The use of computer graphic simulation in the development of robotic systems

This paper describes the use of computer graphic simulation techniques to resolve critical design and operational issues for robotic systems. Use of this technology will result in greatly improved systems and reduced development costs. The major design issues in developing effective robotic systems are discussed and the use of ROBOSIM, a NASA developed simulation tool, to address these issues is presented. Three representative simulation case studies are reviewed: off-line programming of the robotic welding development cell for the Space Shuttle Main Engine (SSME); the integration of a sensor to control the robot used for removing the Thermal Protection System (TPS) from the Solid Rocket Booster (SRB); and the development of a teleoperator/robot mechanism for the Orbital Maneuvering Vehicle (OMV)

A Generalized Method for Automatic Downhand and Wirefeed Control of a Welding Robot and Positioner

A generalized method for controlling a six degree-of-freedom (DOF) robot and a two DOF positioner used for arc welding operations is described. The welding path is defined in the part reference frame, and robot/positioner joint angles of the equivalent eight DOF serial linkage are determined via an iterative solution. Three algorithms are presented: the first solution controls motion of the eight DOF mechanism such that proper torch motion is achieved while minimizing the sum-of-squares of joint displacements; the second algorithm adds two constraint equations to achieve torch control while maintaining part orientation so that welding occurs in the downhand position; and the third algorithm adds the ability to control the proper orientation of a wire feed mechanism used in gas tungsten arc (GTA) welding operations. A verification of these algorithms is given using ROBOSIM, a NASA developed computer graphic simulation software package design for robot systems development

ROBOSIM, a simulator for robotic systems

ROBOSIM, a simulator for robotic systems, was developed by NASA to aid in the rapid prototyping of automation. ROBOSIM has allowed the development of improved robotic systems concepts for both earth-based and proposed on-orbit applications while significantly reducing development costs. In a cooperative effort with an area university, ROBOSIM was further developed for use in the classroom as a safe and cost-effective way of allowing students to study robotic systems. Students have used ROBOSIM to study existing robotic systems and systems which they have designed in the classroom. Since an advanced simulator/trainer of this type is beneficial not only to NASA projects and programs but industry and academia as well, NASA is in the process of developing this technology for wider public use. An update on the simulators's new application areas, the improvements made to the simulator's design, and current efforts to ensure the timely transfer of this technology are presented

Refugiados iraquíes en comunidades de habla hispana de California

Se necesita algún tipo de orientación cultural, pero es necesario que sea adecuada para las realidades del lugar donde se reasienta a los refugiados

How Water's Properties Are Encoded in Its Molecular Structure and Energies.

How are water's material properties encoded within the structure of the water molecule? This is pertinent to understanding Earth's living systems, its materials, its geochemistry and geophysics, and a broad spectrum of its industrial chemistry. Water has distinctive liquid and solid properties: It is highly cohesive. It has volumetric anomalies-water's solid (ice) floats on its liquid; pressure can melt the solid rather than freezing the liquid; heating can shrink the liquid. It has more solid phases than other materials. Its supercooled liquid has divergent thermodynamic response functions. Its glassy state is neither fragile nor strong. Its component ions-hydroxide and protons-diffuse much faster than other ions. Aqueous solvation of ions or oils entails large entropies and heat capacities. We review how these properties are encoded within water's molecular structure and energies, as understood from theories, simulations, and experiments. Like simpler liquids, water molecules are nearly spherical and interact with each other through van der Waals forces. Unlike simpler liquids, water's orientation-dependent hydrogen bonding leads to open tetrahedral cage-like structuring that contributes to its remarkable volumetric and thermal properties

NASA and Army Collaboration on Unmanned Systems Presentation to (SE)3

This viewgraph presentation reviews the collaboration in developing robotic and autonomous systems by NASA and the Department of Defense (DoD). Several examples of the collaboration are reviewed

A state-of-charge estimation method of the power lithium-ion battery in complex conditions based on adaptive square root extended Kalman filter.

The control strategy of electric vehicles mainly depends on the power battery state-of-charge estimation. One of the most important issues is the power lithium-ion battery state-of-charge (SOC) estimation. Compare with the extended Kalman filter algorithm, this paper proposed a novel adaptive square root extended Kalman filter together with the Thevenin equivalent circuit model which can solve the problem of filtering divergence caused by computer rounding errors. It uses Sage-Husa adaptive filter to update the noise variable, and performs square root decomposition on the covariance matrix to ensure its non-negative definiteness. Moreover, a multi-scale dual Kalman filter algorithm is used for joint estimation of SOC and capacity; the forgetting factor recursive least-square method is used for parameter identification. To verify the feasibility of the algorithm under complicated operating conditions, different types of dynamic working conditions are performed on the ternary lithium-ion battery. The proposed algorithm has robust and accurate SOC estimation results and can eliminate computer rounding errors to improve adaptability compared to the conventional extended Kalman filter algorithm

The transcriptional repressor complex FRS7-FRS12 regulates flowering time and growth in Arabidopsis

Most living organisms developed systems to efficiently time environmental changes. The plant-clock acts in coordination with external signals to generate output responses determining seasonal growth and flowering time. Here, we show that two Arabidopsis thaliana transcription factors, FAR1 RELATED SEQUENCE 7 (FRS7) and FRS12, act as negative regulators of these processes. These proteins accumulate particularly in short-day conditions and interact to form a complex. Loss-of-function of FRS7 and FRS12 results in early flowering plants with overly elongated hypocotyls mainly in short days. We demonstrate by molecular analysis that FRS7 and FRS12 affect these developmental processes in part by binding to the promoters and repressing the expression of GIGANTEA and PHYTOCHROME INTERACTING FACTOR 4 as well as several of their downstream signalling targets. Our data reveal a molecular machinery that controls the photoperiodic regulation of flowering and growth and offer insight into how plants adapt to seasonal changes

What drives amyloid molecules to assemble into oligomers and fibrils?

We develop a general theory for three states of equilibrium of amyloid peptides: the monomer, oligomer, and fibril. We assume that the oligomeric state is a disordered micelle-like collection of a few peptide chains held together loosely by hydrophobic interactions into a spherical hydrophobic core. We assume that fibrillar amyloid chains are aligned and further stabilized by `steric zipper' interactions -- hydrogen bonding and steric packing, in addition to specific hydrophobic sidechain contacts. The model makes a broad set of predictions, consistent with experiments: (i) Similar to surfactant micellization, amyloid oligomerization should increase with bulk peptide concentration. (ii) The onset of fibrillization limits the concentration of oligomers in the solution. (iii) The average fibril length \emph{vs.} monomer concentration agrees with data on $\alpha$-synuclein, (iv) Full fibril length distributions follow those of $\alpha$-synuclein, (v) Denaturants should `melt out' fibrils, and (vi) Added salt should stabilize fibrils by reducing repulsions between amyloid peptide chains. Interestingly, small changes in solvent conditions can: (a) tip the equilibrium balance between oligomer and fibril, and (b) cause large changes in rates, through effects on the transition-state barrier. This model may provide useful insights into the physical processes underlying amyloid diseases