Reflexive obstacle avoidance for kinematically-redundant manipulators

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration

Soil quality, yield stability and economic attributes of alternative crop rotations

Three long-term rotational crop studies in Iowa and one in Wisconsin were examined for conclusive evidence of rotational effects on soil quality. Long-term yield data also were evaluated to determine if there was a quantifiable relationship between soil quality and yield or yield stability

A 17 degree of freedom anthropomorphic manipulator

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints

Evaluating and predicting agricultural management effects under tile drainage using modified APSIM

An accurate and management sensitive simulation model for tile-drained Midwestern soils is needed to optimize the use of agricultural management practices (e.g., winter cover crops) to reduce nitrate leaching without adversely affecting corn yield. Our objectives were to enhance the Agricultural Production Systems Simulator (APSIM) for tile drainage, test the modified model for several management scenarios, and then predict nitrate leaching with and without winter wheat cover crop. Twelve years of data (1990–2001) from northeast Iowa were used for model testing. Management scenarios included continuous corn and corn–soybean rotations with single or split N applications. For 38 of 44 observations, yearly drain flow was simulated within 50 mm of observed for low drainage (\u3c 100 mm) or within 30% of observed for high drain flow. Corn yield was simulated within 1500 kg/ha for 12 of 24 observations. For 30 of 45 observations yearly nitrate-N loss in tile drains was simulated within 10 kg N/ha for low nitrate-N loss (\u3c 20 kg N/ha) or within 30% of observed for high nitrate-N loss. Several of the poor yield and nitrate-N loss predictions appear related to poor N-uptake simulations. The model accurately predicted greater corn yield under split application (140–190 kg N/ha) compared to single 110 kg N/ha application and higher drainage and nitrate-N loss under continuous corn compared to corn/soybean rotations. A winter wheat cover crop was predicted to reduce nitrate-N loss 38% (341 vs. 537 kg N/ha with and without cover) under 41-years of corn-soybean rotations and 150 kg N/ha applied to corn. These results suggest that the modified APSIM model is a promising tool to help estimate the relative effect of alternative management practices under fluctuating high water tables

Resolution studies of cosmic-ray tracks in a TPC with GEM readout

A large volume TPC is a leading candidate for the central tracking detector at a future high energy linear collider. To improve the resolution a new readout based on micro-pattern gas detectors is being developed. Measurements of the spatial resolution of cosmic-ray tracks in a GEM TPC are presented. We find that the resolution suffers if the readout pads are too wide with respect to the charge distribution at the readout plane due to insufficient charge sharing. For narrow pads of 2 x 6 mm**2 we measure a resolution of 100 micometer at short drift distances in the absence of an axial magnetic field. The dependence of the spatial resolution as a function of drift distance allows the determination of the underlying electron statistics. Our results show that the present technique uses about half the statistical power available from the number of primary electrons. The track angle effect is observed as expected.Comment: 18 pages, 8 figures, version as published in Nucl. Inst. Met

Statistical Asynchronous Regression: Determining the Relationship Between two Quantities that are not Measured Simultaneously

We introduce the Statistical Asynchronous Regression (SAR) method: a technique for determining a relationship between two time varying quantities without simultaneous measurements of both quantities. We require that there is a time invariant, monotonic function Y = u(X) relating the two quantities, Y and X. In order to determine u(X), we only need to know the statistical distributions of X and Y. We show that u(X) is the change of variables that converts the distribution of X into the distribution of Y, while conserving probability. We describe an algorithm for implementing this method and apply it to several example distributions. We also demonstrate how the method can separate spatial and temporal variations from a time series of energetic electron flux measurements made by a spacecraft in geosynchronous orbit. We expect this method will be useful to the general problem of spacecraft instrument calibration. We also suggest some applications of the SAR method outside of space physics.Comment: 27 pages, 10 figures, stronger motivations and rewriting to make the paper more accessible to a general audience. in press in J. Geophys. Res. (Space Physics

A Soil Management Assessment Framework (SMAF) Evaluation of Brazilian Sugarcane Expansion on Soil Quality

The Soil Management Assessment Framework (SMAF) was developed to evaluate impacts of land use and management practices on soil quality (SQ), but its suitability for Brazilian tropical soils was unknown. We hypothesized that SMAF would be sensitive enough to detect SQ changes associated with sugarcane (Saccharum officinarum L.) expansion for ethanol production. Field studies were performed at three sites across the south-central region of Brazil, aiming to quantify the impacts of a land use change sequence (i.e., native vegetation–pasture–sugarcane) on SQ. Eight soil indicators were individually scored using SMAF curves developed primarily for North American soils and integrated into an overall Soil Quality Index (SQI) and its chemical, physical, and biological sectors. The SMAF scores were correlated with two other approaches used to assess SQ changes, soil organic C (SOC) stocks and Visual Evaluation of Soil Structure (VESS) scores. Our findings showed that the SMAF was an efficient tool for assessing land use change effects on the SQ of Brazilian tropical soils. The SMAF scoring curves developed using robust algorithms allowed proper assignment of scores for the soil chemical, physical, and biological indicators assessed. The SQI scores were significantly correlated with SOC stocks and VESS scores. Long-term transition from native vegetation to extensive pasture promoted significant decreases in soil chemical, physical, and biological indicators. Overall SQI suggested that soils under native vegetation were functioning at 87% of their potential capacity, while pasture soils were functioning at 70%. Conversions of pasture to sugarcane induced slight improvements in SQ, primarily because of improved soil fertility. Sugarcane soils are functioning at 74% of their potential capacity. Based on this study, management strategies were developed to improve SQ and the sustainability of sugarcane production in Brazil

A Soil Management Assessment Framework (SMAF) Evaluation of Brazilian Sugarcane Expansion on Soil Quality

The Soil Management Assessment Framework (SMAF) was developed to evaluate impacts of land use and management practices on soil quality (SQ), but its suitability for Brazilian tropical soils was unknown. We hypothesized that SMAF would be sensitive enough to detect SQ changes associated with sugarcane (Saccharum officinarum L.) expansion for ethanol production. Field studies were performed at three sites across the south-central region of Brazil, aiming to quantify the impacts of a land use change sequence (i.e., native vegetation–pasture–sugarcane) on SQ. Eight soil indicators were individually scored using SMAF curves developed primarily for North American soils and integrated into an overall Soil Quality Index (SQI) and its chemical, physical, and biological sectors. The SMAF scores were correlated with two other approaches used to assess SQ changes, soil organic C (SOC) stocks and Visual Evaluation of Soil Structure (VESS) scores. Our findings showed that the SMAF was an efficient tool for assessing land use change effects on the SQ of Brazilian tropical soils. The SMAF scoring curves developed using robust algorithms allowed proper assignment of scores for the soil chemical, physical, and biological indicators assessed. The SQI scores were significantly correlated with SOC stocks and VESS scores. Long-term transition from native vegetation to extensive pasture promoted significant decreases in soil chemical, physical, and biological indicators. Overall SQI suggested that soils under native vegetation were functioning at 87% of their potential capacity, while pasture soils were functioning at 70%. Conversions of pasture to sugarcane induced slight improvements in SQ, primarily because of improved soil fertility. Sugarcane soils are functioning at 74% of their potential capacity. Based on this study, management strategies were developed to improve SQ and the sustainability of sugarcane production in Brazil