Design and control of remote manipulators

Results of investigations on vibrational modes of manipulators revealed: (1) any arbitrary manipulator may be analyzed for its small motion compliances; (2) a simulation of the Martin-Marietta shuttle boom with a 65,000 lb. payload attached, indicated three natural frequencies; and (3) simulations can be made of rigid limbs and flexible joints as well as for flexible limbs and locked joints and combinations thereof. Trajectories for arms were determined so that some integral criterion such as integral of kinetic energy or control torque magnitude is minimized over a motion of the arm. Experiments performed to evaluate various TV displays in conjunction with manipulator control modes showed that when mounted directly to the manipulator control arm and arranged to look approximately along the arm to the hand the operator could perform the task almost as quickly as when viewing the task directly

Tradeoffs in manipulator structure and control. Part 1: Summary

The study of various aspects of manipulator design and control is summarized, focusing on the interaction of the structure's flexible dynamics and the dynamics of the joint control system, including specific information on modeling and design, modal analysis and control, and the flexible manipulator analysis computer program, FMAP

Plasma Physics

Contains reports on three research projects.U. S. Atomic Energy Commission (Contract AT(30-1)-1842)U. S. Air Force (Electronic Systems Division) under Contract AF19(604)-599

Nowhere minimal CR submanifolds and Levi-flat hypersurfaces

A local uniqueness property of holomorphic functions on real-analytic nowhere minimal CR submanifolds of higher codimension is investigated. A sufficient condition called almost minimality is given and studied. A weaker necessary condition, being contained a possibly singular real-analytic Levi-flat hypersurface is studied and characterized. This question is completely resolved for algebraic submanifolds of codimension 2 and a sufficient condition for noncontainment is given for non algebraic submanifolds. As a consequence, an example of a submanifold of codimension 2, not biholomorphically equivalent to an algebraic one, is given. We also investigate the structure of singularities of Levi-flat hypersurfaces.Comment: 21 pages; conjecture 2.8 was removed in proof; to appear in J. Geom. Ana

Plasma Physics

Contains reports on two research projects.United States Atomic Energy Commission (Contract AT(30-1)-1842)United States Air Force, Electronic Systems Division (Contract AF19(604)-5992)National Science Foundation (Grant G-24073

Performance of Coupled Product Development Activities with a Deadline

This paper explores the performance of coupled development tasks subject to a deadline constraint by proposing a performance generation model (PGM). The goal of the PGM is to develop insights about optimal strategies (i.e. sequential, concurrent, or overlapped) to manage coupled design tasks that share fixed amount of engineering resources subject to performance and deadline constraints. Model analysis characterizes the solution space for the coupled development problem. The solution space is used to explore the generation of product performance and the associated dynamic forces affecting concurrent development practices. We use these forces to explain conditions under which concurrency is a desirable strategy

DDR2 controls breast tumor stiffness and metastasis by regulating integrin mediated mechanotransduction in CAFs

Biomechanical changes in the tumor microenvironment influence tumor progression and metastases. Collagen content and fiber organization within the tumor stroma are major contributors to biomechanical changes (e., tumor stiffness) and correlated with tumor aggressiveness and outcome. What signals and in what cells control collagen organization within the tumors, and how, is not fully understood. We show in mouse breast tumors that the action of the collagen receptor DDR2 in CAFs controls tumor stiffness by reorganizing collagen fibers specifically at the tumor-stromal boundary. These changes were associated with lung metastases. The action of DDR2 in mouse and human CAFs, and tumors in vivo, was found to influence mechanotransduction by controlling full collagen-binding integrin activation via Rap1-mediated Talin1 and Kindlin2 recruitment. The action of DDR2 in tumor CAFs is thus critical for remodeling collagen fibers at the tumor-stromal boundary to generate a physically permissive tumor microenvironment for tumor cell invasion and metastases

Can Reflection from Grains Diagnose the Albedo?

By radiation transfer models with a realistic power spectra of the projected density distributions, we show that the optical properties of grains are poorly constrained by observations of reflection nebulae. The ISM is known to be hierarchically clumped from a variety of observations (molecules, H I, far-infrared). Our models assume the albedo and phase parameter of the dust, the radial optical depth of the sphere averaged over all directions, and random distributions of the dust within the sphere. The outputs are the stellar extinction, optical depth, and flux of scattered light as seen from various viewing angles. Observations provide the extinction and scattered flux from a particular direction. Hierarchical geometry has a large effect on the flux of scattered light emerging from a nebula for a particular extinction of the exciting star. There is a very large spread in both scattered fluxes and extinctions for any distribution of dust. Consequently, an observed stellar extinction and scattered flux can be fitted by a wide range of albedos. With hierarchical geometry it is not completely safe to determine even relative optical constants from multiwavelength observations of the same reflection nebula. The geometry effectively changes with wavelength as the opacity of the clumps varies. Limits on the implications of observing the same object in various wavelengths are discussed briefly. Henry (2002) uses a recipe to determine the scattered flux from a star with a given extinction. It is claimed to be independent of the geometry. It provides considerably more scattering than our models, probably leading to an underestimate of the grain albedos from the UV Diffuse Galactic Light.Comment: 27 pages, including 7 figures. Accepted by Ap