Coordination of multiple robot arms

Kinematic resolved-rate control from one robot arm is extended to the coordinated control of multiple robot arms in the movement of an object. The structure supports the general movement of one axis system (moving reference frame) with respect to another axis system (control reference frame) by one or more robot arms. The grippers of the robot arms do not have to be parallel or at any pre-disposed positions on the object. For multiarm control, the operator chooses the same moving and control reference frames for each of the robot arms. Consequently, each arm then moves as though it were carrying out the commanded motions by itself

A user-oriented and computerized model for estimating vehicle ride quality

A simplified empirical model and computer program for estimating passenger ride comfort within air and surface transportation systems are described. The model is based on subjective ratings from more than 3000 persons who were exposed to controlled combinations of noise and vibration in the passenger ride quality apparatus. This model has the capability of transforming individual elements of a vehicle's noise and vibration environment into subjective discomfort units and then combining the subjective units to produce a single discomfort index typifying passenger acceptance of the environment. The computational procedures required to obtain discomfort estimates are discussed, and a user oriented ride comfort computer program is described. Examples illustrating application of the simplified model to helicopter and automobile ride environments are presented

Balloon borne humidity and aerosol sensors

Infrared detectors for balloon sensing of aerosols and atmospheric moistur

New broad 8Be nuclear resonances

Energies, total and partial widths, and reduced width amplitudes of 8Be resonances up to an excitation energy of 26 MeV are extracted from a coupled channel analysis of experimental data. The presence of an extremely broad J^pi = 2^+ ``intruder'' resonance is confirmed, while a new 1^+ and very broad 4^+ resonance are discovered. A previously known 22 MeV 2^+ resonance is likely resolved into two resonances. The experimental J^pi T = 3^(+)? resonance at 22 MeV is determined to be 3^-0, and the experimental 1^-? (at 19 MeV) and 4^-? resonances to be isospin 0.Comment: 16 pages, LaTe

Sm-Nd isotopic systematics of the ancient Gneiss complex, southern Africa

In order to shed some new light on the question of the absolute and relative ages of the Ancient Gneiss Complex and Onverwacht Group, a Sm-Nd whole-rock and mineral isochron study of the AGC was begun. At this point, the whole-rock study of samples from the Bimodal Suite selected from those studied for their geochemical characteristics by Hunter et al., is completed. These results and their implications for the chronologic evolution of the Kaapvaal craton and the sources of these ancient rocks are discussed

Doppler line profiles measurement of the Jovian Lyman Alpha emission with OAO-C

Observation of Jupiter made with the high resolution ultraviolet spectrometer of the Orbiting Astronomical Observatory copernicus in April and May, 1980, yield a Jovian Lyman alpha emission intensity of 7 + or 2.5 RR. This indicates a decrease by about a factor of two since the Voyager ultraviolet spectrometer measurements, nearly a year earlier. An unusually high column abundance of hydrogen atoms above the methane homopause at the Voyager epoch is indicated. Since the auroral charged particle bombardment of molecular hydrogen is expected to contribute significantly to the global population of the hydrogen atoms, it is suggested that at the time of the Voyager Jupiter encounter unusually high auroral activity existed, perhaps d to the high concentration of the Io plasma torus. The temporal variation of the Saturn lyman alpha emission, when contrasted with the Jovian data, reveals that the auroral processes are not nearly as important in determining the Saturn Lyman alpha intensity in the nonauroral region