Robotic End Effectors for Hard-Rock Climbing

Special-purpose robot hands (end effectors) now under development are intended to enable robots to traverse cliffs much as human climbers do. Potential applications for robots having this capability include scientific exploration (both on Earth and other rocky bodies in space), military reconnaissance, and outdoor search and rescue operations. Until now, enabling robots to traverse cliffs has been considered too difficult a task because of the perceived need of prohibitively sophisticated planning algorithms as well as end effectors as dexterous as human hands. The present end effectors are being designed to enable robots to attach themselves to typical rock-face features with less planning and simpler end effectors. This advance is based on the emulation of the equipment used by human climbers rather than the emulation of the human hand. Climbing-aid equipment, specifically cams, aid hooks, and cam hooks, are used by sport climbers when a quick ascent of a cliff is desired (see Figure 1). Currently two different end-effector designs have been created. The first, denoted the simple hook emulator, consists of three "fingers" arranged around a central "palm." Each finger emulates the function of a particular type of climbing hook (aid hook, wide cam hook, and a narrow cam hook). These fingers are connected to the palm via a mechanical linkage actuated with a leadscrew/nut. This mechanism allows the fingers to be extended or retracted. The second design, denoted the advanced hook emulator (see Figure 2), shares these features, but it incorporates an aid hook and a cam hook into each finger. The spring-loading of the aid hook allows the passive selection of the type of hook used. The end effectors can be used in several different modes. In the aid-hook mode, the aid hook on one of the fingers locks onto a horizontal ledge while the other two fingers act to stabilize the end effector against the cliff face. In the cam-hook mode, the broad, flat tip of the cam hook is inserted into a non-horizontal crack in the cliff face. A subsequent transfer of weight onto the end effector causes the tip to rotate within the crack, creating a passive, self-locking action of the hook relative to the crack. In the advanced hook emulator, the aid hook is pushed into its retracted position by contact with the cliff face as the cam hook tip is inserted into the crack. When a cliff face contains relatively large pockets or cracks, another type of passive self-locking can be used. Emulating the function of the piece of climbing equipment called a "cam" (note: not the same as a "cam hook"; see Figure 1), the fingers can be fully retracted and the entire end effector inserted into the feature. The fingers are then extended as far as the feature allows. Any weight then transferred to the end effector will tend to extend the fingers further due to frictional force, passively increasing the grip on the feature. In addition to the climbing modes, these end effectors can be used to walk on (either on the palm or the fingertips) and to grasp objects by fully extending the fingers

In Situ Surface Characterization

Operation of in situ space assets, such as rovers and landers, requires operators to acquire a thorough understanding of the environment surrounding the spacecraft. The following programs help with that understanding by providing higher-level information characterizing the surface, which is not immediately obvious by just looking at the XYZ terrain data. This software suite covers three primary programs: marsuvw, marsrough, and marsslope, and two secondary programs, which together use XYZ data derived from in situ stereo imagery to characterize the surface by determining surface normal, surface roughness, and various aspects of local slope, respectively. These programs all use the Planetary Image Geometry (PIG) library to read mission-specific data files. The programs themselves are completely multimission; all mission dependencies are handled by PIG. The input data consists of images containing XYZ locations as derived by, e.g., marsxyz. The marsuvw program determines surface normals from XYZ data by gathering XYZ points from an area around each pixel and fitting a plane to those points. Outliers are rejected, and various consistency checks are applied. The result shows the orientation of the local surface at each point as a unit vector. The program can be run in two modes: standard, which is typically used for in situ arm work, and slope, which is typically used for rover mobility. The difference is primarily due to optimizations necessary for the larger patch sizes in the slope case. The marsrough program determines surface roughness in a small area around each pixel, which is defined as the maximum peak-to-peak deviation from the plane perpendicular to the surface normal at that pixel. The marsslope program takes a surface normal file as input and derives one of several slope-like outputs from it. The outputs include slope, slope rover direction (a measure of slope radially away from the rover), slope heading, slope magnitude, northerly tilt, and solar energy (compares the slope with the Sun s location at local noon). The marsuvwproj program projects a surface normal onto an arbitrary plane in space, resulting in a normalized 3D vector, which is constrained to lie in the plane. The marsuvwrot program rotates the vectors in a surface normal file, generating a new surface normal file. It also can change coordinate systems for an existing surface normal file. While the algorithms behind this suite are not particularly unique, what makes the programs useful is their integration into the larger in situ image processing system via the PIG library. They work directly with space in situ data, understanding the appropriate image metadata fields and updating them properly. The secondary programs (marsuvwproj, marsuvwrot) were originally developed to deal with anomalous situations on Opportunity and Spirit, respectively, but may have more general applicability

