Performance and manufacturing considerations for series elastic actuators

Robots are becoming an integral part of our lives. We are already physically connected with them through many robotic applications such as exoskeletons in military, orthosis devices in health care, collaborative robots in industry, etc. While the integration of robots improves the quality of human life, it still poses a safety concern during the physical human-robot interaction. Series Elastic Actuators (SEAs) play an important role in improving the safety of human-robot interaction and collaboration. Considering the fast expansion of robotic applications in our lives and the safety benefits of SEAs, it is conceivable that SEAs are going to play an important role in robotic applications in every aspect of human life. This dissertation focuses on reducing the cost, simplifying the use and improving the performance of SEAs. The first research focus in this dissertation is to reduce the cost of SEAs. Robots are successful in reducing production and service costs when used but the capital cost of robot installations are very high. As robotics research shifts to safe robotic applications, reducing the cost of SEAs will greatly help to deploy this technology in more robotic applications and to increase their accessibility to a broader range of researchers and educators. With this motivation, I present a case study on reducing the cost of a SEA while maintaining high force and position control performance and industrial grade service life. The second research focus in this dissertation is to simplify the laborious gain selection process of the cascaded controllers of SEAs. In order to simplify the gain selection process of the impedance controllers of SEAs, an optimal feedback gain selection methodology was developed. Using this method, the feedback gains of the cascaded PD-type impedance controllers of SEAs can easily be calibrated. The developed method allows the users to find the highest feedback gains for a desired phase-margin. Beyond the low-cost realization and simple controller tuning of SEAs, performance improvements on SEAs are possible utilizing the series elasticity in these actuators. As the third research focus in this dissertation, a sequential convex optimization-based motion planning technique is developed in order to improve the joint velocity capabilities of SEAs with nonlinearities. By using this method, higher joint velocities, that are not achievable with the rigid counterparts of SEAs can be achievedMechanical Engineerin

Spin-spin correlators in Majorana representation

In the Majorana representation of a spin 1/2 we find an identity which relates spin-spin correlators to one-particle fermionic correlators. This should be contrasted with the straightforward approach in which two-particle (four-fermion) correlators need to be calculated. We discuss applications to the analysis of the dynamics of a spin coupled to a dissipative environment and of a quantum detector performing a continuous measurement of a qubit's state

Feasibility investigation of integrated optics Fourier transform devices

The possibility of producing an integrated optics data processing device based upon Fourier transformations or other parallel processing techniques, and the ways in which such techniques may be used to upgrade the performance of present and projected NASA systems were investigated. Activities toward this goal include; (1) production of near-diffraction-limited geodesic lenses in glass waveguides; (2) development of grinding and polishing techniques for the production of geodesic lenses in LiNbO3 waveguides; (3) development of a characterization technique for waveguide lenses; and (4) development of a theory for corrected aspheric geodesic lenses. A holographic subtraction system was devised which should be capable of rapid on-board preprocessing of a large number of parallel data channels. The principle involved is validated in three demonstrations

Sequences within a small yeast RNA required for inhibition of internal initiation of translation: interaction with La and other cellular proteins influences its inhibitory activity

We recently reported purification, determination of the nucleotide sequence, and cloning of a 60-nucleotide RNA (I-RNA) from the yeast Saccharomyces cerevisiae which preferentially blocked cap-independent, internal ribosome entry site (IRES)-mediated translation programmed by the poliovirus (PV) 5' untranslated region (UTR). The I-RNA appeared to inhibit IRES-mediated translation by virtue of its ability to bind a 52- kDa polypeptide which interacts with the 5' UTR of viral RNA. We demonstrate here that the HeLa 52-kDa I-RNA-binding protein is immunologically identical to human La autoantigen. Moreover, I-RNA- mediated purified La protein. By using I-RNAs with defined deletions, we have identified sequences of I-RNA required for inhibition of internal initiation of translation. Two smaller fragments of I-RNA (16 and 25 nucleotides) inhibited PV UTR-mediated translation from both monocistronic and bicistronic RNAs. When transfected into HeLa cells, these derivatives of I-RNA inhibited translation of PV RNA. A comparison of protein binding by active and inactive I-RNA mutants demonstrates that in addition to the La protein, three other polypeptides with apparent molecular masses of 80, 70, and 37 kDa may influence the translation-inhibitory activity of I-RNA

