The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis

This paper presents three methods to solve the inverse position kinematics position problem of the double universal joint attached to a manipulator: (1) an analytical solution for two specific cases; (2) an approximate closed form solution based on ignoring the wrist offset; and (3) an iterative method which repeats closed form position and orientation calculations until the solution is achieved. Several manipulators are used to demonstrate the solution methods: cartesian, cylindrical, spherical, and an anthropomorphic articulated arm, based on the Flight Telerobotic Servicer (FTS) arm. A singularity analysis is presented for the double universal joint wrist attached to the above manipulator arms. While the double universal joint wrist standing alone is singularity-free in orientation, the singularity analysis indicates the presence of coupled position/orientation singularities of the spherical and articulated manipulators with the wrist. The cartesian and cylindrical manipulators with the double universal joint wrist were found to be singularity-free. The methods of this paper can be implemented in a real-time controller for manipulators with the double universal joint wrist. Such mechanically dextrous systems could be used in telerobotic and industrial applications, but further work is required to avoid the singularities

An Unusual Hydrogen Migration/C−H Activation Reaction with Group 3 Metals

A novel hydrogen migration from the phenyl ring to the pyridine ring of an yttrium pyridyl complex supported by a 1,1′-ferrocene diamide ligand is reported. Density functional theory calculations were instrumental in probing the mechanism for this transformation

Reaction of Group III Biheterocyclic Complexes

Group III alkyl complexes supported by a ferrocene diamide ligand (1,1′-fc(NSitBuMe_2)_2) have been found to be reactive toward aromatic N-heterocycles such as 1-methylimidazole and pyridines. These reactions were investigated experimentally and computationally. An initial C−H activation event is followed by a coupling reaction to form biheterocyclic complexes, in which one of the rings is dearomatized. In the case of 1-methylimidazole, the biheterocyclic compound could not be isolated and further led to an imidazole ring-opened product; in the case of pyridines, it transformed into an isomer with extended conjugation of double bonds. Mechanisms for both reactions are proposed on the basis of experimental and computational results. DFT calculations were also used to show that an energetically accessible pathway for the ring-opening of pyridines exists

How Relationships with Faculty and Peers Affect Value Development in Undergraduate Engineering Education: A National Survey Analysis

To prepare students for the serious ethical dilemmas encountered in STEM (science, technology, engineering, and mathematics), higher education educators strive to influence students’ value development. Despite this goal, little is known about value development in undergraduate engineering education. Survey data from the 2008-2009 national administration of the revised College Student Experiences in STEM Questionnaire (CSESQ) was analyzed to examine the relationship between students’ engagement with faculty and peers and their perceived value development. Findings from the present study offer insight into (a) engineering students’ value development in college, and (b) the influence of relationships with peers and faculty members on such outcomes. Results from our analysis indicate that students who rate their relations with peers and faculty as positive, supportive, and welcoming also tend to report higher perceived gains in terms of value development. College classification and relationships with others such as faculty members were found to be statistically significant predictors of value development for undergraduate engineering students

Measuring the Educational Benefits of Diversity in Engineering Education: A Multi-Institutional Survey Analysis of Women and Underrepresented Minorities

Changing demographics of the U.S. population drive growing emphases on diversity in engineering education. Still, questions persist about the educational benefits of race and gender diversity within the student population, despite decades of supportive research. The present study sought to estimate the educational benefits that accrue to undergraduate engineering students who interact with diverse peers and perspectives. Furthermore, differences across gender and race were explored. Multi-institutional survey data were analyzed for over 100 undergraduate engineering students using a 2007 administration of the National Survey of Student Engagement (NSSE). Findings show that encouraging contact among students from different economic, social, or racial/ethnic backgrounds can produce greater perceived learning gains amongst engineering students

Brain structure in pediatric Tourette syndrome

Previous studies of brain structure in Tourette syndrome (TS) have produced mixed results, and most had modest sample sizes. In the present multicenter study, we used structural magnetic resonance imaging (MRI) to compare 103 children and adolescents with TS to a well-matched group of 103 children without tics. We applied voxel-based morphometry methods to test gray matter (GM) and white matter (WM) volume differences between diagnostic groups, accounting for MRI scanner and sequence, age, sex and total GM+WM volume. The TS group demonstrated lower WM volume bilaterally in orbital and medial prefrontal cortex, and greater GM volume in posterior thalamus, hypothalamus and midbrain. These results demonstrate evidence for abnormal brain structure in children and youth with TS, consistent with and extending previous findings, and they point to new target regions and avenues of study in TS. For example, as orbital cortex is reciprocally connected with hypothalamus, structural abnormalities in these regions may relate to abnormal decision making, reinforcement learning or somatic processing in TS

Flight Test of a Head-Worn Display as an Equivalent-HUD for Terminal Operations

Research, development, test, and evaluation of flight deck interface technologies is being conducted by NASA to proactively identify, develop, and mature tools, methods, and technologies for improving overall aircraft safety of new and legacy vehicles operating in the Next Generation Air Transportation System (NextGen). Under NASA's Aviation Safety Program, one specific area of research is the use of small Head-Worn Displays (HWDs) as a potential equivalent display to a Head-up Display (HUD). Title 14 of the US CFR 91.175 describes a possible operational credit which can be obtained with airplane equipage of a HUD or an "equivalent"' display combined with Enhanced Vision (EV). A successful HWD implementation may provide the same safety and operational benefits as current HUD-equipped aircraft but for significantly more aircraft in which HUD installation is neither practical nor possible. A flight test was conducted to evaluate if the HWD, coupled with a head-tracker, can provide an equivalent display to a HUD. Approach and taxi testing was performed on-board NASA's experimental King Air aircraft in various visual conditions. Preliminary quantitative results indicate the HWD tested provided equivalent HUD performance, however operational issues were uncovered. The HWD showed significant potential as all of the pilots liked the increased situation awareness attributable to the HWD's unique capability of unlimited field-of-regard