Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, appendix A

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed were: (1) Capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) Capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) Postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) Investigation and simulation of various control methods including manual force/torque and active compliance control; (5) Evaluation and implementation of three obstacle avoidance methods; (6) Video simulation and edge detection; and (7) Software simulation validation. This appendix is the user's guide and includes examples of program runs and outputs as well as instructions for program use

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation

A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation

Breakdown of the Slowly Varying Amplitude Approximation: Generation of Backward Traveling Second Harmonic Light

By numerically solving the nonlinear field equations, we simulate second-harmonic generation by laser pulses within a nonlinear medium without making the usual slowly-varying-amplitude approximation, an approximation which may fail when laser pulses of moderate intensity or ultrashort duration are used to drive a nonlinear process. Under these conditions we show that a backward-traveling, second-harmonic wave is created, and that the magnitude of this wave is indicative of the breakdown of the slowly-varying-amplitude approximation. Conditions necessary for experimental detection of this wave are discussed

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Appendix A: ROBSIM user's guide

The purpose of the Robotics Simulation Program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotics systems. ROBSIM is program in FORTRAN 77 for use on a VAX 11/750 computer under the VMS operating system. This user's guide describes the capabilities of the ROBSIM programs, including the system definition function, the analysis tools function and the postprocessor function. The options a user may encounter with each of these executables are explained in detail and the different program prompts appearing to the user are included. Some useful suggestions concerning the appropriate answers to be given by the user are provided. An example user interactive run in enclosed for each of the main program services, and some of the capabilities are illustrated

Evaluation of automated decision making methodologies and development of an integrated robotic system simulation: Study results

The implementation of a generic computer simulation for manipulator systems (ROBSIM) is described. The program is written in FORTRAN, and allows the user to: (1) Interactively define a manipulator system consisting of multiple arms, load objects, targets, and an environment; (2) Request graphic display or replay of manipulator motion; (3) Investigate and simulate various control methods including manual force/torque and active compliance control; and (4) Perform kinematic analysis, requirements analysis, and response simulation of manipulamotion. Previous reports have described the algorithms and procedures for using ROBSIM. These reports are superseded and additional features which were added are described. They are: (1) The ability to define motion profiles and compute loads on a common base to which manipulator arms are attached; (2) Capability to accept data describing manipulator geometry from a Computer Aided Design data base using the Initial Graphics exchange Specification format; (3) A manipulator control algorithm derived from processing the TV image of known reference points on a target; and (4) A vocabulary of simple high level task commands which can be used to define task scenarios

Bostonia. Volume 15

Founded in 1900, Bostonia magazine is Boston University's main alumni publication, which covers alumni and student life, as well as university activities, events, and programs

Routine inspection effort required for verification of a nuclear material production cutoff convention

On 27 September 1993, President Clinton proposed {open_quotes}... a multilateral convention prohibiting the production of highly enriched uranium or plutonium for nuclear explosives purposes or outside of international safeguards.{close_quotes} The UN General Assembly subsequently adopted a resolution recommending negotiation of a non-discriminatory, multilateral, and internationally and effectively verifiable treaty (hereinafter referred to as {open_quotes}the Cutoff Convention{close_quotes}) banning the production of fissile material for nuclear weapons. The matter is now on the agenda of the Conference on Disarmament, although not yet under negotiation. This accord would, in effect, place all fissile material (defined as highly enriched uranium and plutonium) produced after entry into force (EIF) of the accord under international safeguards. {open_quotes}Production{close_quotes} would mean separation of the material in question from radioactive fission products, as in spent fuel reprocessing, or enrichment of uranium above the 20% level, which defines highly enriched uranium (HEU). Facilities where such production could occur would be safeguarded to verify that either such production is not occurring or that all material produced at these facilities is maintained under safeguards

Routine inspection effort required for verification of a nuclear material production cutoff convention

On 27 September 1993, President Clinton proposed {open_quotes}... a multilateral convention prohibiting the production of highly enriched uranium or plutonium for nuclear explosives purposes or outside of international safeguards.{close_quotes} The UN General Assembly subsequently adopted a resolution recommending negotiation of a non-discriminatory, multilateral, and internationally and effectively verifiable treaty (hereinafter referred to as {open_quotes}the Cutoff Convention{close_quotes}) banning the production of fissile material for nuclear weapons. The matter is now on the agenda of the Conference on Disarmament, although not yet under negotiation. This accord would, in effect, place all fissile material (defined as highly enriched uranium and plutonium) produced after entry into force (EIF) of the accord under international safeguards. {open_quotes}Production{close_quotes} would mean separation of the material in question from radioactive fission products, as in spent fuel reprocessing, or enrichment of uranium above the 20% level, which defines highly enriched uranium (HEU). Facilities where such production could occur would be safeguarded to verify that either such production is not occurring or that all material produced at these facilities is maintained under safeguards

Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation. Appendix B: ROBSIM programmer's guide

The purpose of the Robotic Simulation (ROBSIM) program is to provide a broad range of computer capabilities to assist in the design, verification, simulation, and study of robotic systems. ROBSIM is programmed in FORTRAM 77 and implemented on a VAX 11/750 computer using the VMS operating system. The programmer's guide describes the ROBSIM implementation and program logic flow, and the functions and structures of the different subroutines. With the manual and the in-code documentation, an experienced programmer can incorporate additional routines and modify existing ones to add desired capabilities

Bunburra Rockhole: Exploring the geology of a new differentiated basaltic asteroid

Bunburra Rockhole (BR) is the first recovered meteorite of the Desert Fireball Network. It was initially classified as a basaltic eucrite, based on texture, mineralogy, and mineral chemistry but subsequent O isotopic analyses showed that BR's composition lies significantly far away from the HED group of meteorites. This suggested that BR was not a piece of the HED parent body (4 Vesta), but other explanations could also account for the observed oxygen signatures. Possible scenarios include contamination by components from other bodies (chondrites or other achondrites) or that 4 Vesta may not be as equilibrated as hypothesized. After examining multiple pieces with different instruments (CT scans and x-ray maps), no obvious evidence of contamination was found. If BR is not from Vesta, a conundrum exists as no unusual features were found in mineral and bulk trace element chemistry as exist for other anomalous basaltic achondrites such as Ibitira or Asuka 881394. These meteorites have distinct petrological and geochemical characteristics, in addition to their anomalous O isotope compositions, that set them apart from eucrites. Thus, early results provided a somewhat ambiguous picture of BR's petrogenesis and parentage. To clarify the nature of the relationship, if any, between BR and eucrites, we have performed a correlated stable isotope and bulk chemical study of several lithologic fragments