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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

NASA Tech Briefs, July 2011

Topics covered include: 1) Collaborative Clustering for Sensor Networks; 2) Teleoperated Marsupial Mobile Sensor Platform Pair for Telepresence Insertion Into Challenging Structures; 3) Automated Verification of Spatial Resolution in Remotely Sensed Imagery; 4) Electrical Connector Mechanical Seating Sensor; 5) In Situ Aerosol Detector; 6) Multi-Parameter Aerosol Scattering Sensor; 7) MOSFET Switching Circuit Protects Shape Memory Alloy Actuators; 8) Optimized FPGA Implementation of Multi-Rate FIR Filters Through Thread Decomposition; 9) Circuit for Communication Over Power Lines; 10) High-Efficiency Ka-Band Waveguide Two-Way Asymmetric Power Combiner; 11) 10-100 Gbps Offload NIC for WAN, NLR, and Grid Computing; 12) Pulsed Laser System to Simulate Effects of Cosmic Rays in Semiconductor Devices; 13) Flight Planning in the Cloud; 14) MPS Editor; 15) Object-Oriented Multi Disciplinary Design, Analysis, and Optimization Tool; 16) Cryogenic-Compatible Winchester Connector Mount and Retaining System for Composite Tubes; 17) Development of Position-Sensitive Magnetic Calorimeters for X-Ray Astronomy; 18) Planar Rotary Piezoelectric Motor Using Ultrasonic Horns; 19) Self-Rupturing Hermetic Valve; 20) Explosive Bolt Dual-Initiated from One Side; 21) Dampers for Stationary Labyrinth Seals; 22) Two-Arm Flexible Thermal Strap; 23) Carbon Dioxide Removal via Passive Thermal Approaches; 24) Polymer Electrolyte-Based Ambient Temperature Oxygen Microsensors for Environmental Monitoring; 25) Pressure Shell Approach to Integrated Environmental Protection; 26) Image Quality Indicator for Infrared Inspections; 27) Micro-Slit Collimators for X-Ray/Gamma-Ray Imaging; 28) Scatterometer-Calibrated Stability Verification Method; 29) Test Port for Fiber-Optic-Coupled Laser Altimeter; 30) Phase Retrieval System for Assessing Diamond Turning and Optical Surface Defects; 31) Laser Oscillator Incorporating a Wedged Polarization Rotator and a Porro Prism as Cavity Mirror; 32) Generic, Extensible, Configurable Push-Pull Framework for Large-Scale Science Missions; 33) Dynamic Loads Generation for Multi-Point Vibration Excitation Problems; 34) Optimal Control via Self-Generated Stochasticity; 35) Space-Time Localization of Plasma Turbulence Using Multiple Spacecraft Radio Links; 36) Surface Contact Model for Comets and Asteroids; 37) Dust Mitigation Vehicle; 38) Optical Coating Performance for Heat Reflectors of the JWST-ISIM Electronic Component; 39) SpaceCube Demonstration Platform; 40) Aperture Mask for Unambiguous Parity Determination in Long Wavelength Imagers; 41) Spaceflight Ka-Band High-Rate Radiation-Hard Modulator; 42) Enabling Disabled Persons to Gain Access to Digital Media; 43) Cytometer on a Chip; 44) Principles, Techniques, and Applications of Tissue Microfluidics; and 45) Two-Stage Winch for Kites and Tethered Balloons or Blimps.

