Terminal guidance sensor system

A system is described for guiding a claw to the proper distance and into the proper orientation in yaw and pitch, to engage a grappling fixture. The system includes four proximity sensors on the claw, that are arranged at corners of an imaginary square, which sense the distance to the top surface of the grappling fixture. If a pair of sensors at opposite corners of the square sense a different distance to the top surface of the grappling fixture, then it is known that the claw is rotated about a corresponding axis with respect to the plane of the grappling fixture

Abuelito

An outsider’s perspective of the Spanish funerary process and the universal grappling with grief

Payload retention device

A payload retention device for grappling and retaining a payload in docked position on a supporting structure in the cargo bay of a space vehicle is presented. The device comprises a two-fault tolerant electromagnetic grappling system comprising electromagnets for attracting and grappling a grapple strike plate affixed to the payload when in proximity thereto and an electromechanical latching assembly comprising a pair of independent latching subassemblies. Each subassembly comprises a set of latching pawls which are driven into latching and unlatching positions relative to a grappled payload by a pair of gearmotors, each equipped with a ratchet clutch drive mechanism which is two-fault tolerant with respect to latching such that only one gearmotor of the four needs to be operational to effect a latch of the payload but is single fault tolerant with respect to release of a latched payload. Sensors are included for automatically sensing the magnetic grappling of a payload and for automatically de-energizing the gearmotors of the latching subassemblies when a latch condition is achieved

Ghosts of the Past

Every institution has its skeletons. We\u27re looking for ours. Institutions across the nation are examining their histories and grappling with controversial elements – Confederate statues, founding leaders, building names and more. Archivist Rich Schmidt is digging into Linfield\u27s history

Autonomous sensor-based dual-arm satellite grappling

Dual-arm satellite grappling involves the integration of technologies developed in the Sensing and Perception (S&P) Subsystem for object acquisition and tracking, and the Manipulator Control and Mechanization (MCM) Subsystem for dual-arm control. S&P acquires and tracks the position, orientation, velocity, and angular velocity of a slowly spinning satellite, and sends tracking data to the MCM subsystem. MCM grapples the satellite and brings it to rest, controlling the arms so that no excessive forces or torques are exerted on the satellite or arms. A 350-pound satellite mockup which can spin freely on a gimbal for several minutes, closely simulating the dynamics of a real satellite is demonstrated. The satellite mockup is fitted with a panel under which may be mounted various elements such as line replacement modules and electrical connectors that will be used to demonstrate servicing tasks once the satellite is docked. The subsystems are housed in three MicroVAX II microcomputers. The hardware of the S&P Subsystem includes CCD cameras, video digitizers, frame buffers, IMFEX (a custom pipelined video processor), a time-code generator with millisecond precision, and a MicroVAX II computer. Its software is written in Pascal and is based on a locally written vision software library. The hardware of the MCM Subsystem includes PUMA 560 robot arms, Lord force/torque sensors, two MicroVAX II computers, and unimation pneumatic parallel grippers. Its software is written in C, and is based on a robot language called RCCL. The two subsystems are described and test results on the grappling of the satellite mockup with rotational rates of up to 2 rpm are provided

Grappling with movement models: performing arts and slippery contexts

The ways we leave, recognise, and interpret marks of human movement are deeply entwined with layerings of collective memory. Although we retroactively order chronological sediments to map shareable stories, our remediations often emerge unpredictably from a multidimensional mnemonic fabric: contemporary ideas can resonate with ancient aspirations and initiatives, and foreign fields of investigation can inform ostensibly unrelated endeavours. Such links reinforce the debunking of grand narratives, and resonate with quests for the new kinds of thinking needed to address the mix of living, technological, and semiotic systems that makes up our wider ecology. As a highly evolving field, movement-and-computing is exceptionally open to, and needy of, this diversity. This paper argues for awareness of the analytical apparatus we sometimes too unwittingly bring to bear on our research objects, and for the value of transdisciplinary and tangential thinking to diversify our research questions. With a view to seeking ways to articulate new, shareable questions rather than propose answers, it looks at wider questions of problem-framing. It emphasises the importance of - quite literally - grounding movement, of recognising its environmental implications and qualities. Informed by work on expressive gesture and creative use of instruments in domains including puppetry and music, this paper also insists on the complexity and heterogeneity of the research strands that are indissociably bound up in our corporeal-technological movement practices

Lincoln’s Legacy and a New Generation of Leadership

One hundred fifty-three years ago our nation was adrift, embroiled in a civil war and grappling with questions about our future. Many had lost hope. In November of 1863 here at Gettysburg, President Abraham Lincoln called upon our nation to rededicate itself to the unfinished work before us—the work of equality, the fulfillment of our democracy, a new birth of freedom. [excerpt

Courtship Behavior in \u3ci\u3eHabronattus Captiosus\u3c/i\u3e (Araneae: Salticidae)

Courtship display of Habronattus captiosus involves several behavioral elements common to other members of the Habronattus coecatus species group. The one unique element is vibration of the patellae when raised over the opisthosoma. Male-male interactions included an agonistic display and grappling. Fourteen male-female interactions were observed, which exhibited various combinations of display elements. There was one successful mating and one case of cannibalism by a male

\u3ci\u3eBond v. United States\u3c/i\u3e: Concurring in the Judgment

Bond v. United States presented the deep constitutional question of whether a treaty can increase the legislative power of Congress. Unfortunately, a majority of the Court managed to sidestep the constitutional issue by dodgy statutory interpretation. But the other three Justices—Scalia, Thomas, and Alito—all wrote important concurrences in the judgment, grappling with the constitutional issues presented. In particular, Justice Scalia’s opinion (joined by Justice Thomas), is a masterpiece, eloquently demonstrating that Missouri v. Holland is wrong and should be overruled: a treaty cannot increase the legislative power of Congress