11,543 research outputs found
Long wavelength investigations of solar, planetary, and galaxy emissions Final report, May 1 - Sep. 30, 1964
Feasibility of constructing large antenna array and interferometer for radio astronomy studies and spectral observations of discrete sources, sun, and Galax
Orbit transfer rocket engine technology program: Automated preflight methods concept definition
The possibility of automating preflight engine checkouts on orbit transfer engines is discussed. The minimum requirements in terms of information and processing necessary to assess the engine'e integrity and readiness to perform its mission were first defined. A variety of ways for remotely obtaining that information were generated. The sophistication of these approaches varied from a simple preliminary power up, where the engine is fired up for the first time, to the most advanced approach where the sensor and operational history data system alone indicates engine integrity. The critical issues and benefits of these methods were identified, outlined, and prioritized. The technology readiness of each of these automated preflight methods were then rated on a NASA Office of Exploration scale used for comparing technology options for future mission choices. Finally, estimates were made of the remaining cost to advance the technology for each method to a level where the system validation models have been demonstrated in a simulated environment
Deep Haptic Model Predictive Control for Robot-Assisted Dressing
Robot-assisted dressing offers an opportunity to benefit the lives of many
people with disabilities, such as some older adults. However, robots currently
lack common sense about the physical implications of their actions on people.
The physical implications of dressing are complicated by non-rigid garments,
which can result in a robot indirectly applying high forces to a person's body.
We present a deep recurrent model that, when given a proposed action by the
robot, predicts the forces a garment will apply to a person's body. We also
show that a robot can provide better dressing assistance by using this model
with model predictive control. The predictions made by our model only use
haptic and kinematic observations from the robot's end effector, which are
readily attainable. Collecting training data from real world physical
human-robot interaction can be time consuming, costly, and put people at risk.
Instead, we train our predictive model using data collected in an entirely
self-supervised fashion from a physics-based simulation. We evaluated our
approach with a PR2 robot that attempted to pull a hospital gown onto the arms
of 10 human participants. With a 0.2s prediction horizon, our controller
succeeded at high rates and lowered applied force while navigating the garment
around a persons fist and elbow without getting caught. Shorter prediction
horizons resulted in significantly reduced performance with the sleeve catching
on the participants' fists and elbows, demonstrating the value of our model's
predictions. These behaviors of mitigating catches emerged from our deep
predictive model and the controller objective function, which primarily
penalizes high forces.Comment: 8 pages, 12 figures, 1 table, 2018 IEEE International Conference on
Robotics and Automation (ICRA
Towards Assistive Feeding with a General-Purpose Mobile Manipulator
General-purpose mobile manipulators have the potential to serve as a
versatile form of assistive technology. However, their complexity creates
challenges, including the risk of being too difficult to use. We present a
proof-of-concept robotic system for assistive feeding that consists of a Willow
Garage PR2, a high-level web-based interface, and specialized autonomous
behaviors for scooping and feeding yogurt. As a step towards use by people with
disabilities, we evaluated our system with 5 able-bodied participants. All 5
successfully ate yogurt using the system and reported high rates of success for
the system's autonomous behaviors. Also, Henry Evans, a person with severe
quadriplegia, operated the system remotely to feed an able-bodied person. In
general, people who operated the system reported that it was easy to use,
including Henry. The feeding system also incorporates corrective actions
designed to be triggered either autonomously or by the user. In an offline
evaluation using data collected with the feeding system, a new version of our
multimodal anomaly detection system outperformed prior versions.Comment: This short 4-page paper was accepted and presented as a poster on
May. 16, 2016 in ICRA 2016 workshop on 'Human-Robot Interfaces for Enhanced
Physical Interactions' organized by Arash Ajoudani, Barkan Ugurlu, Panagiotis
Artemiadis, Jun Morimoto. It was peer reviewed by one reviewe
Centaur Propellant Thermal Conditioning Study
A wicking investigation revealed that passive thermal conditioning was feasible and provided considerable weight advantage over active systems using throttled vent fluid in a Centaur D-1s launch vehicle. Experimental wicking correlations were obtained using empirical revisions to the analytical flow model. Thermal subcoolers were evaluated parametrically as a function of tank pressure and NPSP. Results showed that the RL10 category I engine was the best candidate for boost pump replacement and the option showing the lowest weight penalty employed passively cooled acquisition devices, thermal subcoolers, dry ducts between burns and pumping of subcooler coolant back into the tank. A mixing correlation was identified for sizing the thermodynamic vent system mixer. Worst case mixing requirements were determined by surveying Centaur D-1T, D-1S, IUS, and space tug vehicles. Vent system sizing was based upon worst case requirements. Thermodynamic vent system/mixer weights were determined for each vehicle
