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Raymond Goertz
Raymond C. Goertz (March 12, 1915 -- June 4, 1970) was an American mechanical engineer and an early pioneer in the field of robotics, specifically remote-controlled robots (see telepresence). In 1949, while working for the Atomic Energy Commission at Argonne National Laboratory, Goertz filed a patent for an early master-slave manipulator in order to handle radioactive material. Goertz recognized the value of electrically coupling manipulators and laid the foundations of modern tele-robotics and bilateral force-reflecting positional servos.

Goertz also performed early research on the degrees of freedom necessary for smooth motion by remote manipulation and developed one of the first head-mounted displays as a prototype for virtual reality. Nautical terms such as pitch, yaw, and roll were incorporated into the lexicon of robotics by Goertz.

Today, the purpose of teleoperation has expanded beyond the scope of just nuclear safety and includes uses such as reaching remote environments in space or the deep ocean and surgical operations, among many others.

In 1985 the American Nuclear Society established the 'Ray Goertz Award' to recognize and honor its members who have made outstanding contributions to the field of remote technology.

Education and Early Life
Raymond C. Goertz was born in Clearwater, Kansas on March 12, 1915. He was the son of Norman E. and Flora (Saint) Goertz and had a sister, Mrs. Thelma Main and two brothers, Lynn Goertz and Lee Noble. Goertz received his Bachelor of Science degree from Montana State College in 1940, graduating with honors. He would then complete his graduate studies at the Polytechnic Institute of Brooklyn from 1942 to 1946 and at the Illinois Institute of Technology from 1947 to 1949.

Career and Research
While completing his graduate studies at the Polytechnic Institute of Brooklyn, Raymond Goertz was a project engineer from 1940 to 1947 for the Sperry Gyroscope Company at the Servomechanisms Laboratory. Afterwards Goertz was employed at Argonne National Laboratory as a mechanical engineer, though he had been affiliated with the Manhattan Project earlier. Later Goertz became a senior engineer in the remote control engineering division at Argonne National Laboratory. Goertz represented the United States as a delegate to both the first and second International Conferences on Peaceful Uses of Atomic Energy in 1955 and 1958. He was also a member of the American Nuclear Society, the American Institute of Chemical Engineers, and the Institute of Electrical and Electronics Engineers.

Goertz was an early pioneer in the field of robotics, specifically remote-controlled robots and in 1949 filed a patent for an early master-slave manipulator while at Argonne National Laboratory in order to handle radioactive material, specifically with hazardous material from the 100-B plutonium reactor at Hanford in mind. In 1949 Goertz demonstrated his idea with the first mechanical, bilateral master-slave manipulator device. In 1951 Goertz designed the first tel-operated articulated arm for the Atomic Energy Commission with a design based entirely on mechanical coupling between the master and slave arms by utilizing steel cables and pulleys. This is generally regarded as a major milestone in force feedback technology and derivatives of this design can still be seen in situations involving the handling of small amounts of nuclear material. Goertz also became aware that haptic senses were necessary in order to manipulate delicate objects and incorporated force-feedback systems to greatly improve the deftness of the human-machine combination. By 1954 Goertz had improved teleoperations through the application of principles of cybernetics and by constructing the first electronic master-slave manipulator systems. Of note was that Goertz applied modern engineering skills with the ancient mechanical device of the pantograph.

'''In 1948 the Argonne National Laboratory, under the leadership of Raymond Goertz, designed the Model 1 mechanical master-slave manipulator. It was a seven-degree-of-freedom bi-lateral (symmetrical) metal tape transmission pantograph device. It operated through a leaded glass wall but yet afforded excellent force reflection from the remote gripper to the operator’s hand. A 1954 modification (Model 8) was manufactured commercially and continues to be used today.'''

Goertz also codified terms that university and industrial developers could follow, such as incorporating nautical terms like pitch, yaw, and roll into the lexicon of robotics. Along with the development and improvement of his master-slave manipulators, Goertz also performed primordial research regarding the degrees of freedom necessary for smooth motion by remote manipulation. Goertz also developed one of the first head-mounted displays as a prototype for virtual reality.

Goertz's efforts and technology led to the creation of a spin-off company of Central Research Labs in Red-Wing, Minnesota, which has made over 8,000 MSMs for over 26 different countries. In 1953 Goertz was replaced by Demetrius Jelatis as head of the Central Research Labs.

Today, the purpose of teleoperation has expanded beyond the scope of just safety to include uses such as reaching remote environments like space or the deep 2 ocean, working with extremely large or small objects like in surgical operations, and even just for use as a toy like an RC car, among many others

Master-slave manipulator
Raymond Goertz filed a patent for a master-slave manipulator in 1949 while working for the Atomic Energy Commission at Argonne National Laboratory.

The goal of a master-slave manipulator is the protection of workers from radiation while enabling precise manipulation of materials. The machine itself can be thought of as two distinct devices, with one device, termed the "slave", being responsive to the controlling device, termed "master". The benefits of a master-slave manipulator is its remote handling, and its operations permit manual tasks to be performed without the need for direct human intervention at work sites. This enables people to maintain safe distances in hazardous work environments.

