The dynamic control of robotic manipulators in space

Described briefly is the work done during the first half year of a three-year study on dynamic control of robotic manipulators in space. The research focused on issues for advanced control of space manipulators including practical issues and new applications for the Virtual Manipulator. In addition, the development of simulations and graphics software for space manipulators, begun during the first NASA proposal in the area, has continued. The fabrication of the Vehicle Emulator System (VES) is completed and control algorithms are in process of development

A virtual manipulator model for space robotic systems

Future robotic manipulators carried by a spacecraft will be required to perform complex tasks in space, like repairing satellites. Such applications of robotic manipulators will encounter a number of kinematic, dynamic and control problems due to the dynamic coupling between the manipulators and the spacecraft. A new analytical modeling method for studying the kinematics and dynamics of manipulators in space is presented. The problem is treated by introducing the concept of a Virtual Manipulator (VM). The kinematic and dynamic motions of the manipulator, vehicle and payload, can be described relatively easily in terms of the Virtual Manipulator movements, which have a fixed base in inertial space at a point called a Virtual Ground. It is anticipated that the approach described here will aid in the design and development of future space manipulator systems

The control of space manipulators subject to spacecraft attitude control saturation limits

The motions of robotic manipulators mounted on spacecraft can disturb the spacecraft's positions and attitude. These disturbances can surpass the ability of the system's attitude control reaction jets to control them, for the disturbances increase as manipulator speeds increase. If the manipulator moves too quickly the resulting disturbances can exceed the saturation levels of the reaction jets, causing excessive spacecraft motions. A method for planning space manipulator's motions is presented, so that tasks can be performed as quickly as possible without saturating the system's attitude control jets

A Kinematic Approach to Determining the Optimal Actuator Sensor Architecture for Space Robots

Autonomous space robots will be required for such future missions as the construction of large space structures and repairing disabled satellites. These robots will need to be precisely controlled. However, factors such as manipulator joint/actuator friction and spacecraft attitude control thruster inaccuracies can substantially degrade control system performance. Sensor-based control algorithms can be used to mitigate the effects of actuator error, but sensors can add substantially to a space system’s weight, complexity, and cost, and reduce its reliability. Here, a method is presented to determine the sensor architecture that uses the minimum number of sensors that can simultaneously compensate for errors and disturbance in a space robot’s manipulator joint actuators, spacecraft thrusters, and reaction wheels. The placement and minimal number of sensors is determined by analytically structuring the system into “canonical chains” that consist of the manipulator links and spacecraft with force/torque sensors placed between the space robot’s spacecraft and its manipulators. These chains are combined to determine the number of sensors needed for the entire system. Examples of one- and two-manipulator space robots are studied and the results are validated by simulation

Spatial rigid-multi-body systems with lubricated spherical clearance joints : modeling and simulation

The dynamic modeling and simulation of spatial rigid-multi-body systems with lubricated spherical joints is the main purpose of the present work. This issue is of paramount importance in the analysis and design of realistic multibody mechanical systems undergoing spatial motion. When the spherical clearance joint is modeled as dry contact; i.e., when there is no lubricant between the mechanical elements which constitute the joint, a body-to-body (typically metal-to-metal) contact takes place. The joint reaction forces in this case are evaluated through a Hertzian-based contact law. A hysteretic damping factor is included in the dry contact force model to account for the energy dissipation during the contact process. The presence of a fluid lubricant avoids the direct metal-to-metal contact. In this situation, the squeeze film action, due to the relative approaching motion between the mechanical joint elements, is considered utilizing the lubrication theory associated with the spherical bearings. In both cases, the intra-joint reaction forces are evaluated as functions of the geometrical, kinematical and physical characteristics of the spherical joint. These forces are then incorporated into a standard formulation of the system’s governing equations of motion as generalized external forces. A spatial four bar mechanism that includes a spherical clearance joint is considered here as example. The computational simulations are carried out with and without the fluid lubricant, and the results are compared with those obtained when the system is modeled with perfect joints only. From the general results it is observed that the system’s performance with lubricant effect presents fewer peaks in the kinematic and dynamic outputs, when compared with those from the dry contact joint model.Fundação para a Ciência e a Tecnologia (FCT

CYP1B1 copy number variation is not a major contributor to primary congenital glaucoma

This article is published under a Creative Commons Attribution-NonCommercial-NoDerivatives License 3.0, or CC BY-NC-ND 3.0 (see http://creativecommons.org/licenses/by-nc-nd/3.0/ for license terms). The authors retain copyright and grant Molecular Vision an irrevocable, royalty-free, perpetual license to publish and distribute the article, in all formats now known or later developed, and to identify Molecular Vision as the original publisher.Purpose: To evaluate the prevalence and the diagnostic utility of testing for CYP1B1 copy number variation (CNV) in primary congenital glaucoma (PCG) cases unexplained by CYP1B1 point mutations in The Australian and New Zealand Registry of Advanced Glaucoma. Methods: In total, 50 PCG cases either heterozygous for disease-causing variants or with no CYP1B1 sequence variants were included in the study. CYP1B1 CNV was analyzed by Multiplex Ligation-dependent Probe Amplification (MLPA). Results: No deletions or duplications were found in any of the cases. Conclusion: This is the first study to report on CYP1B1 CNV in PCG cases. Our findings show that this mechanism is not a major contributor to the phenotype and is of limited diagnostic utility

