Test bed experiments for various telerobotic system characteristics and configurations

Dexterous manipulation and grasping in telerobotic systems depends on the integration of high-performance sensors, displays, actuators and controls into systems in which careful consideration has been given to human perception and tolerance. Research underway at the Wisconsin Center for Space Automation and Robotics (WCSAR) has the objective of enhancing the performance of these systems and their components, and quantifying the effects of the many electrical, mechanical, control, and human factors that affect their performance. This will lead to a fundamental understanding of performance issues which will in turn allow designers to evaluate sensor, actuator, display, and control technologies with respect to generic measures of dexterous performance. As part of this effort, an experimental test bed was developed which has telerobotic components with exceptionally high fidelity in master/slave operation. A Telerobotic Performance Analysis System has also been developed which allows performance to be determined for various system configurations and electro-mechanical characteristics. Both this performance analysis system and test bed experiments are described

Impact of inertia, friction, and backlash upon force control in telemanipulation

The mechanical behavior of master controllers of telemanipulators has been a concern of both designers and implementors of telerobotic systems. In general, the literature recommends that telemanipulator systems be constructed that minimize inertia, friction, and backlash in an effort to improve telemanipulative performance. For the most part, these recommendations are founded upon theoretical analysis or simply intuition. Although these recommendations are not challenged on their merit, the material results are measured of building and fielding telemanipulators that possess less than ideal mechanical behaviors. Experiments are described in which forces in a mechanical system with human input are evaluated as a function of mechanical characteristics such as inertia, friction, and backlash. Results indicate that the ability of the human to maintain gripping forces was relatively unaffected by dynamic characteristics in the range studied, suggesting that telemanipulator design in this range should be based on task level force control requirements rather than human factors

Peptidoglycan synthesis machinery in Agrobacterium tumefaciens during unipolar growth and cell division.

UnlabelledThe synthesis of peptidoglycan (PG) in bacteria is a crucial process controlling cell shape and vitality. In contrast to bacteria such as Escherichia coli that grow by dispersed lateral insertion of PG, little is known of the processes that direct polar PG synthesis in other bacteria such as the Rhizobiales. To better understand polar growth in the Rhizobiales Agrobacterium tumefaciens, we first surveyed its genome to identify homologs of (~70) well-known PG synthesis components. Since most of the canonical cell elongation components are absent from A. tumefaciens, we made fluorescent protein fusions to other putative PG synthesis components to assay their subcellular localization patterns. The cell division scaffolds FtsZ and FtsA, PBP1a, and a Rhizobiales- and Rhodobacterales-specific l,d-transpeptidase (LDT) all associate with the elongating cell pole. All four proteins also localize to the septum during cell division. Examination of the dimensions of growing cells revealed that new cell compartments gradually increase in width as they grow in length. This increase in cell width is coincident with an expanded region of LDT-mediated PG synthesis activity, as measured directly through incorporation of exogenous d-amino acids. Thus, unipolar growth in the Rhizobiales is surprisingly dynamic and represents a significant departure from the canonical growth mechanism of E. coli and other well-studied bacilli.ImportanceMany rod-shaped bacteria, including pathogens such as Brucella and Mycobacteriu, grow by adding new material to their cell poles, and yet the proteins and mechanisms contributing to this process are not yet well defined. The polarly growing plant pathogen Agrobacterium tumefaciens was used as a model bacterium to explore these polar growth mechanisms. The results obtained indicate that polar growth in this organism is facilitated by repurposed cell division components and an otherwise obscure class of alternative peptidoglycan transpeptidases (l,d-transpeptidases). This growth results in dynamically changing cell widths as the poles expand to maturity and contrasts with the tightly regulated cell widths characteristic of canonical rod-shaped growth. Furthermore, the abundance and/or activity of l,d-transpeptidases appears to associate with polar growth strategies, suggesting that these enzymes may serve as attractive targets for specifically inhibiting growth of Rhizobiales, Actinomycetales, and other polarly growing bacterial pathogens