Experimental validation of docking and capture using space robotics testbeds

Docking concepts include capture, berthing, and docking. The definitions of these terms, consistent with AIAA, are as follows: (1) capture (grasping)--the use of a manipulator to make initial contact and attachment between transfer vehicle and a platform; (2) berthing--positioning of a transfer vehicle or payload into platform restraints using a manipulator; and (3) docking--propulsive mechanical connection between vehicle and platform. The combination of the capture and berthing operations is effectively the same as docking; i.e., capture (grasping) + berthing = docking. These concepts are discussed in terms of Martin Marietta's ability to develop validation methods using robotics testbeds

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

Identification of membrane-associated lymphotoxin (LT) on mitogen-activated human lymphocytes using heterologous anti-LT antisera in vitro

Surface-associated lymphotoxin (LT) molecules have been identified on mitogen-activated human lymphocytes employing heterologous anti-α-LT serum in vitro. These membrane-associated LT molecules are present on PHA- or Con A-activated lymphocytes but do not appear to be expressed on unstimulated cells. Furthermore, these molecules were detected primarily on activated T lymphocytes, with little detectable on activated B- or null-cell populations. The removal of surface LT-bearing lymphocytes, using anti-α-LT serum + C′, does not dramatically affect the capacity of the remaining cells to release LT after mitogen restimulation. In addition, the presence of toxic molecules on the surface of activated lymphocytes suggests that these materials may be expressed in an inactive, noncytotoxic form. © 1977

Registered Ship Notes

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Coordinated control of a free-flying teleoperator

Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1988.Includes bibliographical references.by John Rawson Spofford.Sc.D