Sonic Boom Pressure Signature Uncertainty Calculation and Propagation to Ground Noise

The objective of this study was to outline an approach for the quantification of uncertainty in sonic boom measurements and to investigate the effect of various near-field uncertainty representation approaches on ground noise predictions. These approaches included a symmetric versus asymmetric uncertainty band representation and a dispersion technique based on a partial sum Fourier series that allows for the inclusion of random error sources in the uncertainty. The near-field uncertainty was propagated to the ground level, along with additional uncertainty in the propagation modeling. Estimates of perceived loudness were obtained for the various types of uncertainty representation in the near-field. Analyses were performed on three configurations of interest to the sonic boom community: the SEEB-ALR, the 69o DeltaWing, and the LM 1021-01. Results showed that representation of the near-field uncertainty plays a key role in ground noise predictions. Using a Fourier series based dispersion approach can double the amount of uncertainty in the ground noise compared to a pure bias representation. Compared to previous computational fluid dynamics results, uncertainty in ground noise predictions were greater when considering the near-field experimental uncertainty

Multi-robot grasp planning for sequential assembly operations

This paper addresses the problem of finding robot configurations to grasp assembly parts during a sequence of collaborative assembly operations. We formulate the search for such configurations as a constraint satisfaction problem (CSP).Collision constraints in an operation and transfer constraints between operations determine the sets of feasible robot configurations. We show that solving the connected constraint graph with off-the-shelf CSP algorithms can quickly become infeasible even fora few sequential assembly operations. We present an algorithm which, through the assumption of feasible regrasps, divides the CSP into independent smaller problems that can be solved exponentially faster. The algorithm then uses local search techniques to improve this solution by removing a gradually increasing number of regrasps from the plan. The algorithm enables the user to stop the planner anytime and use the current best plan if the cost of removing regrasps from the plan exceeds the cost of executing those regrasps. We present simulation experiments to compare our algorithm’s performance toa naive algorithm which directly solves the connected constraint graph. We also present a physical robot system which uses the output of our planner to grasp and bring parts together in assembly configurations

Tolerable Acclimation to the Cross-Coupled Illusion through a 10-day, Incremental, Personalized Protocol

Artificial gravity (AG) has the potential to provide a comprehensive countermeasure mitigating deleterious effects of microgravity. However, the cross-coupled "Coriolis" illusion has prevented using a more feasible and less costly short-radius centrifuge, as compared to large, slowly spinning systems.OBJECTIVEWe assessed tolerability of a personalized, incremental protocol to acclimate humans to the cross-coupled illusion, enabling faster spin rates.METHODSTen subjects were exposed to the illusion by performing roll head tilts while seated upright and spun about an Earth-vertical axis. The spin rate was incremented when head tilts did not subjectively elicit the illusion. Subjects completed one 25-minute session on each of 10 days.RESULTSThe spin rate at which subjects felt no cross-coupled illusion increased in all subjects from an average of 1.8 rotations per minute (RPM) (SD: &plusmn;0.9) at the beginning of the protocol to 17.7 RPM (SD: &plusmn;9.1) at the end. For off-axis centrifugation producing 1G at the rider's feet, this corresponds to a reduction in the required centrifuge diameter from 552.2 to 5.7 meters. Subjects reported no more than slight motion sickness.CONCLUSIONSAcclimation to the cross-coupled illusion, such as that accomplished here, is critical for feasibility of short-radius centrifugation for AG implementation.</p

Legged Robots

International audienc

Manipulation planning under changing external forces

This paper presents a planner that enables robots to manipulate objects under changing external forces. Particularly, we focus on the scenario where a human applies a sequence of forceful operations, e.g. cutting and drilling, on an object that is held by a robot. The planner produces an efficient manipulation plan by choosing stable grasps on the object, by intelligently deciding when the robot should change its grasp on the object as the external forces change, and by choosing subsequent grasps such that they minimize the number of regrasps required in the long-term. Furthermore, as it switches from one grasp to the other, the planner solves the bimanual regrasping in the air by using an alternating sequence of bimanual and unimanual grasps. We also present a conic formulation to address force uncertainties inherent in human-applied external forces, using which the planner can robustly assess the stability of a grasp configuration without sacrificing planning efficiency. We provide a planner implementation on a dual-arm robot and present a variety of simulated and real human-robot experiments to show the performance of our planner

Legged Robots

International audienc

Approximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control

This paper considers the problem of steering a nonholonomic unicycle despite model perturbation that scales both the forward speed and the turning rate by an unknown but bounded constant. We model the unicycle as an ensemble control system, show that this system is ensemble controllable, and derive an approximate steering algorithm that brings the unicycle to within an arbitrarily small neighborhood of any given Cartesian position. We apply our work to a differential-drive robot with unknown but bounded wheel radius and validate our approach with hardware experiments