A parametric study on the dynamic response of planar multibody systems with multiple clearance joints

A general methodology for dynamic modeling and analysis of multibody systems with multiple clearance joints is presented and discussed in this paper. The joint components that constitute a real joint are modeled as colliding bodies, being their behavior influenced by geometric and physical properties of the contacting surfaces. A continuous contact force model, based on the elastic Hertz theory together with a dissipative term, is used to evaluate the intra-joint contact forces. Furthermore, the incorporation of the friction phenomenon, based on the classical Coulomb’s friction law, is also discussed. The suitable contact-impact force models are embedded into the dynamics of multibody systems methodologies. An elementary mechanical system is used to demonstrate the accuracy and efficiency of the presented approach, and to discuss the main assumptions and procedures adopted. Different test scenarios are considered with the purpose of performing a parametric study for quantifying the influence of the clearance size, input crank speed and number of clearance joints on the dynamic response of multibody systems with multiple clearance joints. Additionally, the total computation time consumed in each simulation is evaluated in order to test the computational accuracy and efficiency of the presented approach. From the main results obtained in this study, it can be drawn that clearance size and the operating conditions play a crucial role in predicting accurately the dynamic responses of multibody systems.Fundação para a Ciência e a Tecnologia (FCT

Biallelic CPAMD8 variants are a frequent cause of childhood and juvenile open-angle glaucoma

Purpose: Developmental abnormalities of the ocular anterior segment in some cases can lead to ocular hypertension and glaucoma. CPAMD8 is a gene of unknown function recently associated with ocular anterior segment dysgenesis, myopia, and ectopia lentis. We sought to assess the contribution of biallelic CPAMD8 variants to childhood and juvenile open-angle glaucoma. Design: Retrospective, multicenter case series. Participants: A total of 268 probands and their relatives with a diagnosis of childhood or juvenile open-angle glaucoma. Methods: Patients underwent a comprehensive ophthalmic assessment, with DNA from patients and their relatives subjected to genome, exome, or capillary sequencing. CPAMD8 RNA expression analysis was performed on tissues dissected from cadaveric human eyes. Main outcome measures: Diagnostic yield within a cohort of childhood and juvenile open-angle glaucoma, prevalence and risk of ophthalmic phenotypes, and relative expression of CPAMD8 in the human eye. Results: We identified rare (allele frequency -5) biallelic CPAMD8 variants in 5.7% (5/88) of probands with childhood glaucoma and 2.1% (2/96) of probands with juvenile open-angle glaucoma. When including family members, we identified 11 individuals with biallelic variants in CPAMD8 from 7 unrelated families. Nine of these individuals were diagnosed with glaucoma (9/11, 81.8%), with a mean age at diagnosis of 9.22±14.89 years, and all individuals with glaucoma required 1 or more incisional procedures to control high intraocular pressure. Iris abnormalities were observed in 9 of 11 individuals, cataract was observed in 8 of 11 individuals (72.7%), and retinal detachment was observed in 3 of 11 individuals (27.3%). CPAMD8 expression was highest in neural crest-derived tissues of the adult anterior segment, suggesting that CPAMD8 variation may cause malformation or obstruction of key drainage structures. Conclusions: Biallelic CPAMD8 variation was associated with a highly heterogeneous phenotype and in our cohorts was the second most common inherited cause of childhood glaucoma after CYP1B1 and juvenile open-angle glaucoma after MYOC. CPAMD8 sequencing should be considered in the investigation of both childhood and juvenile open-angle glaucoma, particularly when associated with iris abnormalities, cataract, or retinal detachment

Lubricated revolute joints in rigid multibody systems

The main purpose of this work is to present a general methodology for modeling lubricated revolute joints in constrained rigid multibody systems. In the dynamic analysis of journal-bearings, the hydrodynamic forces, which include both squeeze and wedge effects, generated by the lubricant fluid, oppose the journal motion. The hydrodynamic forces are obtained by integrating the pressure distribution evaluated with the aid of Reynolds’ equation, written for the dynamic regime. The hydrodynamic forces built up by the lubricant fluid are evaluated from the system state variables and included into the equations of motion of the multibody system. Numerical examples are presented in order to demonstrate the use of the methodologies and procedures described in this work.Fundação para a Ciência e a Tecnologia (FCT