The Paramount Series

"The purpose of this series is an investigation into the relationships between the figure and its setting in portraiture. Using photography as a primary reference, I will create six paintings, which demonstrate my interest in motion and distortion of the figure in contrast to a static, rigid environment."--Abstract from author supplied metadat

Reachability Maps for In Situ Operations

This work covers two programs that accomplish the same goal: creation of a "reachability map" from stereo imagery that tells where operators of a robotic arm can reach or touch the surface, and with which instruments. The programs are "marsreach" (for MER) and "phxreach." These programs make use of the planetary image geometry (PIG) library. However, unlike the other programs, they are not multi-mission. Because of the complexity of arm kinematics, the programs are specific to each mission

Exploration of cloud computing late start LDRD #149630 : Raincoat. v. 2.1.

This report contains documentation from an interoperability study conducted under the Late Start LDRD 149630, Exploration of Cloud Computing. A small late-start LDRD from last year resulted in a study (Raincoat) on using Virtual Private Networks (VPNs) to enhance security in a hybrid cloud environment. Raincoat initially explored the use of OpenVPN on IPv4 and demonstrates that it is possible to secure the communication channel between two small 'test' clouds (a few nodes each) at New Mexico Tech and Sandia. We extended the Raincoat study to add IPSec support via Vyatta routers, to interface with a public cloud (Amazon Elastic Compute Cloud (EC2)), and to be significantly more scalable than the previous iteration. The study contributed to our understanding of interoperability in a hybrid cloud

CO Disrupts the Reduced H-Cluster of FeFe Hydrogenase. A Combined DFT and Protein Film Voltammetry Study

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Physical activity and clustered cardiovascular disease risk factors in young children: a cross-sectional study (the IDEFICS study)

<p>Background The relevance of physical activity (PA) for combating cardiovascular disease (CVD) risk in children has been highlighted, but to date there has been no large-scale study analyzing that association in children aged ≤9 years of age. This study sought to evaluate the associations between objectively-measured PA and clustered CVD risk factors in a large sample of European children, and to provide evidence for gender-specific recommendations of PA.</p> <p>Methods Cross-sectional data from a longitudinal study in 16,224 children aged 2 to 9 were collected. Of these, 3,120 (1,016 between 2 to 6 years, 2,104 between 6 to 9 years) had sufficient data for inclusion in the current analyses. Two different age-specific and gender-specific clustered CVD risk scores associated with PA were determined. First, a CVD risk factor (CRF) continuous score was computed using the following variables: systolic blood pressure (SBP), total triglycerides (TG), total cholesterol (TC)/high-density lipoprotein cholesterol (HDL-c) ratio, homeostasis model assessment of insulin resistance (HOMA-IR), and sum of two skinfolds (score CRFs). Secondly, another CVD risk score was obtained for older children containing the score CRFs + the cardiorespiratory fitness variable (termed score CRFs + fit). Data used in the current analysis were derived from the IDEFICS (‘Identification and prevention of Dietary- and lifestyle-induced health EFfects In Children and infantS’) study.</p> <p>Results In boys <6 years, the odds ratios (OR) for CVD risk were elevated in the least active quintile of PA (OR: 2.58) compared with the most active quintile as well as the second quintile for vigorous PA (OR: 2.91). Compared with the most active quintile, older children in the first, second and third quintiles had OR for CVD risk score CRFs + fit ranging from OR 2.69 to 5.40 in boys, and from OR 2.85 to 7.05 in girls.</p> <p>Conclusions PA is important to protect against clustering of CVD risk factors in young children, being more consistent in those older than 6 years. Healthcare professionals should recommend around 60 and 85 min/day of moderate-to-vigorous PA, including 20 min/day of vigorous PA.</p&gt

