Simulation of a flexible arm robot for space station applications

Article Abstract:

A Flexible Arm Robot (FAR), which could be attached to the Space Station, could be used for reaching many locations in the vicinity of the Space Station without the need for astronauts in space suits to perform extravehicular activity. FAR is a tube-shaped robot consisting of many stacked segments which are individually controllable. Each segment has six degrees of freedom. Because this robot has many degrees of freedom, new algorithms were needed to control it. A graphical model and a mathematical model (direct and inverse kinematics) of FAR have been developed. Based on these two models, a software package for simulating this Flexible Arm Robot on a computer system has been made. FAR and the two models are briefly described in this paper. (Reprinted by permission of the publisher.)

General industrial machinery, not elsewhere classified, Innovations, Computer graphics, Robot Arms, Space Exploration, Alabama, University of (Huntsville), Wyle Laboratories, Pace and Waite Inc., WYL

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Development and training of a learning expert system in an autonomous mobile robot via simulation

Article Abstract:

The Center for Engineering Systems Advanced Research (CESAR) conducts basic research in the area of intelligent machines. Recently at CESAR a learning expert systsem was created to operate on board an autonomous robot working at a process control panel. A two-computer simulation system was used to create, evaluate and train this learning system. The simulation system has a graphics display of the current status of the process being simulated, and the same program which does the simulating also drives the actual control panel. Simulation results were validated on the actual robot. The speed and safety values of using a computerized simulator to train a learning computer, and future uses of the simulation system, are discussed. (Reprinted by permission of the publisher.)

Commercial nonphysical research, Research, Industrial research, Expert systems, Navigation, Process control, Robots, Oak Ridge National Laboratory, Research and Development, Computer Learning

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Fast subdivision of Bezier surfaces

Article Abstract:

In this paper the classical subdivision method for parametrically defined surfaces by Lane and Riesenfeld is reformulated for Bezier surfaces. The new algorithm is based on matrix multiplications, which results in a very concise and elegant formulation. In addition, for geometry modeling this formulation allows very fast implementations. Three implementations are described along with some test results. (Reprinted by permission of the publisher)

Mathematical logic, Programming Instruction, Algorithm Analysis, Parametric Tests

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