Experimental validation of docking and capture using space robotics testbeds

This presentation describes the application of robotic and computer vision systems to validate docking and capture operations for space cargo transfer vehicles. Three applications are discussed: (1) air bearing systems in two dimensions that yield high quality free-flying, flexible, and contact dynamics; (2) validation of docking mechanisms with misalignment and target dynamics; and (3) computer vision technology for target location and real-time tracking. All the testbeds are supported by a network of engineering workstations for dynamic and controls analyses. Dynamic simulation of multibody rigid and elastic systems are performed with the TREETOPS code. MATRIXx/System-Build and PRO-MATLAB/Simulab are the tools for control design and analysis using classical and modern techniques such as H-infinity and LQG/LTR. SANDY is a general design tool to optimize numerically a multivariable robust compensator with a user-defined structure. Mathematica and Macsyma are used to derive symbolically dynamic and kinematic equations

Machine vision based teleoperation aid

When teleoperating a robot using video from a remote camera, it is difficult for the operator to gauge depth and orientation from a single view. In addition, there are situations where a camera mounted for viewing by the teleoperator during a teleoperation task may not be able to see the tool tip, or the viewing angle may not be intuitive (requiring extensive training to reduce the risk of incorrect or dangerous moves by the teleoperator). A machine vision based teleoperator aid is presented which uses the operator's camera view to compute an object's pose (position and orientation), and then overlays onto the operator's screen information on the object's current and desired positions. The operator can choose to display orientation and translation information as graphics and/or text. This aid provides easily assimilated depth and relative orientation information to the teleoperator. The camera may be mounted at any known orientation relative to the tool tip. A preliminary experiment with human operators was conducted and showed that task accuracies were significantly greater with than without this aid

Connectionist model-based stereo vision for telerobotics

Autonomous stereo vision for range measurement could greatly enhance the performance of telerobotic systems. Stereo vision could be a key component for autonomous object recognition and localization, thus enabling the system to perform low-level tasks, and allowing a human operator to perform a supervisory role. The central difficulty in stereo vision is the ambiguity in matching corresponding points in the left and right images. However, if one has a priori knowledge of the characteristics of the objects in the scene, as is often the case in telerobotics, a model-based approach can be taken. Researchers describe how matching ambiguities can be resolved by ensuring that the resulting three-dimensional points are consistent with surface models of the expected objects. A four-layer neural network hierarchy is used in which surface models of increasing complexity are represented in successive layers. These models are represented using a connectionist scheme called parameter networks, in which a parametrized object (for example, a planar patch p=f(h,m sub x, m sub y) is represented by a collection of processing units, each of which corresponds to a distinct combination of parameter values. The activity level of each unit in the parameter network can be thought of as representing the confidence with which the hypothesis represented by that unit is believed. Weights in the network are set so as to implement gradient descent in an energy function

Discussion of “Learning from Failure of a Long Curved Veneer Wall: Structural Analysis and Repair” by Paulo B. Lourenço and Pedro Medeiros

