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

Residual Stresses in Layered Manufacturing

Layered Manufacturing processes accumulate residual stresses during materialbuildup. These stresses may cause part warping and layer delamination. This paper presents work done on investigating residual stress accumulation andp(i,rt distortion of Layered Manufactured artifacts. A simple analyticaLmodel was developed and used to determine how the number of layers and the layer thickness influences part warping. Resllits show that thin layers produce lower part deflection as compared with depositing fewer and thicker layers. In addition to the analytical work, a finite element model wasdeveloped and used to illvestigate the deposition pattern's influence on. the part deflection. Finite element model and corresponding experimental analysis showed that the geometry of the deposition pattern significantly affects the resulting part distortion. This finite element model was also used to investigate an inter-layer surface defect,. known as the Christmas Thee Step, that is associated with Shape Deposition Manufacturing. Results indicate that the features of this defect are influenced only by the material deposited close. to the part·surface and the particular material deposited. The step is not affected by the deposition pattern.Mechanical Engineerin

First results of the OROMA experiment in the Lister Tief of the German Bight in the North Sea, EARSeL Proceedings

The objective of the project entitled “Operational Radar and Optical Mapping in monitoring hydrodynamic, morphodynamic and environmental parameters for coastal management (OROMA)” within the Fifth Framework Programme of the European Commission (EC) is to improve the effectiveness of monitoring technologies in coastal waters. The Research Vessel (R.V.) Ludwig Prandtl of the GKSS research centre was equipped with special sensors and instruments to measure the position of the ship, the water depth, the salinity, the water temperature, the current speed and direction, the modulation characteristics of short-wave energies, and relevant air-sea interaction parameters due to the presence of submarine sand waves. The first experiment of the OROMA project on 5-16 August 2002 took place in the Lister Tief, a tidal inlet of the German Bight in the North Sea. The seabed morphology of the Lister Tief reveals a complex configuration of different bedforms which is four-dimensional in space and time. A significant upward orientated component uvert of the three-dimensional current velocity field was observed. Marked vertically so-called waterspouts of uvert above the crests of sand waves have been measured by the Acoustic Doppler Current Profiler (ADCP) as straight lines. They cause water upwelling with turbulence patterns at the water surface affecting the Normalized Radar Cross Section (NRCS) modulation. A first impression of expected NRCS modulation signatures of sea bottom topography detected by the GKSS shipborne X-band radar are presented as an uncalibrated composite of five single sea clutter images acquired in the Lister Tief on 22 November 1990

Effect of hydrogen on deformation structure and properties of CMSX-2 nickel-base single-crystal superalloy

Material used in this study was a heat of the alloy CMSX-2. This nickel-based superalloy was provided in the form of oriented single crystals, solutionized for 3 hrs at 1315 C. It was then usually heat treated as follows: 1050 C/16h/air cool + 850 C/48h/air cool. The resulting microstructure is dominated by cuboidal, ordered gamma precipitates with a volume fraction of about 75% and an average size of 0.5 microns. In brief, the most compelling hydrogen induced-changes in deformation structure are: (1) enhanced dislocation accumulation in the gamma matrix; and (2) more extensive cross-slip of superdislocations in the gamma precipitates. The enhanced dislocation density in gamma acts to decrease the mean free path of a superdislocation, while easier cross slip hinders superdislocation movement by providing pinning points in the form of sessile jobs. Both processes contribute to the increase of flow stress and the notable work hardening that occurs prior to fracture

Interaction Effects in Conductivity of Si Inversion Layers at Intermediate Temperatures

We compare the temperature dependence of resistivity \rho(T) of Si MOSFETs with the recent theory by Zala et al. This comparison does not involve any fitting parameters: the effective mass m* and g*-factor for mobile electrons have been found independently. An anomalous increase of \rho with temperature, which has been considered a signature of the "metallic" state, can be described quantitatively by the interaction effects in the ballistic regime. The in-plane magnetoresistance \rho(B) is qualitatively consistent with the theory; however, the lack of quantitative agreement indicates that the magnetoresistance is more susceptible to the sample-specific effects than \rho(T).Comment: 4 pages, 5 figures. References update

Desenvolvimento de sistemas agrícolas sustentáveis na região montanhosa da Mata Atlântica, Paty do Alferes, RJ.

Sistemas agrícolas da região montanhosa da Mata Atlântica; desenvolvimento de sistemas agrícolas sustentáveis; características gerais da região da Mata Atlântica; vegetação; clima; solos; aptidão das terras; áreas similares com respeito a vegetação, solos, relevo e clima; caracterização ambiental, estudo detalhado dos solos da Microbacia do Córrego da Cachoeira; Estudo semi-detalhado dos solos do Município de Paty do Alferes; uso atual das terras da Microbacia do Córrego da Cachoeira; uso atual das terras do Município de Paty do Alferes; aspectos socioeconômicos; caracterização sócio cultural do Município de Paty do Alferes; custos de produção e análise de riscos para a cultura do tomate; análise multicritério; influência do sistema agrícola sobre o meio ambiente, causas da erosão; prejuízos causados pela erosão; objetivos da pesquisa; avaliação de erosão; limites de tolerância de perdas de solo; medições de erosão na campo; quantificação da erosão através de parcelas - Wishmeier; ocorrência de metais pesados nas parcelas - Wishmeier; perdas de nutrientes causadas pela erosão; água superficial e de uso doméstico; introdução de técnicas alternativas de cultivo; área de diversificação de produção agrícola; sistemas alternativos de produção sob irrigação e melhoramento de práticas de cultivo em terras de agricultores ; sistemas de irrigação; recuperação de área degradada em terras de agricultor; monitoramento de agroquímicos e seu impacto no meio ambiente; nitratos, nitritos e fosfatos; pesticida no solo, sedimentos e vegetais; contaminação humana; disseminação e transferência de tecnologias; cursos; campanha de tríplice lavagem; feira do tomate; dias de campo; validação de tecnologias; promoção e organização de seminários, conferências e workshops; organização da comunidade; educação ambiental; resultados gerais e avaliação; base de dados georreferenciados; desenvolvimento de sistemas agrícolas sustentáveis.bitstream/item/65983/1/Sistemas-Sustentaveis-Paty-do-Alferes.pd