Force reflecting hand controller

A universal input device for interfacing a human operator with a slave machine such as a robot or the like includes a plurality of serially connected mechanical links extending from a base. A handgrip is connected to the mechanical links distal from the base such that a human operator may grasp the handgrip and control the position thereof relative to the base through the mechanical links. A plurality of rotary joints is arranged to connect the mechanical links together to provide at least three translational degrees of freedom and at least three rotational degrees of freedom of motion of the handgrip relative to the base. A cable and pulley assembly for each joint is connected to a corresponding motor for transmitting forces from the slave machine to the handgrip to provide kinesthetic feedback to the operator and for producing control signals that may be transmitted from the handgrip to the slave machine. The device gives excellent kinesthetic feedback, high-fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all six degrees of freedom, and zero backlash. The device also has a much larger work envelope, greater stiffness and responsiveness, smaller stowage volume, and better overlap of the human operator's range of motion than previous designs

Satellite Test Assistant Robot (STAR)

A three-year, three-phase program to demonstrate the applicability of telerobotic technology to the testing of satellites and other spacecraft has been initiated. Specifically, the objectives are to design, fabricate, and install into the JPL 25-ft. Space Simulator (SS) a system that will provide the capability to view test articles from all directions in both the visible and infrared (IR) spectral regions, to automatically map the solar flux intensity over the entire work volume of the chamber, and to provide the capability for leak detection. The first year's work, which provides a vertically mobile viewing platform equipped with stereo cameras, will be discussed. Design constraints and system implementation approaches mandated by the requirements of thermal vacuum operation will be emphasized

Taking History Seriously: Reflections on a Critique of Amar’s Treatment of the Ninth Amendment in His Work on the Bill of Rights

Dean William Treanor critiques constitutional textualism, contending that it pays too much attention to the words, grammar, and placement of clauses in the Constitution, and too little to the history leading to the adoption of the interpreted language. An important illustration is Professor Amar\u27s treatment of the Ninth Amendment in his well-known book on the Bill of Rights. This treatment shares the perspective that history frequently sheds light on the meaning of constitutional text, but contends that the history yielding the Ninth Amendment demonstrates that it was drafted to secure the rights retained by the granting of limited federal powers—and hence the collective right of the people of the states to make decisions about government, including the extent to which rights were to be protected. The modern debate over the original meaning of the Ninth Amendment, moreover, reflects and embodies that the debate concerns the appropriate reading of a positivist Constitution