Method and apparatus for positioning a robotic end effector

A robotic end effector and operation protocol for a reliable grasp of a target object irrespective of the target's contours is disclosed. A robotic hand includes a plurality of jointed fingers, one of which, like a thumb, is in opposed relation to the other. Each finger is comprised of at least two jointed sections, and provided with reflective proximity sensors, one on the inner surface of each finger section. Each proximity sensor comprises a transmitter of a beam of radiant energy and means for receiving reflections of the transmitted energy when reflected by a target object and for generating electrical signals responsive thereto. On the fingers opposed to the thumb, the proximity sensors on the outermost finger sections are aligned in an outer sensor array and the sensors on the intermediate finger sections and sensors on the innermost finger sections are similarly arranged to form an intermediate sensor array and an inner sensor array, respectively. The invention includes a computer system with software and/or circuitry for a protocol comprising the steps in sequence of: (1) approach axis alignment to maximize the number of outer layer sensors which detect the target; (2) non-contact contour following the target by the robot fingers to minimize target escape potential; and (3) closing to rigidize the target including dynamically re-adjusting the end effector finger alignment to compensate for target motion. A signal conditioning circuit and gain adjustment means are included to maintain the dynamic range of low power reflection signals

Smart hands for the EVA retriever

Dexterous, robotic hands are required for the extravehicular activity retriever (EVAR) system being developed by the NASA Johnson Space Center (JSC). These hands, as part of the EVAR system, must be able to grasp objects autonomously and securely which inadvertently separate from the Space Station. Development of the required hands was initiated in 1987. Outlined here are the hand development activities, including design considerations, progress to date, and future plans. Several types of dexterous hands that were evaluated, along with a proximity-sensing capability that was developed to initiate a reflexive, adaptive grasp, are described. The evaluations resulted in the design and fabrication of a 6-degree-of-freedom (DOF) hand that has two fingers and a thumb arranged in an anthropomorphic configuration. Finger joint force and position sensors are included in the design, as well as infrared proximity sensors which allow initiation of the grasp sequence when an object is detected within the grasp envelope

An integrated dexterous robotic testbed for space applications

An integrated dexterous robotic system was developed as a testbed to evaluate various robotics technologies for advanced space applications. The system configuration consisted of a Utah/MIT Dexterous Hand, a PUMA 562 arm, a stereo vision system, and a multiprocessing computer control system. In addition to these major subsystems, a proximity sensing system was integrated with the Utah/MIT Hand to provide capability for non-contact sensing of a nearby object. A high-speed fiber-optic link was used to transmit digitized proximity sensor signals back to the multiprocessing control system. The hardware system was designed to satisfy the requirements for both teleoperated and autonomous operations. The software system was designed to exploit parallel processing capability, pursue functional modularity, incorporate artificial intelligence for robot control, allow high-level symbolic robot commands, maximize reusable code, minimize compilation requirements, and provide an interactive application development and debugging environment for the end users. An overview is presented of the system hardware and software configurations, and implementation is discussed of subsystem functions

Ranging Apparatus and Method Implementing Stereo Vision System

A laser-directed ranging system for use in telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a left and right video camera mounted on a camera platform, and a remotely positioned operator. The position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. A laser is provided between the left and right video camera and is directed by the user to point to a target device. The images produced by the left and right video cameras are processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. The horizontal disparity between the two processed images is calculated for use in a stereometric ranging analysis from which range is determined

Light-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

A laser-directed ranging system has utility for use in various fields, such as telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a single video camera and a directional light source such as a laser mounted on a camera platform, and a remotely positioned operator. In one embodiment, the position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. The laser is offset vertically and horizontally from the camera, and the laser/camera platform is directed by the user to point the laser and the camera toward a target device. The image produced by the video camera is processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. A reference point is defined at a point in the video frame, which may be located outside of the image area of the camera. The disparity between the digital image of the laser spot and the reference point is calculated for use in a ranging analysis to determine range to the target

Inference of Tidal Elevation in Shallow Water Using a Vessel-Towed Acoustic Doppler Current Profiler

