Engineering topics
Publications and source records attributed to Williams, D. M..
The dust coma of comet Hale-Bopp was observed in the themal infrared over a wide range in solar heating (R=4.9-0.9 AU) and over the full wavelength range from 3 mu to 160 mu.
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Possible planetary objects have now been discovered orbiting nine different main-sequence stars. These companion objects (some of which might actually be brown dwarfs) all have a mass at least half that of Jupiter, and are therefore unlikely to be hospitable to Earth-like life: jovian planets and brown dwarfs support neither a solid nor a liquid surface near which organisms might dwell. Here we argue that rocky moons orbiting these companions could be habitable if the planet-moon system orbits the parent star within the so-called 'habitable zone', where life-supporting liquid water could be present. The companions to the stars 16 Cygni B and 47 Ursae Majoris might satisfy this criterion. Such a moon would, however, need to be large enough (>0.12 Earth masses) to retain a substantial and long-lived atmosphere, and would also need to possess a strong magnetic field in order to prevent its atmosphere from being sputtered away by the constant bombardment of energetic ions from the planet's magnetosphere.
Earth's obliquity would vary chaotically from 0 degrees to 85 degrees were it not for the presence of the Moon (J. Laskar, F. Joutel, and P. Robutel, 1993, Nature 361, 615-617). The Moon itself is thought to be an accident of accretion, formed by a glancing blow from a Mars-sized planetesimal. Hence, planets with similar moons and stable obliquities may be extremely rare. This has lead Laskar and colleagues to suggest that the number of Earth-like planets with high obliquities and temperate, life-supporting climates may be small. To test this proposition, we have used an energy-balance climate model to simulate Earth's climate at obliquities up to 90 degrees. We show that Earth's climate would become regionally severe in such circumstances, with large seasonal cycles and accompanying temperature extremes on middle- and high-latitude continents which might be damaging to many forms of life. The response of other, hypothetical, Earth-like planets to large obliquity fluctuations depends on their land-sea distribution and on their position within the habitable zone (HZ) around their star. Planets with several modest-sized continents or equatorial supercontinents are more climatically stable than those with polar supercontinents. Planets farther out in the HZ are less affected by high obliquities because their atmospheres should accumulate CO2 in response to the carbonate-silicate cycle. Dense, CO2-rich atmospheres transport heat very effectively and therefore limit the magnitude of both seasonal cycles and latitudinal temperature gradients. We conclude that a significant fraction of extrasolar Earth-like planets may still be habitable, even if they are subject to large obliquity fluctuations.
The use of reflectance Fourier transform infrared (FTIR) spectroscopy as a tool for surface inspection is described. Laboratory instruments and portable instruments can support remote sensing probes that can map chemical contaminants on surfaces with detection limits under the best of conditions in the sub-nanometer range, i.e.. near absolute cleanliness, excellent performance in the sub-micrometer range, and useful performance for films tens of microns thick. Examples of discovering and quantifying contamination such as mineral oils and greases, vegetable oils, and silicone oils on aluminum foil, galvanized sheet steel, smooth aluminum tubing, and sandblasted 7075 aluminum alloy and D6AC steel. The ability to map in time and space the distribution of oil stains on metals is demonstrated. Techniques associated with quantitatively applying oils to metals, subsequently verifying the application, and non-linear relationships between reflectance and the quantity oil are described.
A mechanism which meets the requirements of a teleoperated manipulator and those of an autonomous robot is discussed. The mechanism is a traction-drive differential that uses variable preload mechanisms. The differential provides compact design, with dextrous motion range and torque density similar to geared systems. The traction drive offers high stiffness to backlash for good robotic performance. The variable-loading mechanism (VLM) minimizes the drive-train friction for improved teleoperation. This combination provides a mechanism to allow advanced manipulation with either teleoperated control or autonomous robotic operation. The design principles of both major components of the joint mechanism are described.
The U.S. Space Station Program is providing many technological developments to meet the increasing demands of designing such a facility. One of the key areas of research is that of telerobotics for space station assembly and maintenance. Initial implementation will be teleoperated, but long-term plans call for autonomous robotics. One of the essential components for making this transition successful is the manipulator joints mechanism. Historically, teleoperated manipulators and industrial robotics have had very different mechanisms for force transmission. This is because the design objectives are almost mutually exclusive. A teleoperator must have very low friction and inertia to minimize operator fatigue; backlash and stiffness are of secondary concern. A robot, however, must have minimum backlash, and high stiffness for accurate and rapid positioning. A joint mechanism has yet to be developed that can optimize these divergent performance objectives. A joint mechanism that approaches this optimal performance was developed for NASA Langley, Automation Technology Branch. It is a traction-drive differential that uses variable preload mechanisms. The differential provides compact, dexterous motion range with a torque density similar to geared systems. The traction drive offers high stiffness and zero backlash, for good robotic performance, and the variable loading mechanism (VLM) minimizes the drive-train friction, for improved teleoperation.
New opportunities for the application of telerobotic systems to enhance human intelligence and dexterity in the hazardous environment of space are presented by the NASA Space Station Program. Because of the need for significant increases in extravehicular activity and the potential increase in hazards associated with space programs, emphasis is being heightened on telerobotic systems research and development. The Laboratory Telerobotic Manipulator (LTM) program is performed to develop and demonstrate ground-based telerobotic manipulator system hardware for research and demonstrations aimed at future NASA applications. The LTM incorporates traction drives, modularity, redundant kinematics, and state-of-the-art hierarchical control techniques to form a basis for merging the diverse technological domains of robust, high-dexterity teleoperations and autonomous robotic operation into common hardware to further NASA's research.
New opportunities for the application of telerobotic systems to enhance human intelligence and dexterity in the hazardous environment of space are presented by the National Aeronautics and Space Administration (NASA) Space Station Program. Because of the need for significant increases in extravehicular activity and the potential increase in hazards associated with space programs, emphasis is being heightened on telerobotic systems research and development. The Automation Technology Branch at NASA Langley Research Center currently is sponsoring the Laboratory Telerobotic Manipulator (LTM) program at Oak Ridge National Laboratory to develop and demonstrate ground-based telerobotic manipulator system hardware for research and demonstrations aimed at future NASA applications. The LTM incorporates traction drives, modularity, redundant kinematics, and state-of-the-art hierarchical control techniques to form a basis for merging the diverse technological domains of robust, high-dexterity teleoperations and autonomous robotic operation into common hardware to further NASA's research.
As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation are presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance.