Test bed experiments for various telerobotic system characteristics and configurations

Dexterous manipulation and grasping in telerobotic systems depends on the integration of high-performance sensors, displays, actuators and controls into systems in which careful consideration has been given to human perception and tolerance. Research underway at the Wisconsin Center for Space Automation and Robotics (WCSAR) has the objective of enhancing the performance of these systems and their components, and quantifying the effects of the many electrical, mechanical, control, and human factors that affect their performance. This will lead to a fundamental understanding of performance issues which will in turn allow designers to evaluate sensor, actuator, display, and control technologies with respect to generic measures of dexterous performance. As part of this effort, an experimental test bed was developed which has telerobotic components with exceptionally high fidelity in master/slave operation. A Telerobotic Performance Analysis System has also been developed which allows performance to be determined for various system configurations and electro-mechanical characteristics. Both this performance analysis system and test bed experiments are described

Impact of inertia, friction, and backlash upon force control in telemanipulation

The mechanical behavior of master controllers of telemanipulators has been a concern of both designers and implementors of telerobotic systems. In general, the literature recommends that telemanipulator systems be constructed that minimize inertia, friction, and backlash in an effort to improve telemanipulative performance. For the most part, these recommendations are founded upon theoretical analysis or simply intuition. Although these recommendations are not challenged on their merit, the material results are measured of building and fielding telemanipulators that possess less than ideal mechanical behaviors. Experiments are described in which forces in a mechanical system with human input are evaluated as a function of mechanical characteristics such as inertia, friction, and backlash. Results indicate that the ability of the human to maintain gripping forces was relatively unaffected by dynamic characteristics in the range studied, suggesting that telemanipulator design in this range should be based on task level force control requirements rather than human factors

Fingering Instability in Combustion

A thin solid (e.g., paper), burning against an oxidizing wind, develops a fingering instability with two decoupled length scales. The spacing between fingers is determined by the P\'eclet number (ratio between advection and diffusion). The finger width is determined by the degree two dimensionality. Dense fingers develop by recurrent tip splitting. The effect is observed when vertical mass transport (due to gravity) is suppressed. The experimental results quantitatively verify a model based on diffusion limited transport

Intruder mobility in a vibrated granular packing

We study experimentally the dynamics of a dense intruder sinking under gravity inside a vibrated 2D granular packing. The surrounding flow patterns are characterized and the falling trajectories are interpreted in terms of an effectivive friction coefficient related to the intruder mean descent velocity (flow rules). At higher confining pressures i.e. close to jamming, a transition to intermittent dynamics is evidenced and displays anomalous "on-off" blockade statistics. A systematic analysis of the flow rules, obtained for different intruder sizes, either in the flowing regime or averaged over the flowing and blockade regimes, strongly suggest the existence of non-local properties for the vibrated packing rheology.

Archimedes' law and its corrections for an active particle in a granular sea

We study the origin of buoyancy forces acting on a larger particle moving in a granular medium subject to horizontal shaking and its corrections before fluidization. In the fluid limit Archimedes' law is verified; before the limit memory effects counteract buoyancy, as also found experimentally. The origin of the friction is an excluded volume effect between active particles, which we study more exactly for a random walker in a random environment. The same excluded volume effect is also responsible for the mutual attraction between bodies moving in the granular medium. Our theoretical modeling proceeds via an asymmetric exclusion process, i.e., via a dissipative lattice gas dynamics simulating the position degrees of freedom of a low density granular sea.Comment: 22 pages,5 figure

Mass transport of an impurity in a strongly sheared granular gas

Transport coefficients associated with the mass flux of an impurity immersed in a granular gas under simple shear flow are determined from the inelastic Boltzmann equation. A normal solution is obtained via a Chapman-Enskog-like expansion around a local shear flow distribution that retains all the hydrodynamic orders in the shear rate. Due to the anisotropy induced by the shear flow, tensorial quantities are required to describe the diffusion process instead of the conventional scalar coefficients. The mass flux is determined to first order in the deviations of the hydrodynamic fields from their values in the reference state. The corresponding transport coefficients are given in terms of the solutions of a set of coupled linear integral equations, which are approximately solved by considering the leading terms in a Sonine polynomial expansion. The results show that the deviation of these generalized coefficients from their elastic forms is in general quite important, even for moderate dissipation.Comment: 6 figure

Heap Formation in Granular Media

Using molecular dynamics (MD) simulations, we find the formation of heaps in a system of granular particles contained in a box with oscillating bottom and fixed sidewalls. The simulation includes the effect of static friction, which is found to be crucial in maintaining a stable heap. We also find another mechanism for heap formation in systems under constant vertical shear. In both systems, heaps are formed due to a net downward shear by the sidewalls. We discuss the origin of net downward shear for the vibration induced heap.Comment: 11 pages, 4 figures available upon request, Plain TeX, HLRZ-101/9

Slowly driven sandpile formation with granular mixtures

We introduce a one-dimensional sandpile model with $N$ different particle types and an infinitesimal driving rate. The parameters for the model are the N^2 critical slopes for one type of particle on top of another. The model is trivial when N=1, but for N=2 we observe four broad classes of sandpile structure in different regions of the parameter space. We describe and explain the behaviour of each of these classes, giving quantitative analysis wherever possible. The behaviour of sandpiles with N>2 essentially consists of combinations of these four classes. We investigate the model's robustness and highlight the key areas that any experiment designed to reproduce these results should focus on

Observing Brownian motion in vibration-fluidized granular matter

At the beginning of last century, Gerlach and Lehrer observed the rotational Brownian motion of a very fine wire immersed in an equilibrium environment, a gas. This simple experiment eventually permitted the full development of one of the most important ideas of equilibrium statistical mechanics: the very complicated many-particle problem of a large number of molecules colliding with the wire, can be represented by two macroscopic parameters only, namely viscosity and the temperature. Can this idea, mathematically developed in the so-called Langevin model and the fluctuation-dissipation theorem be used to describe systems that are far from equilibrium? Here we address the question and reproduce the Gerlach and Lehrer experiment in an archetype non-equilibrium system, by immersing a sensitive torsion oscillator in a granular system of millimetre-size grains, fluidized by strong external vibrations. The vibro-fluidized granular medium is a driven environment, with continuous injection and dissipation of energy, and the immersed oscillator can be seen as analogous to an elastically bound Brownian particle. We show, by measuring the noise and the susceptibility, that the experiment can be treated, in first approximation, with the same formalism as in the equilibrium case, giving experimental access to a ''granular viscosity'' and an ''effective temperature'', however anisotropic and inhomogeneous, and yielding the surprising result that the vibro-fluidized granular matter behaves as a ''thermal'' bath satisfying a fluctuation-dissipation relation