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A new global isotropy index (GII) is proposed to quantify the configuration independent isotropy of a robot's Jacobian or mass matrix. A new discrete global optimization algorithm is also proposed to optimize either the GII or some local measure without placing any conditions on the objective function. The algorithm is used to establish design guidelines and a globally optimal architecture for a planar haptic interface from both a kinematic and dynamic perspective and to choose the optimum geometry for a 6-DOF Stewart Platform. The algorithm demonstrates consistent effort reductons of up to six orders of magnitude over global searching with low sensitivity to initial conditions.

This paper presents the modeling, simulation, fabrication and experimental results of a vibration-based electromagnetic power generator (EMPG). A novel, low-cost, one-mask technique is used to fabricate the planar coils and the planar spring. This fabrication technique can provide an alternative for processes such as lithographie galvanoformung abformung (LIGA) or SU-8 molding and MEMS electroplating. Commercially available copper foils of 20 μm and 350 μm thicknesses are used for the planar coils and planar spring, respectively. The design with planar coils on either side of the magnets provides enhanced power generation for the same footprint of the device. The harvester's overall volume is 1 cm 3 . Excitation of the EMPG, at the fundamental frequency of 371 Hz, base acceleration of 13.5 g and base amplitude of 24.4 μm, yields an open circuit voltage of 60.1 mV, as well as 46.3 mV load voltage and 10.7 μW power for a 100 load resistance. At a matching impedance of 7.5 the device produced a maximum power of 23.56 μW and a power density of 23.56 μW cm −3 . The simulations based on the analytical model of the device show good agreement with the experimental results.

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This paper presents a new scheme for fault detection and diagnosis (FDD) in spacecraft attitude determination (AD) sensors. An integrated attitude determination system, which includes measurements of rate and angular position using rate gyros and vector sensors, is developed. Measurement data from all sensors are fused by a linearized Kalman filter, which is designed based on the system kinematics, to provide attitude estimation and the values of the gyro bias. Using this information the erroneous sensor measurements are corrected, and unbounded sensor measurement errors are avoided. The resulting bias-free data are used in the FDD scheme. The FDD algorithm uses model-based state estimation, combining the information from the rotational dynamics and kinematics of a spacecraft with the sensor measurements to predict the future sensor outputs. Fault isolation is performed through extended Kalman filters (EKFs). The innovation sequences of EKFs are monitored by several statistical tests to detect the presence of a failure and to localize the failures in all AD sensors. The isolation procedure is developed in two phases. In the first phase, two EKFs are designed, which use subsets of measurements to provide state estimates and form residuals, which are used to verify the source of the fault. In the second phase of isolation, testing of multiple hypotheses is performed. The generalized likelihood ratio test is utilized to identify the faulty components. In the scheme developed in this paper a relatively small number of hypotheses is used, which results in faster isolation and highly distinguishable fault signatures. An important feature of the developed FDD scheme is that it can provide attitude estimations even if only one type of sensors is functioning properly.

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SUMMARYA fundamental study on the control of hydraulically actuated robots is presented. Dynamic modelling is performed in both time-domain and frequency-domain. It is shown that the inclusion of hydraulic elements increases the order of the system. Hydraulic compliance is the most effective factor in this regard.Three distinct control strategies are applied. Their performances are evaluated and compared. All three methods are exemplified with a two link hydraulic robot in a computer simulation. The robot has the same hydraulic configuration as many existing industrial manipulators. The simulation program is written in ACSL (Advanced Continuous Simulation Language) running on a VAX 11/750.