The Sloan Digital Sky Survey Quasar Catalog I. Early Data Release

We present the first edition of the Sloan Digital Sky Survey (SDSS) Quasar Catalog. The catalog consists of the 3814 objects (3000 discovered by the SDSS) in the initial SDSS public data release that have at least one emission line with a full width at half maximum larger than 1000 km/s, luminosities brighter than M_i^* = -23, and highly reliable redshifts. The area covered by the catalog is 494 square degrees; the majority of the objects were found in SDSS commissioning data using a multicolor selection technique. The quasar redshifts range from 0.15 to 5.03. For each object the catalog presents positions accurate to better than 0.2" rms per coordinate, five band (ugriz) CCD-based photometry with typical accuracy of 0.05 mag, radio and X-ray emission properties, and information on the morphology and selection method. Calibrated spectra of all objects in the catalog, covering the wavelength region 3800 to 9200 Angstroms at a spectral resolution of 1800-2100, are also available. Since the quasars were selected during the commissioning period, a time when the quasar selection algorithm was undergoing frequent revisions, the sample is not homogeneous and is not intended for statistical analysis.Comment: 27 pages, 4 figures, 4 tables, accepted by A

The First Hour of Extra-galactic Data of the Sloan Digital Sky Survey Spectroscopic Commissioning: The Coma Cluster

On 26 May 1999, one of the Sloan Digital Sky Survey (SDSS) fiber-fed spectrographs saw astronomical first light. This was followed by the first spectroscopic commissioning run during the dark period of June 1999. We present here the first hour of extra-galactic spectroscopy taken during these early commissioning stages: an observation of the Coma cluster of galaxies. Our data samples the Southern part of this cluster, out to a radius of 1.5degrees and thus fully covers the NGC 4839 group. We outline in this paper the main characteristics of the SDSS spectroscopic systems and provide redshifts and spectral classifications for 196 Coma galaxies, of which 45 redshifts are new. For the 151 galaxies in common with the literature, we find excellent agreement between our redshift determinations and the published values. As part of our analysis, we have investigated four different spectral classification algorithms: spectral line strengths, a principal component decomposition, a wavelet analysis and the fitting of spectral synthesis models to the data. We find that a significant fraction (25%) of our observed Coma galaxies show signs of recent star-formation activity and that the velocity dispersion of these active galaxies (emission-line and post-starburst galaxies) is 30% larger than the absorption-line galaxies. We also find no active galaxies within the central (projected) 200 h-1 Kpc of the cluster. The spatial distribution of our Coma active galaxies is consistent with that found at higher redshift for the CNOC1 cluster survey. Beyond the core region, the fraction of bright active galaxies appears to rise slowly out to the virial radius and are randomly distributed within the cluster with no apparent correlation with the potential merger of the NGC 4839 group. [ABRIDGED]Comment: Accepted in AJ, 65 pages, 20 figures, 5 table

Classification of large-scale environments that drive the formation of mesoscale convective systems over southern West Africa

Mesoscale convective systems (MCSs) are frequently observed over southern West Africa (SWA) throughout most of the year. These MCS events are the dominant rain-bearing systems, contributing over 50 % of annual rainfall over SWA. However, it has not yet been identified what variations in typical large-scale environments of the seasonal cycle of the West African monsoon may favour MCS occurrence in this region. Here, nine distinct synoptic states are identified and are further associated with being a synoptic-circulation type of either a dry, transition, or monsoon season using self-organizing maps (SOMs) with inputs from reanalysis data. We identified a pronounced annual cycle of MCS numbers with frequency peaks in April and October that can be associated with the start of rainfall during the major rainy season and the maximum rainfall for the minor rainy season across SWA, respectively. Comparing daily MCS frequencies, MCSs are most likely to develop during transition conditions featuring a northward-displaced moisture anomaly (2.8 MCSs per day), which can be linked to strengthened low-level westerlies. Considering that these transition conditions occur predominantly during the pre- and post-monsoon period, these patterns may in some cases be representative of monsoon onset conditions or a delayed monsoon retreat. On the other hand, under monsoon conditions, we observe weakened low-level south-westerlies during MCS days, which reduce moisture content over the Sahel but introduce more moisture over the coast. Finally, we find a majority of MCS-day synoptic states exhibiting positive zonal wind shear anomalies. Seasons with the strongest zonal wind shear anomalies are associated with the strongest low-level temperature anomalies to the north of SWA, highlighting that a warmer Sahel can promote MCS-favourable conditions in SWA. Overall, the SOM-identified synoptic states converge towards high-moisture and high-shear conditions on MCS days in SWA, where the frequency at which these conditions occur depends on the synoptic state