Vessel-towed acoustic Doppler current profilers (ADCPs) have been widely used to measure velocity profiles. Since the instrument is usually mounted on a catamaran floating on the surface, previous studies have used the water surface as the reference level from which the vertical coordinate for the velocity profile is defined. However, because of the tidal oscillation, the vertical coordinate thus defined is time-dependent in an Earth-coordinate system, which introduces an error to the estimated harmonic constants for the velocity. As a result, the total transport will also be in error. This is particularly a problem in shallow waters where the tidal elevation is relatively large. Therefore tidal elevation needs to be resolved to make a correct harmonic analysis for the velocity. The present study is aimed at resolving the tidal elevation change in shallow water using a vessel-towed ADCP. Semidiurnal and diurnal tidal elevations across the lower Chesapeake Bay have been determined using a vessel-towed ADCP. Data from four cruises ranging from 25 to 92 hours in 1996 and 1997 are used. Water depth averaged every 30 s by the ADCP is studied by harmonic and statistical analysis. By selecting only the data within a narrow band (similar to 320 m) over the planned transect, we are able to improve the reliability of the data. We then grid the depth data along the 16 km transect into 200 equal segments and use harmonic analysis to resolve the semidiurnal and diurnal tidal variations within each segment. We find that (1) the depth data from the ADCP contain both semidiurnal and diurnal signals that can be resolved, from which the surface elevation can be inferred, (2) the major error appears to come from spatial variation of the depth, (3) the semidiurnal and diurnal tidal variations of elevation inferred over Aat bottom topography account for almost 100% of the total variability, while those measurements over large bottom slopes account for a much lower percentage of the total variability, (4) at least 70% of the variability of depth can be explained by semidiurnal and diurnal tides if the bottom slope is smaller than 0.006, and (5) the spatial variation of both amplitude and phase of the elevation along the transect appears to be small with a slightly lower tidal amplitude at the south of the Chesapeake Bay entrance, consistent with the Coriolis effect. The inferred elevations from the ADCP readings are consistent with sea level measurements at a tide station 10 km inside the estuary

Atomic force microscopy of Bacillus spore surface morphology

Bacillus spore surface morphology was imaged with atomic force microscopy (AFM) to determine if characteristic surface features could be used to distinguish between four closely related species; Bacillus anthracis Sterne strain, Bacillus thuringiensis var. kurstaki, Bacillus cereus strain 569, and Bacillus globigii var. niger. AFM surface height images showed an irregular topography across the curved upper surface of the spores. Phase images showed a superficial grain structure with different levels of phase contrast and significant differences in average surface morphologies among the four species. Although spores of the same species showed similarities, there was significant variability within each species. Overall, AFM revealed that spore surface morphology is rich with information, which can be used to distinguish a sample of about 20 spores from a similar number of spores of closely related species. Statistical analysis of spore morphology from a combination of amplitude and phase images for a small sample allows differentiation between, B. anthracis and its close relatives

Method of Making an Electrically Conductive Strain Gauge Material

An improved elastomeric electrically conductive strain gauge for use in virtual reality systems is disclosed which involves the flash heating of a doped ethylene vinyl acetate elastomer

Application of dexterous space robotics technology to myoelectric prostheses

Future space missions will require robots equipped with highly dexterous robotic hands to perform a variety of tasks. A major technical challenge in making this possible is an improvement in the way these dexterous robotic hands are remotely controlled or teleoperated. NASA is currently investigating the feasibility of using myoelectric signals to teleoperate a dexterous robotic hand. In theory, myoelectric control of robotic hands will require little or no mechanical parts and will greatly reduce the bulk and weight usually found in dexterous robotic hand control devices. An improvement in myoelectric control of multifinger hands will also benefit prosthetics users. Therefore, as an effort to transfer dexterous space robotics technology to prosthetics applications and to benefit from existing myoelectric technology, NASA is collaborating with the Limbs of Love Foundation, the Institute for Rehabilitation and Research, and Rice University in developing improved myoelectric control multifinger hands and prostheses. In this paper, we will address the objectives and approaches of this collaborative effort and discuss the technical issues associated with myoelectric control of multifinger hands. We will also report our current progress and discuss plans for future work