Real time control for NASA robotic gripper

Control laws (in some optimal sense) are being developed for the gripper/nut runner end effector. Control laws for the gripper and nut runner portions of the end effector may be developed independently since these two systems are decoupled. A hybrid force/position controller will be used for both the gripper and nut runner. The development of the gripper controller is explained. Sensory data available to the controller is obtained from an array of strain gages as well as a linear potentiometer. Applying well known optimal control theoretic principles, the control which minimizes the transition time between positions is obtained. In addition, a robust force control scheme is developed to contend with the strain gage drift caused by extreme temperature variations encountered in space

Our Heritage, the Soil

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John A. Salter to Dr. Silver, 6 March 1958

Personal correspondenc

Elizabeth Goudge Revisited: The Lost Art of Happily Ever After

The article focuses on the works of novelist Elizabeth Goudge. Her style of writing has been described as adult fairy tales. Her works were greatly influenced by the Victorian Period. Goudge\u27s book The White Witch presents the historical backdrop of the English Civil War. Writer Josephine Lawrence stated in her review of the novelist\u27s book Gentian Hill that the Victorian side of Goudge makes it appealing

The Need For Introspective Analysis During Teaching

This qualitative, phenomenological research study was designed to study the impact reflection has on student teachers. This study examines how and if reflection changes teaching practice. Specifically, how do student teachers use reflection to change practices during student teaching experiences? Critical reflection is the process by which adults identify the assumptions governing their actions, locate the historical and cultural origins of the assumptions, question the meaning of assumptions, and develop alternative ways of acting (Cranton 1996, p. 211). After conducting thorough interviews, the following themes emerged: Time Perspective Reflective Process With the findings of this study, teacher education programs and schools alike will understand the dynamics of reflection, the difficulties that arise, and the need for creating sound reflective practices, which will support the continuing efforts of reflection in order to change teaching practice

Using a GHRAB Grant to Reclaim a University Archives

College and university archives are rich and dynamic resources of campus history. Without a clear sense of mission and programming, they can be overlooked as research destinations. A well-defined program linked with funding sources is one means of connecting these collections to the campus community. Through the assistance of a GHRAB (Georgia Historical Records Advisory Board) grant, one college archives evolved into a viable research destination. The process is outlined in this paper

Investigating the sources of process innovation among UK manufacturing firms

Accepted versio