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  • Other Sources  (16)
  • Lunar and Planetary Science and Exploration  (7)
  • FACILITIES, RESEARCH, AND SUPPORT  (5)
  • Cybernetics, Artificial Intelligence and Robotics  (4)
  • 11
    Publication Date: 2019-08-24
    Description: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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  • 12
    Publication Date: 2019-08-27
    Description: A tactile load cell that has particular application for measuring the load on a phalange in a dexterous robot system. The load cell includes a flexible strain element having first and second end portions that can be used to mount the load cell to the phalange and a center portion that can be used to mount a suitable contact surface to the load cell. The strain element also includes a first S-shaped member including at least three sections connected to the first end portion and the center portion and a second S-shaped member including at least three sections coupled to the second end portion and the center portion. The load cell also includes eight strain gauge pairs where each strain gauge pair is mounted to opposing surfaces of one of the sections of the S-shaped members where the strain gauge pairs provide strain measurements in six-degrees of freedom.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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  • 13
    Publication Date: 2019-07-13
    Description: Friction tests for Mariner Mars 1969 spacecraft mechanisms in ultrahigh vacuum molecular sink chamber, noting increased friction attributed to vacuum environment
    Keywords: FACILITIES, RESEARCH, AND SUPPORT
    Type: AIAA PAPER 69-996 , JPL-TR-32-1446 , AMERICAN INST. OF AERONAUTICS AND ASTRONAUTICS, AEROSPACE COMPUTER SYSTEMS CONFERENCE; Sep 08, 1969 - Sep 10, 1969; LOS ANGELES, CALIF.
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  • 14
    Publication Date: 2019-08-15
    Description: If hydrothermal Systems existed on Mars, hydration of crustal rocks may have had the potential to affect the water budget of the planet. We have conducted geochemical model calculations to investigate the relative roles of host rock composition, temperature, water-to-rock ratio, and initial fluid oxygen fugacity on the mineralogy of hydrothermal alteration assemblages, as well as the effectiveness of alteration to store water in the crust as hydrous minerals. In order to place calculations for Mars in perspective, models of hydrothermal alteration of three genetically related Icelandic volcanics (a basalt, andesite, and rhyolite) are presented, together with results for compositions based on SNC meteorite samples (Shergotty and Chassigny). Temperatures from 150 degrees C to 250 degrees C, water-to-rock ratios from 0.1 to 1000, and two initial fluid oxygen fugacities are considered in the models. Model results for water-to-rock ratios less than 10 are emphasized because they are likely to be more applicable to Mars. In accord with studies of low-grade alteration of terrestrial rocks, we find that the major controls on hydrous mineral production are host rock composition and temperature. Over the range of conditions considered, the alteration of Shergotty shows the greatest potential for storing water as hydrous minerals, and the alteration of Icelandic rhyolite has the lowest potential.
    Keywords: Lunar and Planetary Science and Exploration
    Type: Journal of geophysical research (ISSN 0148-0227); 102; E4; 9135-43
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  • 15
    Publication Date: 2019-08-26
    Description: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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  • 16
    Publication Date: 2019-08-26
    Description: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
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