Orbit transfer rocket engine technology program: Advanced engine study
In Task D.6 of the Advanced Engine Study, three primary subtasks were accomplished: (1) design of parametric data; (2) engine requirement variation studies; and (3) vehicle study/engine study coordination. Parametric data were generated for vacuum thrusts ranging from 7500 lbf to 50,000 lbf, nozzle expansion ratios from 600 to 1200, and engine mixture ratios from 5:1 to 7:1. Failure Modes and Effects Analysis (FMEA) was used as a departure point for these parametric analyses. These data are intended to assist in definition and trade studies. In the Engine Requirements Variation Studies, the individual effects of increasing the throttling ratio from 10:1 to 20:1 and requiring the engine to operate at a maximum mixture ratio of 12:1 were determined. Off design engine balances were generated at these extreme conditions and individual component operating requirements analyzed in detail. Potential problems were identified and possible solutions generated. In the Vehicle Study/Engine Study coordination subtask, vehicle contractor support was provided as needed, addressing a variety of issues uncovered during vehicle trade studies. This support was primarily provided during Technical Interchange Meetings (TIM) in which Space Exploration Initiative (SEI) studies were addressed
Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing
Robotic assistance presents an opportunity to benefit the lives of many
people with physical disabilities, yet accurately sensing the human body and
tracking human motion remain difficult for robots. We present a
multidimensional capacitive sensing technique that estimates the local pose of
a human limb in real time. A key benefit of this sensing method is that it can
sense the limb through opaque materials, including fabrics and wet cloth. Our
method uses a multielectrode capacitive sensor mounted to a robot's end
effector. A neural network model estimates the position of the closest point on
a person's limb and the orientation of the limb's central axis relative to the
sensor's frame of reference. These pose estimates enable the robot to move its
end effector with respect to the limb using feedback control. We demonstrate
that a PR2 robot can use this approach with a custom six electrode capacitive
sensor to assist with two activities of daily living-dressing and bathing. The
robot pulled the sleeve of a hospital gown onto able-bodied participants' right
arms, while tracking human motion. When assisting with bathing, the robot moved
a soft wet washcloth to follow the contours of able-bodied participants' limbs,
cleaning their surfaces. Overall, we found that multidimensional capacitive
sensing presents a promising approach for robots to sense and track the human
body during assistive tasks that require physical human-robot interaction.Comment: 8 pages, 16 figures, International Conference on Rehabilitation
Robotics 201
Research in satellite-aided crop inventory and monitoring
Automated information extraction procedures for analysis of multitemporal LANDSAT data in non-U.S. crop inventory and monitoring are reviewed. Experiments to develope and evaluate crop area estimation technologies for spring small grains, summer crops, corn, and soybeans are discussed
Surface Roughness Dominated Pinning Mechanism of Magnetic Vortices in Soft Ferromagnetic Films
Although pinning of domain walls in ferromagnets is ubiquitous, the absence
of an appropriate characterization tool has limited the ability to correlate
the physical and magnetic microstructures of ferromagnetic films with specific
pinning mechanisms. Here, we show that the pinning of a magnetic vortex, the
simplest possible domain structure in soft ferromagnets, is strongly correlated
with surface roughness, and we make a quantitative comparison of the pinning
energy and spatial range in films of various thickness. The results demonstrate
that thickness fluctuations on the lateral length scale of the vortex core
diameter, i.e. an effective roughness at a specific length scale, provides the
dominant pinning mechanism. We argue that this mechanism will be important in
virtually any soft ferromagnetic film.Comment: 4 figure
A late-time transition in the cosmic dark energy?
We study constraints from the latest CMB, large scale structure (2dF,
Abell/ACO, PSCz) and SN1a data on dark energy models with a sharp transition in
their equation of state, w(z). Such a transition is motivated by models like
vacuum metamorphosis where non-perturbative quantum effects are important at
late times. We allow the transition to occur at a specific redshift, z_t, to a
final negative pressure -1 < w_f < -1/3. We find that the CMB and supernovae
data, in particular, prefer a late-time transition due to the associated delay
in cosmic acceleration. The best fits (with 1 sigma errors) to all the data are
z_t = 2.0^{+2.2}_{-0.76}, \Omega_Q = 0.73^{+0.02}_{-0.04} and w_f = -1^{+0.2}.Comment: 6 Pages, 5 colour figures, MNRAS styl
- …