Precise computer controlled positioning of robot end effectors using force sensors

A major problem in space applications of robotics and docking of spacecraft is the development of technology for automated precise positioning of mating components with smooth motion and soft contact. To achieve the above objective, a design method was developed for optimally placing the closed-loop poles of a discretized robotic control system at exact prescribed locations inside the unit circle of the complex z-plane. The design method combines the merits of the pole placement and the linear quadratic design approaches. The proposed design procedure is based on the assignment of one real eigenvalue or two complex conjugate (or real) eigenvalues at each design step. The method involves solutions of simple algebraic equations and this is considered to be efficient for on-line or off-line computations. Also, two methods for the linearization of the nonlinear model of a robotic manipulator were presented. Since automatic control of multi-degree freedom robotic manipulators involves high nonlinear equations of systems, a pilot project was proposed involving the control of a one-dimensional system. This simple system can be readily implemented for testing the concepts and algorithms

Precise computer controlled positioning of robot end effectors using force sensors

A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided

The 1984 NASA/ASEE summer faculty fellowship program

An overview is given of the program management and activities. Participants and research advisors are listed. Abstracts give describe and present results of research assignments performed by 31 fellows either at the Johnson Space Center, at the White Sands test Facility, or at the California Space Institute in La Jolla. Disciplines studied include engineering; biology/life sciences; Earth sciences; chemistry; mathematics/statistics/computer sciences; and physics/astronomy

A Water Accounting System for Strategic Water Management

This paper describes a water accounting system (WAS) that has been developed as an innovative new tool for strategic long-term water management. The WAS incorporates both disaggregated water use and availability, provides a comprehensive and consistent historical database, and can integrate climate and hydrological model outputs for the exploration of scenarios. It has been established and tested for the state of Victoria in Australia, and can be extended to cover other or all regions of Australia. The WAS is implemented using stock-and-flow dynamics, currently employing major river basins as the spatial units and a yearly time step. While this system shares features with system dynamics, learning is enhanced and strategic management of water resources is improved by application of a Design Approach and the structure of the WAS. We compare the WAS with other relevant accounting systems and outline its benefits, particularly the potential for resolving tensions between water supply and demand. Integrated management is facilitated by combination with other stocks and flows frameworks that provide data on key drivers such as demography, land-use and electricity production.water accounts, stocks and flows, water budgets, decision support systems, strategic management

Edited NSSL meso-scale upper air network data in southwestern Oklahoma, 1966 and 1967

Cover title."Atmospheric General Circulation Technical Document No. 1.

Gause's exclusion principle revisited: artificial modified species and competition

Gause's principle of competition between two species is studied when one of them is sterile. We study the condition for total extinction in the niche, namely, when the sterile population exterminates the native one by an optimal use of resources. A mathematical Lotka-Volterra non linear model of interaction between a native and sterile species is proposed. The condition for total extinction is related to the initial number $M_{o}$ of sterile individuals released in the niche. In fact, the existence of a critical sterile-population value $M_{c}$ is conjectured from numerical analysis and an analytical estimation is found. When spatial diffusion (migration) is considered a critical size territory is found and, for small territory, total extinction exist in any case. This work is motived by the extermination agriculture problem of fruit flies in our region.Comment: 11 pages. Published in Jour.Phys.A Math.Gen. 33, 4877 (2000

Seasonal Change in Countermovement Jump Performance in NCAA Women’s Golfers

Background of Study: The countermovement vertical jump (CMJ) task has been reported to have positive associations with golf-specific performance variables. Additionally, the CMJ is commonly used to assess neuromuscular fatigue in athletic populations. Objective: Thus, this investigation sought to examine the changes in CMJ performance throughout a competitive season in NCAA collegiate women’s golfers. Methods: Using a longitudinal study design, six collegiate women golfers completed three sessions (pre, mid, and post) of CMJ testing during the spring competition period. During each testing session, two successful jump trials were collected using a portable force platform sampling at 1000 Hz. During each trial, an arm swing was restricted by the use of a dowel placed across the upper back. A one-way repeated measures analysis of variance was used to determine if differences were present between testing sessions. Results: Propulsive net impulse significantly increased from pre to mid (p 0.05) and pre to post (p 0.05). No other variables showed a statistically significant change over the duration of the study, though moderate effect size increases were in countermovement depth from pre to mid-testing (0.73) and jump height from pre to post-testing (0.72). Conclusions: These findings support previous findings of an increase in vertical jump performance over the course of a season in collegiate golfers, though strategies for maximal performance may shift

Executive functioning predicts reading, mathematics, and theory of mind during the elementary years.

The goal of this study was to specify how executive functioning components predict reading, mathematics, and theory of mind performance during the elementary years. Ninety-three 7- to 10-year-old children completed measures of working memory, inhibition, flexibility, reading, mathematics, and theory of mind. Path analysis revealed that all three executive functioning components (working memory, inhibition, and flexibility) mediated age differences in reading comprehension, whereas age predicted mathematics and theory of mind directly. In addition, reading mediated the influence of executive functioning components on mathematics and theory of mind, except that flexibility also predicted mathematics directly. These findings provide important details about the development of executive functioning, reading, mathematics, and theory of mind during the elementary years

Enhancing the early student experience

This paper is concerned with identifying how the early student experience can be enhanced in order to improve levels of student retention and achievement. The early student experience is the focus of this project as the literature has consistently declared the first year to be the most critical in shaping persistence decisions. Programme managers of courses with high and low retention rates have been interviewed to identify activities that appear to be associated with good retention rates. The results show that there are similarities in the way programmes with high retention are run, with these features not being prevalent on programmes with low retention. Recommendations of activities that appear likely to enhance the early student experience are provided