Concurrent simulation of a parallel jaw end effector

A system of programs developed to aid in the design and development of the command/response protocol between a parallel jaw end effector and the strategic planner program controlling it are presented. The system executes concurrently with the LISP controlling program to generate a graphical image of the end effector that moves in approximately real time in response to commands sent from the controlling program. Concurrent execution of the simulation program is useful for revealing flaws in the communication command structure arising from the asynchronous nature of the message traffic between the end effector and the strategic planner. Software simulation helps to minimize the number of hardware changes necessary to the microprocessor driving the end effector because of changes in the communication protocol. The simulation of other actuator devices can be easily incorporated into the system of programs by using the underlying support that was developed for the concurrent execution of the simulation process and the communication between it and the controlling program

Command/response protocols and concurrent software

A version of the program to control the parallel jaw gripper is documented. The parallel jaw end-effector hardware and the Intel 8031 processor that is used to control the end-effector are briefly described. A general overview of the controller program is given and a complete description of the program's structure and design are contained. There are three appendices: a memory map of the on-chip RAM, a cross-reference listing of the self-scheduling routines, and a summary of the top-level and monitor commands

A software toolbox for robotics

A system of programs was developed to simulate the concurrent command/response interaction between a parallel jaw end effector and the LISP program controlling it. The overall structure of the simulation system was described in a paper submitted to the IEEE Conference on Automation and Robotics. A user's guide for the system was written. A line numbering program on the VAX (Pascal), a program for aiding in file transfer from the VAX to an LSI11 over the RTNET (FORTRAN), and a file scanning program (a crude SCAN) for the LSI11 (FORTRAN) were also developed

Response analyzers for sensors Patent

Response analyzing apparatus for liquid vapor interface sensor of sloshing rocket propellan

Ergometer

An ergometer is described that has a pedal driven direct current motor as a load and includes a frame for supporting the body of a person in either a sitting or a prone position. The pedals may be operated by either the feet or the hands. The electrical circuitry of the ergometer includes means for limiting the load applied to the pedals as a function of work being performed, heart rate, and increases in heart rate

Mobile automatic metabolic analyzer

Two flexible pipes, attached to face mask, are connected to spirometers in mobile cart. Inhaled air volume is measured as it is drawn from one spirometer, and exhaled air volume is measured as it is breathed into second spirometer. Sensor is used to monitor heartbeat rate

The Anti-Gang Initiative in Detroit: An Aggressive Enforcement Approach to Gangs

Over the period of the intervention and operation of the-AGI project, there was a considerable decline in gun crimes in the target precincts, whereas the number of such offenses rose in the comparison precinct. This was particularly the case in the Ninth Precinct, where a statistically significant reduction of gun crimes occurred. Perhaps more importantly, this reduction represented 112 fewer gun crimes, and thus a commensurate fewer number of victims, per month in this precinct. Given the design of this study and available data, these results cannot be directly attributed to the intervention. However, there is a strong indication that these aggressive policing tactics contributed significantly to this meaningful reduction