The master-slave manipulator is comprised of two arms. In a nuclear hazard setting the slave arm is located in the hot-cell and the master arm is located in the control room. Whenever the operator manipulates the master arm, the motion is reproduced at the slave arm, performing the necessary task. Usually the arms are made geometrically similar to each other. Most mechanical manipulators are through-the-wall type, where slave arm remains in hotel, master arm in control station, and through-tube connecting these arms, passes shielded wall. Manipulator provides mechanical linkage…

The first systems were electrical, controlled by an array of on-off switches to activate various motors and move various axes. Without feel, were slow and awkward to operate, so Raymond built pairs of mechanically linked master-slave robots…some info… limited distance, so Raymond recognized value of electrically coupling manipulators and laid foundations of modern tele robotics and bilateral force-reflecting positional servos

In 1948 the Argonne National Laboratory, under the leadership of Raymond Goertz, designed the Model 1 mechanical master-slave manipulator. It was a seven-degree-of-freedom bi-lateral (symmetrical) metal tape transmission pantograph device. It operated through a leaded glass wall but yet afforded excellent force reflection from the remote gripper to the operator’s hand. A 1954 modification (Model 8) was manufactured commercially and continues to be used today.

In that same year Goertz (1954) also built an servo-electric master-slave manipulator (E-1), where transmission was by electric wire of arbitrary length rather than by metal tape (Figure 4). Bilateral in this case meant that for each degree of freedom any position difference between master and slave was converted to a electric motor force pushing forward on the slave and backward on the master (becoming force feedback on the operator’s hand corresponding to that felt on the master). This marvelous feat of engineering (one prototype of which, the E-2, still resides in the author’s laboratory) set the tone for much of the teleoperator development to follow, including force feedback

Both the first mechanical and the first electrical manipulator were developed by Goertz. The first mechanical manipulator was designed so as to have the slave arm penetrate through the ceiling of a hot cell.

Degrees of Freedom—>the slave gripper in order to attain arbitrary position and orientation should have at least six independent motions, should also have squeeze (open and close) motion to grip and release objects

Power transmission difficult, when master moved, slave should move by same amount in the same direction, application of force/torque on master should reflect on the slave arm/vice versa

First principles of an MSM are applicable to our own robotic surgical systems:

-The motion of the slave arm must possess six independent degrees of freedom, three of translation and three of rotation to position gripping devices, and a tong squeeze motion to grip items.

-The motion of the slave arm must be coupled to the master arms that the position and the direction of the two arms correspond.

-THe coupling of the two arms must be bilateral. This important concept means that forces at the slave end must be reflected at the master end and displacements produced at the slave end must be able to produce a displacement at the master end. Another way to state this important concept is to say the manipulator must be back-drivable or compliant. This means that the slave arm be able to align itself in response to the constraints imposed by the task being done. A classic example of this concept is the ability of an MSM to rotate a crank which follows a constrained path.

Master-slave manipulator patent pdf

Filed Nov. 3, 1959, patented Apr. 4, 1961 to Goertz (Patent 2,978,118), also, look at patent 2,846,084

Awards
1985—> American Nuclear Society established ‘Ray Goertz Award’ to recognize/honor members who have made outstanding contributions to the field of remote technology. Ray Goertz Award: established in 1985 to recognize and honor Robotics and Remote Systems Division (RRSD) members who have made outstanding contributions to the field of remote technology. Honors Raymond C. Goertz for his lifetime contribution to the advancement of remote handling systems and for his development of the master-slave manipulator. Nominees are judged by their contributions to the advancement and/or application of remote technology in hazardous environments. Award—>plaque and $2,500 monetary award presented annually.

Raymond C. Goertz, American engineer and recipient of the Edward Longstreth medal at Franklin Institute, Philadelphia, 1967. Also, Radiation Industry award American Nuclear Society, 1969. Member of the American Nuclear Society, Research Society American?, American Institute Chemical Engineers, I.E.E.E.

Personal Life
Raymond Goertz married Helen Boula on September 2, 1950 in Cook, Illinois. Together they would have three children: Alan, Jean, and Linda. Goertz passed away on June 4, 1970 at the age of 47 in Downers Grove, Illinois.

Education and Early Life
Gerard Bérchet was born in Lyon, France on December 3, 1902.

Bérchet studied chemistry at the Collége de France and received his doctorate in chemistry from the University of Colorado in June, 1929.

During the Summer of 1926 Bérchet had met and befriended Wallace Carothers in Paris. Carothers and his colleague Jack Johnson helped Bérchet get a visa to the United States and on September 8, 1926 Bérchet, Carothers and Johnson sailed third class together on the French Line's SS Paris from Le Havre to New York.

On September 14, 1926 Bérchet arrived on Ellis Island to be cleared by immigration after a six day voyage notable for the champagne bottle ceremoniously opened and drank each day by Bérchet, Carothers, and Johnson, who were facing Prohibition.

