Briefs: Mechanical & Fluid Systems
Graph Theory Roots of Spatial Operators for Kinematics and Dynamics
Spatial operators have been used to analyze the dynamics of robotic multibody systems and to develop novel computational dynamics algorithms. Mass matrix factorization, inversion, diagonalization, and linearization are among several new insights obtained using such operators....
Briefs: Medical
Enabling Disabled Persons To Gain Access to Digital Media
A report describes the first phase in an effort to enhance the NaviGaze software to enable profoundly disabled persons to operate computers. (Running on a Windows-based computer equipped with a video camera aimed at the user’s head, the original NaviGaze software processes the user’s...
Briefs: Mechanical & Fluid Systems
TRACK is a specialized controller for the All-Terrain Hex-Limbed Extra-Terrestrial Explorer Robot (ATHLETE), which has six limbs with six kinematic degrees of freedom each. TRACK is a...
Briefs: Software
Mixed Real/Virtual Operator Interface for ATHLETE
The mixed real/virtual operator interface for ATHLETE (MSim-ATHLETE) is a new software system for operating manipulation and inspection tasks in JPL’s ATHLETE (All-Terrain Hex-Legged Extra-Terrestrial Explorer). The system presents the operator with a graphical model of the robot and a palette...
Briefs: Information Technology
Physics of Life: A Model for Non-Newtonian Properties of Living Systems
This innovation proposes the reconciliation of the evolution of life with the second law of thermodynamics via the introduction of the First Principle for modeling behavior of living systems. The structure of the model is quantum-inspired: it acquires the topology of the...
Articles: Imaging
Dr. Greg Olsen has had an illustrious career as a research scientist and entrepreneur. With degrees in physics and materials science, Olsen founded EPITAXX, a fiber-optic...
Briefs: Electronics & Computers
Enhanced Video-Oculography System
A previously developed video-oculography system has been enhanced for use in measuring vestibulo-ocular reflexes of a human subject in a centrifuge, motor vehicle, or other setting. The system as previously developed included a lightweight digital video camera mounted on goggles. The left eye was illuminated by...
Briefs: Software
Converting CSV Files to RKSML Files
A computer program converts, into a format suitable for processing on Earth, files of downlinked telemetric data pertaining to the operation of the Instrument Deployment Device (IDD), which is a robot arm on either of the Mars Explorer Rovers (MERs). The raw downlinked data files are in comma-separated-value...
Articles: Motion Control
Many robotic and mechanical systems require the calculation of kinematic equations to express the relationship between variables that are to be controlled (motor/actuator position obtained via...
Briefs: Information Technology
Fusing Image Data for Calculating Position of an Object
A computer program has been written for use in maintaining the calibration, with respect to the positions of imaged objects, of a stereoscopic pair of cameras on each of the Mars Explorer Rovers Spirit and Opportunity. The program identifies and locates a known object in the images. The...
Briefs: Software
The High Gain Antenna Pointing and Obstruction Avoidance software performs computations for pointing a Mars Rover high-gain antenna for communication with Earth while (1) avoiding...
Briefs: Software
2D/3D Visual Tracker for Rover Mast
A visual-tracker computer program controls an articulated mast on a Mars rover to keep a designated feature (a target) in view while the rover drives toward the target, avoiding obstacles.
Several prior visual tracker programs have been tested on rover platforms; most require very small and...
Briefs: Software
Path Following With Slip Compensation for a Mars Rover
A software system for autonomous operation of a Mars rover is composed of several key algorithms that enable the rover to accurately follow a designated path, compensate for slippage of its wheels on terrain, and reach intended goals. The techniques implemented by the algorithms are visual...
Briefs: Medical
A device built around a pair of electronic shutters has been demonstrated to be effective as a prototype of stroboscopic goggles or eyeglasses for preventing or reducing motion sickness....
Briefs: Mechanical & Fluid Systems
Figure 1 shows a salt pill and some parts of a thermally insulating, kinematic suspension system that holds the salt pill rigidly in an adiabatic demagnetization refrigerator (ADR)....
Briefs: Information Technology
Hybrid Image-Plane/Stereo (HIPS) manipulation is a method of processing image data, and of controlling a robotic manipulator arm in response to the data, that enables the manipulator arm to place an...
Briefs: Robotics, Automation & Control
An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a “force-feedback exoskeleton arm master” (F-EAM)...
Briefs: Software
Software for Simulating a Complex Robot
RoboSim (Robot Simulation) is a computer program that simulates the poses and motions of the Robonaut — a developmental anthropomorphic robot that has a complex system of joints with 43 degrees of freedom and multiple modes of operation and control. RoboSim performs a full kinematic simulation of all...
Briefs: Mechanical & Fluid Systems
Figure 1 depicts a mechanical linkage that converts rotational motion about three base joints (A, B, and C) to translational motion of an end effector (D) in three dimensions. The linkage...
Briefs: Motion Control
Crowned races have been proposed for crossed roller bearings. Crowning of the races is expected to reduce scuffing of the cylindrical rollers. Crowning of the races is expected to be especially...
Briefs: Mechanical & Fluid Systems
A small mobile robot equipped with a stereoscopic machine vision system and two manipulator arms that have limited degrees of freedom has been given the ability to perform...
Briefs: Motion Control
A system of electronic hardware and software has been developed as an experimental prototype of a visual interface between a human operator and a possibly remote one-arm...
Briefs: Medical
An x-ray photogrammetric technique for minimally invasive measurement of displacements in muscles, limbs, and organs is undergoing development. This technique could be alternative or...
Briefs: Motion Control
A method of estimating the state of contact between (1) the wheels of a robotic vehicle equipped with a rocker-bogey suspension and (2) the ground has been devised. The contact-state...
Briefs: Mechanical & Fluid Systems
The figure schematically illustrates three manipulator mechanisms for positioning an end effector (a robot hand or other object) in a plane (which would ordinarily be horizontal)....
Briefs: Robotics, Automation & Control
An electromechanical device called the "Dexterous Master" (DM) is an exoskeletal mechanism that is worn on a human operator's hand for (1) measuring the positions and orientations of the...
Briefs: Robotics, Automation & Control
Robots with multiple-link arms that could reach through narrow openings into hidden cavities are undergoing development. Called "multifunction dexterous boro-robots" (MDBRs), these robots...
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