Anthropomorphic teleoperation: Controlling remote manipulators with the DataGlove

A two phase effort was conducted to assess the capabilities and limitations of the DataGlove, a lightweight glove input device that can output signals in real-time based on hand shape, orientation, and movement. The first phase was a period for system integration, checkout, and familiarization in a virtual environment. The second phase was a formal experiment using the DataGlove as input device to control the protoflight manipulator arm (PFMA) - a large telerobotic arm with an 8-ft reach. The first phase was used to explore and understand how the DataGlove functions in a virtual environment, build a virtual PFMA, and consider and select a reasonable teleoperation control methodology. Twelve volunteers (six males and six females) participated in a 2 x 3 (x 2) full-factorial formal experiment using the DataGlove to control the PFMA in a simple retraction, slewing, and insertion task. Two within-subjects variables, time delay (0, 1, and 2 seconds) and PFMA wrist flexibility (rigid/flexible), were manipulated. Gender served as a blocking variable. A main effect of time delay was found for slewing and total task times. Correlations among questionnaire responses, and between questionnaire responses and session mean scores and gender were computed. The experimental data were also compared with data collected in another study that used a six degree-of-freedom handcontroller to control the PFMA in the same task. It was concluded that the DataGlove is a legitimate teleoperations input device that provides a natural, intuitive user interface. From an operational point of view, it compares favorably with other 'standard' telerobotic input devices and should be considered in future trades in teleoperation systems' designs

Development of an early warning system of crop moisture conditions using passive microwave

Emissivities were calculated from the Nimbus 5 electrically scanning microwave radiometer (ESMR) over 25 km grid cells for the southern Great Plains includin the western two-thirds of Kansas and Oklahoma and northwest Texas. These emissivities, normalized for seasonal temperature changes, were in excellent agreement with theory and measurements made from aircraft and truck sensors at the 1.55 cm wavelength of ESMR. These emissivities were related to crop moisture conditions of the winter wheat in the major wheat producing counties of the three states. High correlations were noted between emissitivity and an antecedent precipitation index (API) used to infer soil moisture for periods when the soils were essentially bare. The emissivities from ESMR were related through API and actual crop condition reports to progress of fall planting, adequacy of crop moisture for stand establishment, and periods of excessive moisture that necessitated replanting. Periods of prolonged frozen soil in the winter were observable at several grid points. The average emissivities of the canopy/soil surface during the maximum canopy development times in the spring showed a good agreement with moisture stress inferred from rainfall and yield data

On the Complexity of Limit Sets of Cellular Automata Associated with Probability Measures

We study the notion of limit sets of cellular automata associated with probability measures (mu-limit sets). This notion was introduced by P. Kurka and A. Maass. It is a refinement of the classical notion of omega-limit sets dealing with the typical long term behavior of cellular automata. It focuses on the words whose probability of appearance does not tend to 0 as time tends to infinity (the persistent words). In this paper, we give a characterisation of the persistent language for non sensible cellular automata associated with Bernouilli measures. We also study the computational complexity of these languages. We show that the persistent language can be non-recursive. But our main result is that the set of quasi-nilpotent cellular automata (those with a single configuration in their mu-limit set) is neither recursively enumerable nor co-recursively enumerable

Assessment of a head-mounted miniature monitor

Two experiments were conducted to assess the capabilities and limitations of the Private Eye, a miniature, head-mounted monitor. The first experiment compared the Private Eye with a cathode ray tube (CRT) and hard copy in both a constrained and unconstrained work envelope. The task was a simulated maintenance and assembly task that required frequent reference to the displayed information. A main effect of presentation media indicated faster placement times using the CRT as compared with hard copy. There were no significant differences between the Private Eye and either the CRT or hard copy for identification, placement, or total task times. The goal of the second experiment was to determine the effects of various local visual parameters on the ability of the user to accurately perceive the information of the Private Eye. The task was an interactive video game. No significant performance differences were found under either bright or dark ambient illumination environments nor with either visually simple or complex task backgrounds. Glare reflected off of the bezel surrounding the monitor did degrade performance. It was concluded that this head-mounted, miniature monitor could serve a useful role for in situ operations, especially in microgravity environments

A study of the stress wave factor technique for evaluation of composite materials

The acousto-ultrasonic approach for nondestructive evaluation provides a measurement procedure for quantifying the integrated effect of globally distributed damage characteristic of fiber reinforced composite materials. The evaluation procedure provides a stress wave factor that correlates closely with several material performance parameters. The procedure was investigated for a variety of materials including advanced composites, hybrid structure bonds, adhesive bonds, wood products, and wire rope. The research program focused primarily on development of fundamental understanding and applications advancements of acousto-ultrasonics for materials characterization. This involves characterization of materials for which detection, location, and identification of imperfections cannot at present be analyzed satisfactorily with mechanical performance prediction models. In addition to presenting definitive studies on application potentials, the understanding of the acousto-ultrasonic method as applied to advanced composites is reviewed