ALBERT

Description: We report the design of an EUV filter for He I at 58.4 nm and the design and fabrication of an EUV filter for O II at 83.4 nm. Both filters are designed as combinations of three narrow-band reflection filters. The net transmittance through both EUV filters is close to 10 percent with bandwidths less than 10 nm, and blocking better than 0.005 percent for out-of-band wavelengths. A theoretical calculation of the 83.4 nm filter predicts higher values for the peak transmittance than the measured spectral performance of the fabricated filter. Since aluminum is one of the film materials used for the fabrication of EUV filters, the aluminum film oxidation can be modeled in order to explain the discrepancy between the theory and experiment. Since the filters operate at angles of incidence up to 50 deg, the optical components of a system can serve as both the filtering and imaging elements.

Description: Two schemes of force reflecting control, position-error based force reflection and low-pass-filtered force reflection, both combined with shared compliance control, were developed for dissimilar master-slave arms. These schemes enabled high force reflection gains, which were not possible with a conventional scheme when the slave arm was much stiffer than the master arm. The experimental results with a peg-in-hole task indicated that the newly force reflecting control schemes combined with compliance control resulted in best task performances. As a related application, a simulated force reflection/shared compliance control teleoperation trainer was developed that provided the operator with the feel of kinesthetic force virtual reality.

Description: The authors outline the design of an optimal, computationally efficient, infinite impulse response edge detection filter. The optimal filter is computed based on Canny's high signal to noise ratio, good localization criteria, and a criterion on the spurious response of the filter to noise. An expression for the width of the filter, which is appropriate for infinite-length filters, is incorporated directly in the expression for spurious responses. The three criteria are maximized using the variational method and nonlinear constrained optimization. The optimal filter parameters are tabulated for various values of the filter performance criteria. A complete methodology for implementing the optimal filter using approximating recursive digital filtering is presented. The approximating recursive digital filter is separable into two linear filters operating in two orthogonal directions. The implementation is very simple and computationally efficient, has a constant time of execution for different sizes of the operator, and is readily amenable to real-time hardware implementation.

Description: The authors present the dynamic coordination of a self-reconfigurable manipulator system capable of changing its mechanical structure according to given task requirements. The self-reconfiguration is achieved by reconfiguring the topology of a dual-arm system through serial, parallel, and bracing structures. Particular emphasis is placed on the dynamic coordination of two arms having three different dual-arm topologies. The authors develop the Cartesian space dynamic models of a dual-arm system of three dual-arm topologies and derive the kinematic and dynamic constraints imposed on two arms in cooperation. Dual-arm dynamic manipulabilities are defined to quantify the dynamic performance of three dual-arm topologies in terms of the efficiency of generating Cartesian accelerations. A methodology of selecting serial, parallel, and bracing structures based on dual-arm dynamic manipulabilities is provided.

Description: The authors present a dextrous bracing structure of a dual-arm system as a means of implementing a self-reconfigurable manipulator system. The dextrous bracing structure allows a dual-arm system to relocate the bracing point between two arms, select the type of contact as the bracing point, and lock or release the joints of individual arms. The self-reconfigurable dual-arm system is now capable of reconfiguring its topology through serial, parallel and bracing structures, supporting general types of contact, rigid or sliding, as well as locking or releasing some of its joints as needed. The focus is on an analysis of the effects of the dextrous bracing on the performance of a dual-arm system in terms of dual-arm manipulabilities and resistivities. The analysis shows that a self-reconfigurable dual-arm system with a dextrous bracing structure gives continuously varying performance characteristics ranging from serial to parallel structures.

Description: An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot's motion will follow the phantom robot's motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhances the human operator's telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.

Description: An investigation of light diffracted by irregularly serrated apertures yields a closed-form analytical solution that confirms experimental recording of the diffracted patterns. These serrated apertures are modeled by a fractal function. Examples are given for both sinusoidal and fractal aperture perimeters with varying fractal dimension. Relations between the far-zone diffracted fields and the fractal dimension are examined.

Description: Since wavelets form a representation of the Poincare group, it is possible to construct a localized superposition of light waves with different frequencies in a Lorentz-covariant manner. This localized wavelet satisfies a Lorentz-invariant uncertainty relation, and also the Lorentz-invariant Parseval's relation. A quantitative analysis is given for the difference between photons and localized waves. It is then shown that this localized entity corresponds to a relativistic photon with a sharply defined momentum in the non-localization limit. Waves are not particles. It is confirmed that the wave-particle duality is subject to the uncertainty principle.

Description: In this presentation, we will propose a strongly goal-oriented stereo vision system to establish proper docking approach motions for automated rendezvous and capture (AR&C). From an input sequence of stereo video image pairs, the system produces a current best estimate of: contact position; contact vector; contact velocity; and contact orientation. The processing demands imposed by this particular problem and its environment dictate a special case solution; such a system should necessarily be, in some sense, minimalist. By this we mean the system should construct a scene description just sufficiently rich to solve the problem at hand and should do no more processing than is absolutely necessary. In addition, the imaging resolution should be just sufficient. Extracting additional information and constructing higher level scene representations wastes energy and computational resources and injects an unnecessary degree of complexity, increasing the likelihood of malfunction. We therefore take a departure from most prior stereopsis work, including our own, and propose a system based on associative memory. The purpose of the memory is to immediately associate a set of motor commands with a set of input visual patterns in the two cameras. That is, rather than explicitly computing point correspondences and object positions in world coordinates and trying to reason forward from this information to a plan of action, we are trying to capture the essence of reflex behavior through the action of associative memory. The explicit construction of point correspondences and 3D scene descriptions, followed by online velocity and point of impact calculations, is prohibitively expensive from a computational point of view for the problem at hand. Learned patterns on the four image planes, left and right at two discrete but closely spaced instants in time, will be bused directly to infer the spacecraft reaction. This will be a continuing online process as the docking collar approaches.

Description: It is shown that the wavelet is the natural language for the Lorentz covariant description of localized light waves. A model for covariant superposition is constructed for light waves with different frequencies. It is therefore possible to construct a wave function for light waves carrying a covariant probability interpretation. It is shown that the time-energy uncertainty relation (Delta(t))(Delta(w)) is approximately 1 for light waves is a Lorentz-invariant relation. The connection between photons and localized light waves is examined critically.