A new scheme of force reflecting control

A new scheme of force reflecting control has been developed that incorporates position-error-based force reflection and robot compliance control. The operator is provided with a kinesthetic force feedback which is proportional to the position error between the operator-commanded and the actual position of the robot arm. Robot compliance control, which increases the effective compliance of the robot, is implemented by low pass filtering the outputs of the force/torque sensor mounted on the base of robot hand and using these signals to alter the operator's position command. This position-error-based force reflection scheme combined with shared compliance control has been implemented successfully to the Advanced Teleoperation system consisting of dissimilar master-slave arms. Stability measurements have demonstrated unprecedentedly high force reflection gains of up to 2 or 3, even though the slave arm is much stiffer than operator's hand holding the force reflecting hand controller. Peg-in-hole experiments were performed with eight different operating modes to evaluate the new force-reflecting control scheme. Best task performance resulted with this new control scheme

Visual enhancements in pick-and-place tasks: Human operators controlling a simulated cylindrical manipulator

A teleoperation simulator was constructed with vector display system, joysticks, and a simulated cylindrical manipulator, in order to quantitatively evaluate various display conditions. The first of two experiments conducted investigated the effects of perspective parameter variations on human operators' pick-and-place performance, using a monoscopic perspective display. The second experiment involved visual enhancements of the monoscopic perspective display, by adding a grid and reference lines, by comparison with visual enhancements of a stereoscopic display; results indicate that stereoscopy generally permits superior pick-and-place performance, but that monoscopy nevertheless allows equivalent performance when defined with appropriate perspective parameter values and adequate visual enhancements

Quantum Key Distribution with Blind Polarization Bases

We propose a new quantum key distribution scheme that uses the blind polarization basis. In our scheme the sender and the receiver share key information by exchanging qubits with arbitrary polarization angles without basis reconciliation. As only random polarizations are transmitted, our protocol is secure even when a key is embedded in a not-so-weak coherent-state pulse. We show its security against the photon number splitting attack and the impersonation attack.Comment: Security has been improved upon referee's comment. 4 pages and 2 figure

Force reflection with compliance control

Two types of systems for force-reflecting control, which enables high force-reflection gain, are presented: position-error-based force reflection and low-pass-filtered force reflection. Both of the systems are combined with shared compliance control. In the position-error-based class, the position error between the commanded and the actual position of a compliantly controlled robot is used to provide force reflection. In the low-pass-filtered force reflection class, the low-pass-filtered output of the compliance control is used to provide force reflection. The increase in force reflection gain can be more than 10-fold as compared to a conventional high-bandwidth pure force reflection system, when high compliance values are used for the compliance control

Simultaneous dual-frequency radio observations of S5 0716+714: A search for intraday variability with the Korean VLBI Network

This study aims to search for the existence of intraday variability (IDV) of BL Lac object S5 0716+714 at high radio frequencies for which the interstellar scintillation effect is not significant. Using the 21-meter radio telescope of the Korean VLBI Network (KVN), we present results of multi-epoch simultaneous dual-frequency radio observations. Single-dish observations of S5 0716+714 were simultaneously conducted at 21.7 GHz (K-band) and 42.4 GHz (Q-band), with a high cadence of 30-60 minute intervals.We observed four epochs between December 2009 and June 2010. Over the whole set of observation epochs, S5 0716+714 showed significant inter-month variations in flux density at both the K- and Q-bands, with modulation indices of approximately 19% for the K-band and approximately 36% for the Q-band. In all epochs, no clear intraday variability was detected at either frequency. The source shows monotonic flux density increase in epochs 1 and 3 and monotonic flux density decrease in epochs 2 and 4. In the flux density increasing phases, the flux densities at the Q-band increase more rapidly. In the decreasing phase, no significant flux density difference is seen at the two frequencies. The situation could be different close to flux density peaks that we did not witness in our observations. We find an inverted spectrum with mean spectral indices of -0.57+-0.13 in epoch 1 and -0.15+-0.11 in epoch 3. On the other hand, we find relatively steep indices of +0.24+-0.14 and +0.17+-0.18 in epochs 2 and 4, respectively. We conclude that the frequency dependence of the variability and the change of the spectral index are caused by source-intrinsic effects rather than by any extrinsic scintillation effect.Comment: 6 pages and 4 figures and 4 table

Graphics simulation and training aids for advanced teleoperation

Graphics displays can be of significant aid in accomplishing a teleoperation task throughout all three phases of off-line task analysis and planning, operator training, and online operation. In the first phase, graphics displays provide substantial aid to investigate work cell layout, motion planning with collision detection and with possible redundancy resolution, and planning for camera views. In the second phase, graphics displays can serve as very useful tools for introductory training of operators before training them on actual hardware. In the third phase, graphics displays can be used for previewing planned motions and monitoring actual motions in any desired viewing angle, or, when communication time delay prevails, for providing predictive graphics overlay on the actual camera view of the remote site to show the non-time-delayed consequences of commanded motions in real time. This paper addresses potential space applications of graphics displays in all three operational phases of advanced teleoperation. Possible applications are illustrated with techniques developed and demonstrated in the Advanced Teleoperation Laboratory at JPL. The examples described include task analysis and planning of a simulated Solar Maximum Satellite Repair task, a novel force-reflecting teleoperation simulator for operator training, and preview and predictive displays for on-line operations

Three dimensional tracking with misalignment between display and control axes

Human operators confronted with misaligned display and control frames of reference performed three dimensional, pursuit tracking in virtual environment and virtual space simulations. Analysis of the components of the tracking errors in the perspective displays presenting virtual space showed that components of the error due to visual motor misalignment may be linearly separated from those associated with the mismatch between display and control coordinate systems. Tracking performance improved with several hours practice despite previous reports that such improvement did not take place