have applications for analysing black-box recognition algorithms for the finite symmetric and alternating groups