The authors, in an interesting and valuable paper, describe the failure of the brick-masonry veneer façade of a multiuse public hall in Gondomar, Portugal. Damage occurred within 2 years of construction. The veneer was a single leaf of continuous brick masonry tied to a RC structural wall, forming a cavity of nominal width 0.07 m that was partly filled with foamed polyurethane. The veneer wall was 242 m in length and 15 m in height, without movement joints, and extended around most of the elliptical perimeter of the building with portions facing north, east, and south. From their site investigations and technical analysis, the authors attributed the failure primarily to effects of “the irreversible expansion of clay brick,” apparent both from cracking and from extensive out-of-plane deformation of the wall, which had widened the cavity to as much as 0.13 m. Effects were greater on parts of the wall facing south. The failure analysis made use of a power law proposed by Wilson et al. (2003) to describe how expansive strain develops in fired-clay ceramics with time. Here, the discussers comment on recent fundamental work on moisture expansion in brick, and in particular on its temperature dependence, matters of direct relevance to the paper under discussion. The discussers’ comments support and extend the conclusions of the authors, with which the discussers broadly agree. Irreversible moisture expansion occurs as a result of slow chemical reactions between components of the fired-clay ceramic and environmental moisture (Hamilton and Hall 2012). The magnitude of the expansion varies strongly with brick mineralogy and kiln firing history, but a predictive model for expansion based on these factors does not yet exist. However, in general, highly crystalline engineering ceramics produced at high kiln temperatures expand less than low-fired ceramics with a higher amorphous content. The penalty is that high-fired ceramics tend to be more brittle and prone to cracking. It is now established that the expansive reaction continues indefinitely, although at a diminishing rate over all timescales; therefore, there is no well-defined time at which it ceases. Recent reanalysis of published data (Hall et al. 2011; Hall and Hoff 2012) shows that the equation e=at1/4 accurately describes expansion strain e over periods of time t as long as 65 years. It follows from this equation that expansive strain at 16 years is double the value at 1 year and three times the 1-year value at 81 years. The persistence of the expansion reaction, albeit at a diminishing rate, emphasizes the need to incorporate appropriate movement joints in masonry design. The authors mention the possibility of using a “poor mortar” to accommodate some of the expansive strain. The use of weak mortars undoubtedly explains the absence of expansion damage in some much-older buildings with thick brick walls. However, the discussers consider that in thin brick veneers, such as those used in Gondomar, a weak mortar is potentially dangerous. It is unfortunate both for design and for failure analysis that the test procedures generally used to characterize clay brick do not provide values of the expansivity a that are needed to apply the equation e=at1/4 . Accelerated steam tests, such as EN772-19 cited by the authors, are at best semiquantitative. In our view, it is essential to determine the expansivity from measurements of expansion strain made over an appropriate period of time under controlled conditions (Hall and Hoff 2012). The discussers also draw attention to the important practical matter of the temperature dependence of the moisture expansivity (Hall et al. 2013). The fact that moisture expansion is the direct consequence of a chemical rehydroxylation reaction (Hamilton and Hall 2012) ensures that the expansivity increases notably with temperature. Available data indicate that the activation energy (which controls the temperature dependence) is about 70 kJ/mol. This means, for example, that the expansivity a of any brick material is about 60% greater at a temperature of 30°C than it is at 10°C. Thus, if a limit expansion strain (say, 1×10−3) is reached in a particular material in 50 years at 10°C, the same strain is attained in the same material in only 7 years at 30°C. It seems likely that its strong temperature dependence explains why moisture expansion is perceived differently in different geographical regions [e.g., McNeilly (1985)] and generally receives more attention in regions with warmer climates, such as Australia, southern Asia, and Brazil. However, in any particular region, the magnitude of expansion and the associated damage within individual buildings are influenced by local temperature variations, in particular variations due to solar heat gain. In the Gondomar structure, deformation and cavity expansion were greatest in parts of the structure with a southern aspect, where the summer temperatures of the veneer are highest. The influence of aspect here is presumably exacerbated by the open situation of the building and by the insulation of the cavity where large temperature gradients might be expected. The discussers believe this large gradient acting over a thin veneer may partly explain such dramatic damage over a short period of time. A thicker brick cladding would probably fare better. Undoubtedly, there are also seasonal modulations of the expansion. The discussers have shown elsewhere how related thermal effects in the rehydroxylation of archaeological ceramics may be calculated (Hall et al. 2013)

Rising damp: capillary rise dynamics in walls

We analyse rising damp using the concepts and methods of unsaturated flow theory. A simple first-order Sharp Front model is developed which uses clear physical principles and includes the effects of evaporation and gravity. We find that the simple model captures well the observed features of capillary rise in walls and is supported by the underpinning nonlinear capillary diffusion theory. For most cases, capillary forces are dominant and the effects of gravity can be neglected