Traction-drive force transmission for telerobotic joints

A mechanism which meets the requirements of a teleoperated manipulator and those of an autonomous robot is discussed. The mechanism is a traction-drive differential that uses variable preload mechanisms. The differential provides compact design, with dextrous motion range and torque density similar to geared systems. The traction drive offers high stiffness to backlash for good robotic performance. The variable-loading mechanism (VLM) minimizes the drive-train friction for improved teleoperation. This combination provides a mechanism to allow advanced manipulation with either teleoperated control or autonomous robotic operation. The design principles of both major components of the joint mechanism are described

Dual arm master controller development

The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape driven manipulators. Studies were performed which addressed to human factor design and performance tradeoffs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented

Unexpected crossover dynamics of single polymer in a corrugated tube

We present molecular dynamics study of a generic (coarse-grained) model for single-polymer diffusion confined in a corrugated cylinder. For a narrow tube, i.e., diameter of the cylinder $\delta < 2.3$, the axial diffusion coefficient $D_{||}$ scales as $D_{||} \propto N^{-3/2}$, with chain length $N$, up to $N \approx 100$ then crosses over to Rouse scaling for the larger $N$ values. The $N^{-3/2}$ scaling is due to the large fluctuation of the polymer chain along its fully stretched equilibrium conformation. The stronger scaling, namely $N^{-3/2}$, is not observed for an atomistically smooth tube and/or for a cylinder with larger diameter.Comment: 10 pages, 3 figures, LaTeX, version accepted by J. Chem. Phy

Traction-drive, seven-degree-of-freedom telerobot arm: A concept for manipulaton in space

As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation are presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance

Operational experience and design recommendations for teleoperated flight hardware

Teleoperation (remote manipulation) will someday supplement/minimize astronaut extravehicular activity in space to perform such tasks as satellite servicing and repair, and space station construction and servicing. This technology is being investigated by NASA with teleoperation of two space-related tasks having been demonstrated at the Oak Ridge National Lab. The teleoperator experiments are discussed and the results of these experiments are summarized. The related equipment design recommendations are also presented. In addition, a general discussion of equipment design for teleoperation is also presented

An interdisciplinary approach to teaching contemporary U.S. history: music as a voice for Civil Rights protest 1950-present

An Interdisciplinary Approach to Teaching Contemporary U.S.History: Music as a Voice for Civil Rights Protest,1950-Present. This departmental honors project was created to take an in-depth look into popular music\u27s voice as a medium for Civil Rights protest. This unit composed of eight lesson plans is to serve as a resource for teachers to create a real and tangible interdisciplinary approach to teaching contemporary U. S. history. The material covered is derived from popular music of its time, yet based strongly on research ofactual events. These lessons cover a narrow yet vital and significant scope of civil rights protest, action, and consequence in the time period of 1950 to the present. The material within this unit is useful for supplemental and enrichment purposes. Designed for education on the secondary level, these lessons can be used in addition to a regular U.S. history curriculum. The actual placement of these enrichment activities is left to the wisdom of the educator. By successfully supplementing this resource, a teacher will be able to cover all the vital information in this period of American history, yet will also be able to offer to his/her students an indepth study of civil rights. Through this experience, students would gain a relevant,meaningful, and memorable interpretation of American history and culture. This project is significant to a student\u27s education as demonstrated by its fulfillment of the following Hamilton County Education Standards:ss 4.H.l Evaluate causes and effects of major events in United States History.4.H.2 Analyze the impact of historical events and philosophical belie\u27s on United States culture.4.H.5 Recognize motivations and forces that lead to change in United States history.5.H.6 Analyze and demonstrate knowledge of short complex passages that reveal an understanding of content connections.2.H.3 Evaluate historical and contemporary efforts to narrow the gap between American ideals and reality through individual, social and political action.2.H.4 Examine the impact of multiculturalism in American society.LA 2.10.2 Relate literature to the author\u27s life and cultural background, in order to relate to other works and to oneself, emphasizing core selections.2.12.1 Use the skills of interpretation to analyze various literary and technical selections to determine both literal and implied meaning

Minimally Invasive Therapies for Hepatocellular Carcinoma: Mechanisms of Local Control and Systemic Immunologic Response

Minimally invasive treatments for hepatocellular carcinoma (HCC) are a cornerstone in the management of this challenging disease. For many years, percutaneously guided ablative techniques, such as radiofrequency ablation (RFA), cryoablation, and microwave ablation (MWA), have successfully treated many different solid malignancies including HCC. Since the initial implementation of these ablative techniques, there have been many advances in the design, technique, and patient selection as well as investigation into the body’s response to treatment. The mechanisms of thermal-based ablative techniques, advantages and disadvantages of each technique, subsequent immunologic response following ablation, and advances in care that utilize combination therapy to potentiate the immunologic response creating a robust and long-term immunity to HCC are outlined in this chapter

Omniview motionless camera orientation system

An apparatus and method is provided for converting digital images for use in an imaging system. The apparatus includes a data memory which stores digital data representing an image having a circular or spherical field of view such as an image captured by a fish-eye lens, a control input for receiving a signal for selecting a portion of the image, and a converter responsive to the control input for converting digital data corresponding to the selected portion into digital data representing a planar image for subsequent display. Various methods include the steps of storing digital data representing an image having a circular or spherical field of view, selecting a portion of the image, and converting the stored digital data corresponding to the selected portion into digital data representing a planar image for subsequent display. In various embodiments, the data converter and data conversion step may use an orthogonal set of transformation algorithms

Traction-drive seven degrees-of-freedom telerobot arm: A concept for manipulation in space

As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. This paper summarizes the report of a study performed for NASA Langley Research Center. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation will be presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance. Further development of this arm is in progress at the Oak Ridge National Laboratory

The laboratory telerobotic manipulator program

New opportunities for the application of telerobotic systems to enhance human intelligence and dexterity in the hazardous environment of space are presented by the NASA Space Station Program. Because of the need for significant increases in extravehicular activity and the potential increase in hazards associated with space programs, emphasis is being heightened on telerobotic systems research and development. The Laboratory Telerobotic Manipulator (LTM) program is performed to develop and demonstrate ground-based telerobotic manipulator system hardware for research and demonstrations aimed at future NASA applications. The LTM incorporates traction drives, modularity, redundant kinematics, and state-of-the-art hierarchical control techniques to form a basis for merging the diverse technological domains of robust, high-dexterity teleoperations and autonomous robotic operation into common hardware to further NASA's research