Impedance hand controllers for increasing efficiency in teleoperations

An impedance hand controller with direct force feedback is examined as an alternative to bilateral force reflection in teleoperations involving force contact. Experimentation revealed an operator preference for direct force feedback which provided a better feel of contact with the environment. The advantages of variable arm impedance were also made clear in tracking tests where subjects preferred the larger hand controller inertias made possible by the acceleration feedback loop in the master arm. The ability to decouple the hand controller impedance from the slave arm dynamics is expected to be even more significant when the inertial properties of various payloads in the slave arm are considered

A dynamic measure of controllability and observability for the placement of actuators and sensors on large space structures

The degree of controllability of a large space structure is found by a four step procedure: (1) finding the minimum control energy for driving the system from a given initial state to the origin in the prescribed time; (2) finding the region of initial state which can be driven to the origin with constrained control energy and time using optimal control strategy; (3) scaling the axes so that a unit displacement in every direction is equally important to control; and (4) finding the linear measurement of the weighted "volume" of the ellipsoid in the equicontrol space. For observability, the error covariance must be reduced toward zero using measurements optimally, and the criterion must be standardized by the magnitude of tolerable errors. The results obtained using these methods are applied to the vibration modes of a free-free beam

An examination of oral articulation of vowel nasality in the light of the independent effects of nasalization on vowel quality

In this paper, a summary is given of an experimental technique to address a known issue in research on the independent effects of nasalization on vowel acoustics: given that the separate transfer functions associated with the oral and nasal cavities are merged in the acoustic signal, the task of teasing apart the respective effects of the two cavities seems to be an intractable problem. The results obtained from the method reveal that the independent effects of nasalization on the acoustic vowel space are: F1-raising for high vowels, F1-lowering for non-high vowels, and F2-lowering for non-front vowels. The results from previous articulatory research performed by the author on the production of vowel nasality in French, Hindi, and English are discussed in the light of these independent effects of nasalization on vowel quality

A practical method of estimating the time-varying degree of vowel nasalization from acoustic features

This paper presents a simple and easy-to-use method of creating a time-varying signal of the degree of nasalization in vowels, generated from acoustic features measured in oral and nasalized vowel contexts. The method is presented for separate models constructed using two sets of acoustic features: (1) an uninformed set of 13 Mel-frequency cepstral coefficients (MFCCs) and (2) a combination of the 13 MFCCs and a phonetically informed set of 20 acoustic features of vowel nasality derived from previous research. Both models are compared against two traditional approaches to estimating vowel nasalization from acoustics: A1-P0 and A1-P1, as well as their formant-compensated counterparts. Data include productions from six speakers of different language backgrounds, producing 11 different qualities within the vowel quadrilateral. The results generated from each of the methods are compared against nasometric measurements, representing an objective “ground truth” of the degree of nasalization. The results suggest that the proposed method is more robust than conventional acoustic approaches, generating signals which correlate strongly with nasometric measures across all vowel qualities and all speakers and accurately approximate the time-varying change in the degree of nasalization. Finally, an experimental example is provided to help researchers implement the method in their own study designs

Number and placement of control system components considering possible failures

A decision making methodology is presented which is intended to be useful in the early stages of system design, before a control system is designed in detail. The methodology accounts for the likelihood of failure among the sensors and actuators in a control system. A method to compute the degree of controllability and degree of observability of a system for a given set of actuators and sensors is also presented

HI and Hot Gas in the Outskirts of the M81 Group

Results are presented from a wide area, high resolution HI synthesis survey of the outer regions of the nearby M81 group, where internal (galactic) and external (group-related) evolution processes can be studied simultaneously in great detail. The survey encompasses the star forming dwarf galaxies M81dwA, UGC4483, and HoII, where evidence of ram pressure stripping was recently discovered. The data do not reveal any intergalactic HI, but the outer parts of HoII are reminiscent of tidal tails. We argue however that those structures are equally consistent with the latest ram pressure models including cooling. The case for a hot intergalactic medium in this poor, spiral-only group is thus still open. The survey also puts tight constraints on possible counterparts to the local high velocity cloud population in an external group, reaching a 3 sigma column density of 10^19 atom/cm^2 and a 6 sigma limiting mass of 1.5x10^5 M_sun.Comment: 6 pages, 3 figures, to be published in "Recycling Intergalactic and Interstellar Matter," eds. P.-A. Duc, J. Braine, & E. Brinks (ASP: San Francisco