Tactile Gloves for Autonomous Grasping With the NASA/DARPA Robonaut

Tactile data from rugged gloves are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. These custom gloves compliment the human like dexterity available in the Robonaut hands. Multiple versions of the gloves are discussed, showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool

Forming Human-Robot Teams Across Time and Space

NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot, so it involves both internal fault detection as well as force sensing for unintended external contacts. The designs for the supervisory command mode and the redundant safety system will be described. Specific implementations were developed and test results will be reported. Experiments were conducted using terrestrial analogs for deep space missions, where time delays were artificially added to emulate the longer distances found in space

Robonaut Mobile Autonomy: Initial Experiments

A mobile version of the NASA/DARPA Robonaut humanoid recently completed initial autonomy trials working directly with humans in cluttered environments. This compact robot combines the upper body of the Robonaut system with a Segway Robotic Mobility Platform yielding a dexterous, maneuverable humanoid ideal for interacting with human co-workers in a range of environments. This system uses stereovision to locate human teammates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form complex behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use

An optimal gap theorem

By solving the Cauchy problem for the Hodge-Laplace heat equation for $d$-closed, positive $(1, 1)$-forms, we prove an optimal gap theorem for K\"ahler manifolds with nonnegative bisectional curvature which asserts that the manifold is flat if the average of the scalar curvature over balls of radius $r$ centered at any fixed point $o$ is a function of $o(r^{-2})$. Furthermore via a relative monotonicity estimate we obtain a stronger statement, namely a `positive mass' type result, asserting that if $(M, g)$ is not flat, then $\liminf_{r\to \infty} \frac{r^2}{V_o(r)}\int_{B_o(r)}\mathcal{S}(y)\, d\mu(y)>0$ for any $o\in M$

Phase transitions for suspension flows

This paper is devoted to study thermodynamic formalism for suspension flows defined over countable alphabets. We are mostly interested in the regularity properties of the pressure function. We establish conditions for the pressure function to be real analytic or to exhibit a phase transition. We also construct an example of a potential for which the pressure has countably many phase transitions.Comment: Example 5.2 expanded. Typos corrected. Section 6.1 superced the note "Thermodynamic formalism for the positive geodesic flow on the modular surface" arXiv:1009.462

Finite-size scaling in thin Fe/Ir(100) layers

The critical temperature of thin Fe layers on Ir(100) is measured through M\"o{\ss}bauer spectroscopy as a function of the layer thickness. From a phenomenological finite-size scaling analysis, we find an effective shift exponent lambda = 3.15 +/- 0.15, which is twice as large as the value expected from the conventional finite-size scaling prediction lambda=1/nu, where nu is the correlation length critical exponent. Taking corrections to finite-size scaling into account, we derive the effective shift exponent lambda=(1+2\Delta_1)/nu, where Delta_1 describes the leading corrections to scaling. For the 3D Heisenberg universality class, this leads to lambda = 3.0 +/- 0.1, in agreement with the experimental data. Earlier data by Ambrose and Chien on the effective shift exponent in CoO films are also explained.Comment: Latex, 4 pages, with 2 figures, to appear in Phys. Rev. Lett

Homogeneity and plane-wave limits

We explore the plane-wave limit of homogeneous spacetimes. For plane-wave limits along homogeneous geodesics the limit is known to be homogeneous and we exhibit the limiting metric in terms of Lie algebraic data. This simplifies many calculations and we illustrate this with several examples. We also investigate the behaviour of (reductive) homogeneous structures under the plane-wave limit.Comment: In memory of Stanley Hobert, 33 pages. Minor corrections and some simplification of Section 4.3.

Effectiveness of quinine versus artemether-lumefantrine for treating uncomplicated falciparum malaria in Ugandan children: randomised trial

Objective To compare the effectiveness of oral quinine with that of artemether-lumefantrine in treating uncomplicated malaria in children

Is it still worth searching for lepton flavor violation in rare kaon decays?

Prospective searches for lepton flavor violation (LFV) in rare kaon decays at the existing and future intermediate-energy accelerators are considered. The proposed studies are complementary to LFV searches in muon-decay experiments and offer a unique opportunity to probe models with approximately conserved fermion-generation quantum number with sensitivity superior to that in other processes. Consequently, new searches for LFV in kaon decays are an important and independent part of the general program of searches for lepton flavor violation in the final states with charged leptons.Comment: 30 pages, 10 figures. An extended version of the talk given at the Chicago Flavor Seminar, February 27, 2004. In the new version some misprints were corrected and some new data for LFV-processes were added. The main content of the paper was not changed. The paper is published in Yad. Fiz. 68, 1272 (2005

Rotary Series Elastic Actuator

A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint