Helical spring holder assembly

A helically-threaded spring holder on which a helically wound spring is mounted has a groove formed in one side of the thread at the end where the spring engages the spring holder. The groove relieves the portion of the side in which it is formed from restricting the spring against axial movement during deflection of the spring. The circumferential length of this groove is chosen to establish the number of spring coils which can be deflected without contacting the side of the thread. The end of the thread is also made rigid to prevent flexing thereof during maximal elongation of the spring

High-speed robot control in complex environments

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1988.Bibliography: leaves 201-206.by Wyatt S. Newman.Ph.D

Traction Drives for Zero Stick-Slip Robots, and Reaction Free, Momentum Balanced Systems

Two differential (dual input, single output) drives (a roller-gear and a pure roller), and a momentum balanced (single input, dual output) drive (pure roller ) were designed, fabricated, and tested. The differential drives are each rated at 295 rad/sec (2800 rpm) input speed, 450 N-m (4,000 in-lbf) output torque. The momentum balanced drive is rated at 302 rad/sec (2880 rpm) input speed, and dual output torques of 434N-m (3840 in-lbf). The Dual Input Differential Roller-Gear Drive (DC-700) has a planetary roller-gear system with a reduction ratio (one input driving the output with the second input fixed) of 29.23: 1. The Dual Input Differential Roller Drive (DC-500) has a planetary roller system with a reduction ratio of approximately 24:1. Each of the differential drives features dual roller-gear or roller arrangements consisting of a sun, four first row planets, four second row planets, and a ring. The Momentum Balanced (Grounded Ring) Drive (DC-400) has a planetary roller system with a reduction ratio of 24:1 with both outputs counterrotating at equal speed. Its single roller cluster consists of a sun, five first and five second row planets, a roller cage or spider and a ring. Outputs are taken from both the roller cage and the ring which counterrotate. Test results reported for all three drives include angular and torque ripple (linearity and cogging), viscous and Coulomb friction, and forward and reverse power efficiency. Of the two differential drives, the Differential Roller Drive had better linearity and less cogging than did the Differential Roller-Gear Drive, but it had higher friction and lower efficiency (particularly at low power throughput levels). Use of full preloading rather than a variable preload system in the Differential Roller Drive assessed a heavy penalty in part load efficiency. Maximum measured efficiency (ratio of power out to power in) was 95% for the Differential Roller-Gear Drive and 86% for the Differential Roller Drive. The Momentum Balanced (Grounded Ring) Drive performed as expected kinematically. Reduction r-atios to the two counterrotating outputs (design nominal=24:1) were measured to be 23.98:1 and 24.12:1 at zero load.. At 25ONm (2200 in-lbf) output torque the ratio changed 2% due to roller creep. This drive was the smoothest of all three as determined from linearity and cogging tests, and maximum measured efficiency (ratio of power out to power in) was 95%. The disadvantages of full preloading as comvared to variable preload were apparent in this drive as in the Differential Roller Drive. Efficiencies at part load were low, but improved dramatically with increases in torque. These were consistent with friction measurements which indicated losses primarily from Coulomb friction. The initial preload level setting was low so roller slip was encountered at higher torques during testing

Design, characterization, and control of the NASA three degree of freedom reaction compensation platform

Increasing research is being done into industrial uses for the microgravity environment aboard orbiting space vehicles. However, there is some concern over the effects of reaction forces produced by moving objects, especially motors, robotic actuators, and astronauts. Reaction forces produced by the movement of these objects may manifest themselves as undesirable accelerations in the space vehicle making the vehicle unusable for microgravity applications. It is desirable to provide compensation for such forces using active means. This paper presents the design and experimental evaluation of the NASA three degree of freedom reaction compensation platform, a system designed to be a testbed for the feasibility of active attenuation of reaction forces caused by moving objects in a microgravity environment. Unique 'linear motors,' which convert electrical current directly into rectilinear force, are used in the platform design. The linear motors induce accelerations of the displacer inertias. These accelerations create reaction forces that may be controlled to counteract disturbance forces introduced to the platform. The stated project goal is to reduce reaction forces by 90 percent, or -20 dB. Description of the system hardware, characterization of the actuators and the composite system, and design of the software safety system and control software are included

Automated Fabrication ofCeramic Components from Tape-Cast Ceramic

This paper describes a machine and process for automated fabrication of functional 3-D laminated engineering components, ceramics in the present example. A laser cuts successive layers of a part derived from a CAD model description out of unfired tape-cast ceramic sheets vacuum-clamped to an x-y sled. A material-handling robot uses a selective-area gripper to extract only the desired part outlines from the surrounding waste material, then stacks the slices to build the part. This system design enables rapid manufacture of functional engineering components with arbitrarily complex internal and external geometries from virtually any material available in sheet form.Mechanical Engineerin

