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

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

Duty cycle testing and performance evaluation of the SM-229 teleoperator

The first known experimental studies and analyses of teleoperator performance for specific duty cycles are discussed. The results are presented in two distinct areas as position usage patterns, and as three-dimensional power grids. The position usage patterns are a valuable means to assess the available motion range. The power grids are a unique concept for evaluating joint performance. Final conclusions contain recommendations to upgrade the teleoperator for optimum performance

Expression regulation of MAO isoforms in monocytic cells in response to Th2 cytokines

Background: Th2-cytokines, such as interleukins-4 and –13 (IL-4, IL-13), have been identified as alternative stimuli of monocytes/macrophages. We have recently profiled the gene-expression pattern of IL-4-teated human peripheral monocytes and found that 15-lipoxygenase-1 (15-LOX1) and monoamine oxidase A (MAO-A) are among the five most strongly upregulated gene products in IL-4-treated cells. Transfection of monocytic cells (U937) with 15-LOX1 also induced MAO-A expression. These data suggested that 15-LOX1 products might play a role in the IL4-induced signaling cascade leading to expression of MAO-A in human monocytes. Material/Methods: To test this hypothesis we incubated wild-type and 15-LOX1-transfected U937 cells with different concentrations of either IL-4 or 15-LOX-products [13S-H(p)ODE, 15S-H(p)ETE] and quantified the expression of 15-LOX1, MAO-A, and MAO-B by activity assays and real-time RT-PCR. Results: Wild-type U937 cells express neither MAO-A nor MAO-B, but after three days of IL4 treatment, MAO-A mRNA was detected. A similar isoform-specific expression of MAO-A mRNA was observed when U937 cells were transfected with 15-LOX1 or when the cells were incubated with primary 15-LOX1 products (hydroperoxy fatty acids) or H2O2. In contrast, the corresponding hydroxy fatty acids were ineffective. Conclusions: These data indicate that increased intracellular peroxide concentrations (oxidative stress) induce MAO-A expression in monocytes/macrophages, which normally do not express the enzyme. Our findings also suggest that IL-4-induced upregulation of MAO-A expression in human peripheral monocytes may proceed via 15-LOX1-dependent and 15-LOX1-independent pathways. The biological role of MAO-A expression for monocyte function is discussed

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

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

Advanced remotely maintainable force-reflecting servomanipulator concept

A remotely maintainable force-reflecting servomanipulator concept is being developed at the Oak Ridge National Laboratory as part of the Consolidated Fuel Reprocessing Program. This new manipulator addresses requirements of advanced nuclear fuel reprocessing with emphasis on force reflection, remote maintainability, reliability, radiation tolerance, and corrosion resistance. The advanced servomanipulator is uniquely subdivided into remotely replaceable modules which will permit in situ manipulator repair by spare module replacement. Manipulator modularization and increased reliability are accomplished through a force transmission system that uses gears and torque tubes. Digital control algorithms and mechanical precision are used to offset the increased backlash, friction, and inertia resulting from the gear drives. This results in the first remotely maintainable force-reflecting servomanipulator in the world. 10 references, 4 figures, 1 table

Telerobotic manipulator developments for ground-based space research

New opportunities for the application of telerobotic systems to enhance human intelligence and dexterity in the hazardous environment of space are presented by the National Aeronautics and Space Administration (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 Automation Technology Branch at NASA Langley Research Center currently is sponsoring the Laboratory Telerobotic Manipulator (LTM) program at Oak Ridge National Laboratory 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