DuPont
In June 1929, Gerard Bérchet began work at DuPont. Bérchet was a member of a research group led by Wallace Carothers actively working on polymerization in "Purity Hall" at the DuPont Experimental Station. Other personnel working in the group were Paul J. Flory,  Charles Stine, Julian W. Hill, Edgar W. Spangle, Donald Coffman, F. J. L. VanNatta and Joe Labovsky.

The assignment of the group was to make polyesters via condensation polymerizations. Their initial attempts to create suitable commercial fibers failed as the fibers, while uniform and appearing to be strong, elastic, and resilient, melted at low temperatures and were soluble in solvents. The group then turned their attention to using diacidic and dibasic molecules to create polyamide fibers based on condensation reactions.

During his time at DuPont, Bérchet played a pivotal role in the invention of neoprene and nylon. However, Bérchet is fully credited with neither discovery. In March 1930, Bérchet was the first to synthesize neoprene by combining monovinyl acetylene with concentrated hydrochloric acid, but Arthur Collins was the first to discover neoprene several weeks later on April 17, 1930 since Bérchet did not examine his sample until late April. Under the direction of Carothers Bérchet synthesized nylon 6-6 from equal parts hexamethylenediamine and adipic acid on February 28, 1935.

Bérchet was not an obsessive inventor and served in the patent section at DuPont rather than the chemical department in the years following World War II.

Neoprene
Wallace Carothers of DuPont assigned Bérchet to isolate vinylacetylene in early 1930 as part of a larger project on divinyl acetylene. Fr Julius Arthur Nieuwland, a professor of chemistry at the University of Notre Dame, had produced divinyl acetylene during his research on acetylene chemistry. DuPont purchased the patent rights for divinyl acetylene after Dr Elmer K. Bolton attended a lecture by Nieuwland. By February 20, 1930 Bérchet had isolated enough vinylacetylene from divinyl acetylene to study. After a series of inconclusive experiments, Bérchet, under the direction of Carothers, treated monovinyl acetylene with a variety of reagents and put 25 samples in sealed containers. One of these samples was monovinyl acetylene combined with concentrated hydrochloric acid. However, Bérchet let his samples stand for five weeks on his laboratory bench before determining what transformations might have occurred. Before Bérchet examined his samples Arthur Collins accidentally discovered chloroprene on April 17, 1930 by combining monovinyl acetylene with concentrated hydrochloric acid. Arthur Collins was assigned to Carothers' group in early February and had previously worked with divinyl acetylene while at the Jackson Laboratory. Chloroprene, now known as neoprene, was the first synthetic rubber. DuPont marketed the product under the name DuPrene in 1931.

Nylon
Wallace Carothers' group at the DuPont Experimental Station had been utilizing condensation polymerizations to make polyesters. But, the fibers made under this process would melt at low temperatures and were soluble in common solvents and were therefore not suitable as commercial products. Carothers' group instead turned their attention to using diacidic and dibasic molecules in order to create polyamide fibers.

After several repeated failures the group decided to complete a systematic study of potential polyamide s through combining diamines with a similar series of diacids. 81 potential candidates for polyamides were identified and Bérchet was assigned in 1935 to the polyamide project to work on them. Bérchet constructed and purified many of the diamines himself so that they could be polymerized. In his research Bérchet decided to study more than linear diamines and diacides and made examples of several other types of polyamide polymers.

On February 28, 1935 Bérchet prepared nylon 6,6, a condensation copolymer constructed from equal parts adipic acid and hexamethylenediamine.

Bérchet's laboratory notes from his creation of nylon 6,6 are as follows :

Adipate of hexamethylene diamine

7 g. diamine, 8.8 g. acid and 20 cc. m-cresol heated 215° for 3 hours. Water came off during the first half hour. The temp. was then raised to 255-60° and the cresol distilled off in vacuum. The residue solidified at one time but then melted again at 265° It was heated under 1 mm at 265° for 3 hours. On cooling (overnight) the polymer broke the flask by contracting and showed a tenacious adherence to glass.

It was a very hard, horny solid melting at 252-254°. It was very readily spinnable. Sample turned over to D. D. Coffman.

There was obtained 12.5 g. of polymer, yield 90%.

3/1/35 GJB 3/21/35 H.B. Dykstra

The half-ounce of pearly, lustrous mass obtained became DuPont's nylon. The fibers formed were elastic and strong after cold drawing and were both unaffected by water or most solvents and had a higher melting point than previous fibers.

The fibers were initially called Fiber 6,6 but were eventually named Nylon 6,6.

Personal Life
Gerard Bérchet met his wife, Ruth, during his time at Colorado University. After Bérchet completed his Ph.D. in 1929, he and Ruth moved to Wilmington, Delaware to work for Carothers at the DuPont Experimental Station. Bérchet had two children, Dennis and Anne. Bérchet was a voracious reader and lover of music. He was described as a handsome man with rich, curly hair. In Wilmington Bérchet joined a small acting troupe called the Brandywinders in 1932 and played in 47 of their productions over 50 years. Bérchet had a passionate love for his adopted homeland of America. In an interview he stated America as "a country where the majority of men and women were obliging, kind-hearted, open-handed, generous to a fault, and didn’t even seem to know it.” Later in his career he would become an outspoken francophile, declaring virtually everything in his native France better.