A compact roller-gear pitch-yaw joint module: Design and control issues

Robotic systems have been proposed as a means of accomplishing assembly and maintenance tasks in space. The desirable characteristics of these systems include compact size, low mass, high load capacity, and programmable compliance to improve assembly performance. In addition, the mechanical system must transmit power in such a way as to allow high performance control of the system. Efficiency, linearity, low backlash, low torque ripple, and low friction are all desirable characteristics. This work presents a pitch-yaw joint module designed and built to address these issues. Its effectiveness as a two degree-of-freedom manipulator using natural admittance control, a method of force control, is demonstrated

The U1, U2 and U5 snRNAs crosslink to the 5′ exon during yeast pre-mRNA splicing

Activation of pre-messenger RNA (pre-mRNA) splicing requires 5′ splice site recognition by U1 small nuclear RNA (snRNA), which is replaced by U5 and U6 snRNA. Here we use crosslinking to investigate snRNA interactions with the 5′ exon adjacent to the 5′ splice site, prior to the first step of splicing. U1 snRNA was found to interact with four different 5′ exon positions using one specific sequence adjacent to U1 snRNA helix 1. This novel interaction of U1 we propose occurs before U1-5′ splice site base pairing. In contrast, U5 snRNA interactions with the 5′ exon of the pre-mRNA progressively shift towards the 5′ end of U5 loop 1 as the crosslinking group is placed further from the 5′ splice site, with only interactions closest to the 5′ splice site persisting to the 5′ exon intermediate and the second step of splicing. A novel yeast U2 snRNA interaction with the 5′ exon was also identified, which is ATP dependent and requires U2-branchpoint interaction. This study provides insight into the nature and timing of snRNA interactions required for 5′ splice site recognition prior to the first step of pre-mRNA splicing

Comparing Grounded Theory and Topic Modeling: Extreme Divergence or Unlikely Convergence?

Researchers in information science and related areas have developed various methods for analyzing textual data, such as survey responses. This article describes the application of analysis methods from two distinct fields, one method from interpretive social science and one method from statistical machine learning, to the same survey data. The results show that the two analyses produce some similar and some complementary insights about the phenomenon of interest, in this case, nonuse of social media. We compare both the processes of conducting these analyses and the results they produce to derive insights about each method\u27s unique advantages and drawbacks, as well as the broader roles that these methods play in the respective fields where they are often used. These insights allow us to make more informed decisions about the tradeoffs in choosing different methods for analyzing textual data. Furthermore, this comparison suggests ways that such methods might be combined in novel and compelling ways

Statistical Inference for Valued-Edge Networks: Generalized Exponential Random Graph Models

Across the sciences, the statistical analysis of networks is central to the production of knowledge on relational phenomena. Because of their ability to model the structural generation of networks, exponential random graph models are a ubiquitous means of analysis. However, they are limited by an inability to model networks with valued edges. We solve this problem by introducing a class of generalized exponential random graph models capable of modeling networks whose edges are valued, thus greatly expanding the scope of networks applied researchers can subject to statistical analysis

Novel homozygous variants in PRORP expand the genotypic spectrum of combined oxidative phosphorylation deficiency 54

Biallelic hypomorphic variants in PRORP have been recently described as causing the autosomal recessive disorder combined oxidative phosphorylation deficiency type 54 (COXPD54). COXPD54 encompasses a phenotypic spectrum of sensorineural hearing loss and ovarian insufficiency (Perrault syndrome) to leukodystrophy. Here, we report three additional families with homozygous missense PRORP variants with pleiotropic phenotypes. Each missense variant altered a highly conserved residue within the metallonuclease domain. In vitro mitochondrial tRNA processing assays with recombinant TRMT10C, SDR5C1 and PRORP indicated two COXPD54-associated PRORP variants, c.1159A>G (p.Thr387Ala) and c.1241C>T (p.Ala414Val), decreased pre-tRNAIle cleavage, consistent with both variants impacting tRNA processing. No significant decrease in tRNA processing was observed with PRORP c.1093T>C (p.Tyr365His), which was identified in an individual with leukodystrophy. These data provide independent evidence that PRORP variants are associated with COXPD54 and that the assessment of 5' leader mitochondrial tRNA processing is a valuable assay for the functional analysis and clinical interpretation of novel PRORP variants