High speed, precision motion strategies for lightweight structures

Research on space telerobotics is summarized. Adaptive control experiments on the Robotic Arm, Large and Flexible (RALF) were preformed and are documented, along with a joint controller design for the Small Articulated Manipulator (SAM), which is mounted on the RALF. A control algorithm is described as a robust decentralized adaptive control based on a bounded uncertainty approach. Dynamic interactions between SAM and RALF are examined. Unstability of the manipulator is studied from the perspective that the inertial forces generated could actually be used to more rapidly damp out the flexible manipulator's vibration. Currently being studied is the modeling of the constrained dynamics of flexible arms

High speed precision motion strategies for lightweight structures

Work during the recording period proceeded along the lines of the proposal, i.e., three aspects of high speed motion planning and control of flexible structures were explored: fine motion control, gross motion planning and control, and automation using light weight arms. In addition, modeling the large manipulator arm to be used in experiments and theory has lead to some contributions in that area. These aspects are reported below. Conference, workshop and journal submissions, and presentations related to this work were seven in number, and are listed. Copies of written papers and abstracts are included

High speed, precision motion strategies for lightweight structures

Abstracts of published papers and dissertations generated during the reporting period are compiled. Work on fine motion control was completed. Specifically, real time control of flexible manipulator vibrations were experimentally investigated. A linear model based on the application of Lagrangian dynamics to a rigid body mode and a series of separable flexible modes was examined with respect to model order requirements, and modal candidate selection. State feedback control laws were implemented based upon linear quadratic regulator design. Specification of the closed loop poles in the regulator design process was obtained by inclusion of a prescribed degree of stability in the manipulator model. Work on gross motion planning and control is also summarized. A systematic method to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators was developed

Manipulation strategies for massive space payloads

Control for the bracing strategy is being examined. It was concluded earlier that trajectory planning must be improved to best achieve the bracing motion. Very interesting results were achieved which enable the inverse dynamics of flexible arms to be calculated for linearized motion in a more efficient manner than previously published. The desired motion of the end point beginning at t=0 and ending at t=t sub f is used to calculate the required torque at the joint. The solution is separated into a causal function that is zero for t is less than 0 and an accusal function which is zero for t is greater than t sub f. A number of alternative end point trajectories were explored in terms of the peak torque required, the amount of anticipatory action, and other issues. The single link case is the immediate subject and an experimental verification of that case is being performed. Modeling with experimental verification of closed chain dynamics continues. Modeling effort has pointed out inaccuracies that result from the choice of numerical techniques used to incorporate the closed chain constraints when modeling our experimental prototype RALF (Robotic Arm Large and Flexible). Results were compared to TREETOPS, a multi body code. The experimental verification work is suggesting new ways to make comparisons with systems having structural linearity and joint and geometric nonlinearity. The generation of inertial forces was studied with a small arm that will damp the large arm's vibration

Controlled motion in an elastic world. Research project: Manipulation strategies for massive space payloads

The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feed forward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status, and future directions in this area

Manipulation strategies for massive space payloads

The industrial and environmental applications for robots with a relatively large workspace has increased significantly in the last few years. To accommodate the demands, the manipulator is usually designed with long, lightweight links that are inherently flexible. Ongoing research at Georgia Tech into the behavior and design of these flexible links is discussed

Passivity-Based Control of Rotational and Translational Timoshenko Arms

It is shown that the alternate passivity-based control schemes can be designed which explicitly exploit the passivity properties of the Timoshenko model. This approach has the advantage over the conventional methods in the respect that it allows one to deal directly with the system's partial differential equations without resorting to approximations. Numerical results for the tracking control of a translational and rotational flexible Timoshenko arm are presented and compared. They verify that the proposed control schemes are effective at controlling flexible dynamical systems

IMECE2003-43729 HARDWARE-IN-THE-LOOP SIMULATION FOR CONTROL DEVELOPMENT IN EHPV APPLICATIONS

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The application of input shaping to a system with varying parameters

The original input shaping technique developed by Singer and Seering is summarized and a different definition for residual vibration is proposed. The new definition gives better insight into the ability of input shaping method to reduce vibration. The extension of input shaping to a system with varying parameters, e.g. natural frequency, is discussed and the effect of these variations is shown to induce vibration. A modified command shaping technique is developed to eliminate this unwanted motion

Altered DNA Methylation in Leukocytes with Trisomy 21

The primary abnormality in Down syndrome (DS), trisomy 21, is well known; but how this chromosomal gain produces the complex DS phenotype, including immune system defects, is not well understood. We profiled DNA methylation in total peripheral blood leukocytes (PBL) and T-lymphocytes from adults with DS and normal controls and found gene-specific abnormalities of CpG methylation in DS, with many of the differentially methylated genes having known or predicted roles in lymphocyte development and function. Validation of the microarray data by bisulfite sequencing and methylation-sensitive Pyrosequencing (MS-Pyroseq) confirmed strong differences in methylation (p<0.0001) for each of 8 genes tested: TMEM131, TCF7, CD3Z/CD247, SH3BP2, EIF4E, PLD6, SUMO3, and CPT1B, in DS versus control PBL. In addition, we validated differential methylation of NOD2/CARD15 by bisulfite sequencing in DS versus control T-cells. The differentially methylated genes were found on various autosomes, with no enrichment on chromosome 21. Differences in methylation were generally stable in a given individual, remained significant after adjusting for age, and were not due to altered cell counts. Some but not all of the differentially methylated genes showed different mean mRNA expression in DS versus control PBL; and the altered expression of 5 of these genes, TMEM131, TCF7, CD3Z, NOD2, and NPDC1, was recapitulated by exposing normal lymphocytes to the demethylating drug 5-aza-2′deoxycytidine (5aza-dC) plus mitogens. We conclude that altered gene-specific DNA methylation is a recurrent and functionally relevant downstream response to trisomy 21 in human cells