Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

Sensor based robot motion planning research has primarily focused on mobile robots. Consider, however, the case of a robot manipulator expected to operate autonomously in a dynamic environment where unexpected collisions can occur with many parts of the robot. Only a sensor based system capable of generating collision free paths would be acceptable in such situations. Recently, work in this area has been reported in which a deterministic solution for 2DOF systems has been generated. The arm was sensitized with 'skin' of infra-red sensors. We have proposed a heuristic (potential field based) methodology for redundant robots with large DOF's. The key concepts are solving the path planning problem by cooperating global and local planning modules, the use of complete information from the sensors and partial (but appropriate) information from a world model, representation of objects with hyper-ellipsoids in the world model, and the use of variational planning. We intend to sensitize the robot arm with a 'skin' of capacitive proximity sensors. These sensors were developed at NASA, and are exceptionally suited for the space application. In the first part of the report, we discuss the development and modeling of the capacitive proximity sensor. In the second part we discuss the motion planning algorithm

Material Strength in Polymer Shape Deposition Manufacturing

Shape Deposition Manufacturing (SDM) is a layered manufacturing process involving an iterative combination of material addition and material removal. Polymer SDM processes have used castable thermoset resins to build a variety of parts. The strength of such parts is determined by the bulk material properties of the part materials and by their interlayer adhesion. This paper describes tensile testing of three thermoset resins used for SDM - two polyurethane resins and one epoxy resin. Both monolithic specimens and specimens with two interlayer !nterfaces were tested. Interlayer tensile strengths were found to vary greatly among the three matenals, from 5-40 MPa.Mechanical Engineerin

Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

A capacitance based proximity sensor, the 'Capaciflector' (Vranish 92), has been developed at the Goddard Space Flight Center of NASA. We had investigated the use of this sensor for avoiding and maneuvering around unexpected objects (Mahalingam 92). The approach developed there would help in executing collision-free gross motions. Another important aspect of robot motion planning is fine motion planning. Let us classify manipulator robot motion planning into two groups at the task level: gross motion planning and fine motion planning. We use the term 'gross planning' where the major degrees of freedom of the robot execute large motions, for example, the motion of a robot in a pick and place type operation. We use the term 'fine motion' to indicate motions of the robot where the large dofs do not move much, and move far less than the mirror dofs, such as in inserting a peg in a hole. In this report we describe our experiments and experiences in this area

Quantized spin excitations in a ferromagnetic microstrip from microwave photovoltage measurements

Quantized spin excitations in a single ferromagnetic microstrip have been measured using the microwave photovoltage technique. Several kinds of spin wave modes due to different contributions of the dipole-dipole and the exchange interactions are observed. Among them are a series of distinct dipole-exchange spin wave modes, which allow us to determine precisely the subtle spin boundary condition. A comprehensive picture for quantized spin excitations in a ferromagnet with finite size is thereby established. The dispersions of the quantized spin wave modes have two different branches separated by the saturation magnetization.Comment: 4 pages, 3 figure

Transport spin polarization of Ni_xFe_{1-x}: electronic kinematics and band structure

We present measurements of the transport spin polarization of Ni_xFe_{1-x} (0<x<1) using the recently-developed Point Contact Andreev Reflection technique, and compare them with our first principles calculations of the spin polarization for this system. Surpisingly, the measured spin polarization is almost composition-independent. The results clearly demonstrate that the sign of the transport spin polarization does not coincide with that of the difference of the densities of states at the Fermi level. Calculations indicate that the independence of the spin polarization of the composition is due to compensation of density of states and Fermi velocity in the s- and d- bands

Oscillating magnetoresistance in diluted magnetic semiconductor barrier structures

Ballistic spin polarized transport through diluted magnetic semiconductor (DMS) single and double barrier structures is investigated theoretically using a two-component model. The tunneling magnetoresistance (TMR) of the system exhibits oscillating behavior when the magnetic field are varied. An interesting beat pattern in the TMR and spin polarization is found for different NMS/DMS double barrier structures which arises from an interplay between the spin-up and spin-down electron channels which are splitted by the s-d exchange interaction.Comment: 4 pages, 6 figures, submitted to Phys. Rev.

Longitudinal spin transport in diluted magnetic semiconductor superlattices: the effect of the giant Zeeman splitting

Longitudinal spin transport in diluted magnetic semiconductor superlattices is investigated theoretically. The longitudinal magnetoconductivity (MC) in such systems exhibits an oscillating behavior as function of an external magnetic field. In the weak magnetic field region the giant Zeeman splitting plays a dominant role which leads to a large negative magnetoconductivity. In the strong magnetic field region the MC exhibits deep dips with increasing magnetic field. The oscillating behavior is attributed to the interplay between the discrete Landau levels and the Fermi surface. The decrease of the MC at low magnetic field is caused by the $s-d$ exchange interaction between the electron in the conduction band and the magnetic ions.Comment: 6 pages, 9 figures, submitted to Phys. Rev.