Low-dimensional offshore wave input for extreme event quantification

In offshore engineering design, nonlinear wave models are often used to propagate stochastic waves from an input boundary to the location of an offshore structure. Each wave realization is typically characterized by a high-dimensional input time series, and a reliable determination of the extreme events is associated with substantial computational effort. As the sea depth decreases, extreme events become more difficult to evaluate. We here construct a low-dimensional characterization of the candidate input time series to circumvent the search for extreme wave events in a high-dimensional input probability space. Each wave input is represented by a unique low-dimensional set of parameters for which standard surrogate approximations, such as Gaussian processes, can estimate the short-term exceedance probability efficiently and accurately. We demonstrate the advantages of the new approach with a simple shallow-water wave model based on the Korteweg-de Vries equation for which we can provide an accurate reference solution based on the simple Monte Carlo method. We furthermore apply the method to a fully nonlinear wave model for wave propagation over a sloping seabed. The results demonstrate that the Gaussian process can learn accurately the tail of the heavy-tailed distribution of the maximum wave crest elevation based on only $1.7\%$ of the required Monte Carlo evaluations

An investigation for the development of an integrated optical data preprocessor

The successful fabrication and demonstration of an integrated optical circuit designed to perform a parallel processing operation by utilizing holographic subtraction to simultaneously compare N analog signal voltages with N predetermined reference voltages is summarized. The device alleviates transmission, storage and processing loads of satellite data systems by performing, at the sensor site, some preprocessing of data taken by remote sensors. Major accomplishments in the fabrication of integrated optics components include: (1) fabrication of the first LiNbO3 waveguide geodesic lens; (2) development of techniques for polishing TIR mirrors on LiNbO3 waveguides; (3) fabrication of high efficiency metal-over-photoresist gratings for waveguide beam splitters; (4) demonstration of high S/N holographic subtraction using waveguide holograms; and (5) development of alignment techniques for fabrication of integrated optics circuits. Important developments made in integrated optics are the discovery and suggested use of holographic self-subtraction in LiNbO3, development of a mathematical description of the operating modes of the preprocessor, and the development of theories for diffraction efficiency and beam quality of two dimensional beam defined gratings

Evidence for quasi-one-dimensional charge density wave in CuTe by angle-resolved photoemission spectroscopy

We report the electronic structure of CuTe with a high charge density wave (CDW) transition temperature Tc = 335 K by angle-resolved photoemission spectroscopy (ARPES). An anisotropic charge density wave gap with a maximum value of 190 meV is observed in the quasi-one-dimensional band formed by Te px orbitals. The CDW gap can be filled by increasing temperature or electron doping through in situ potassium deposition. Combining the experimental results with calculated electron scattering susceptibility and phonon dispersion, we suggest that both Fermi surface nesting and electron-phonon coupling play important roles in the emergence of the CDW

Pneumatic-probe measurement errors caused by fluctuating flow angles

Pneumatic probes such as five-hole probes (5HP) can conveniently measure three-dimensional flow angles, plus total and static pressure. In most applications, transducers are connected using pneumatic tubes, allowing the probe head to be highly miniaturized and robust. However, such “steady” probes are often used in unsteady flows, where they measure a pneumatically averaged flowfield that can differ from the time mean. To better understand these pneumatic averaging effects, an analytical framework is constructed using a quasi-steady model. Total and static pressure coefficients have a symmetric response to both positive and negative incidence. When incidence fluctuates, there is therefore a bias in the pneumatic average. These errors are evident in a shedding wake experiment, where a 5HP overestimates total pressure loss by up to 44% compared to a Kiel probe. These effects can be predicted by coupling an unsteady Reynolds-averaged Navier–Stokes calculation with the quasi-steady model. By predicting pneumatic averaging errors, the quasi-steady model can be used to obtain like-for-like validation of calculations against experimental data. Measurement data can also be corrected, provided that flow angle fluctuations can be measured or estimated. This approach can be readily used to postcorrect the large body of historical data likely to have been corrupted by pneumatic-averaging errors