Source record↗
NASA NTRS2021

InSight Robotic Arm Testing Activities for HP3 Mole Anomaly Recovery on Mars

The InSight lander’s Heat Flow and Physical Properties Package (HP3 ) was deployed on Mars in February 2019 and began attempting to penetrate to its target depth range of 3-5 meters shortly thereafter. However, the mole’s downward progress stopped after only 35 cm of penetration. In response, the project convened an Anomaly Response Team (ART) and since then has been attempting to diagnose the problem and assist the mole using the tools available on Mars. The key asset used in this effort has been the Instrument Deployment System (IDS), which includes two cameras and a robotic Instrument Deployment Arm (IDA). Since the IDS was originally intended only to deploy InSight’s primary instruments to the Martian surface, new testbed setups, experiments, and operational protocols (e.g., command sequences) were required and had to be developed on a short timeline. The HP3 Mole ART first focused on gathering all observable data on Mars about the state of the mole and Support Structure Assembly (SSA), as well as the physical properties of the Martian regolith. This included using the robotic arm to point the IDC (Instrument Deployment Camera) at the SSA during diagnostic hammering attempts to observe motion of the SSA and science tether. Images taken during these attempts revealed some motion of the SSA, but no apparent change in mole depth. At JPL, the IDS and Testbed teams re-created the hardware configuration on Mars based on limited knowledge of the mole’s state. They devised and tested techniques to use the robotic arm and cameras to accomplish previously untested activities on Mars, including imaging the HP3 , using the IDA to interact with the terrain, and using the IDA to move the SSA away from the partially-embedded mole. The team executed the more promising techniques on Mars. After diagnostic hammering on Mars, the team decided to move the SSA to gain visibility of the mole’s configuration and access to the soil around the mole. After developing the technique and practicing the maneuver in the InSight testbed, the team lifted the SSA on Mars and placed it behind the mole. This revealed a pit surrounding the now exposed mole, observations of which provided essential clues for determining the root cause of the mole’s lack of progress. The IDS and Testbed teams altered the testbed to match the situation on Mars. They devised IDA techniques to determine the Martian soil properties and assist the mole’s descent. They tested these techniques in the testbed and executed the more promising ones on Mars. These include using the robotic arm to alter the regolith near the mole and to push on the mole while it hammers. This paper discusses the anomaly resolution testing in the testbed at JPL, describes how the IDS team prepared for the anomaly recovery activities on Mars, and provides preliminary results of the efforts to assist the HP3 mole on Mars.

Kim, Junggon↗
NASA NTRS2011

Umbilical Deployment Device

The landing scheme for NASA's next-generation Mars rover will encompass a novel landing technique (see figure). The rover will be lowered from a rocket-powered descent stage and then placed onto the surface while hanging from three bridles. Communication between the rover and descent stage will be maintained through an electrical umbilical cable, which will be deployed in parallel with structural bridles. The -inch (13-mm) umbilical cable contains a Kevlar rope core, around which wires are wrapped to create a cable. This cable is helically coiled between two concentric truncated cones. It is deployed by pulling one end of the cable from the cone. A retractable mechanism maintains tension on the cable after deployment. A break-tie tethers the umbilical end attached to the rover even after the cable is cut after touchdown. This break-tie allows the descent stage to develop some velocity away from the rover prior to the cable releasing from the rover deck, then breaks away once the cable is fully extended. The descent stage pulls the cable up so that recontact is not made. The packaging and deployment technique can store a long length of cable in a relatively small volume while maintaining compliance with the minimum bend radius requirement for the cable being deployed. While the packaging technique could be implemented without the use of break-ties, they were needed in this design due to the vibratory environment and the retraction required by the cable. The break-ties used created a series of load-spikes in the deployment signature. The load spikes during the deployment of the initial three coils of umbilical showed no increase between the different temperature trials. The cold deployment did show an increased load requirement for cable extraction in the region where no break-ties were used. This increase in cable drag was superimposed on the loads required to rupture the last set of break-ties, and as such, these loads saw significant increase when compared to their ambient counterparts. While the loads showed spikes of high magnitude, they were of short duration. Because of this, neither the deployment of the rover, nor the motion of the descent stage, would be adversely affected. In addition, the umbilical was found to have a maximum of 1.2 percent chance for recontact with the ultra-high frequency antenna due to the large margin of safety built in.

Shafer, Michael W.↗
NASA NTRS2014

NASA Tech Briefs, June 2014

Topics include: Real-Time Minimization of Tracking Error for Aircraft Systems; Detecting an Extreme Minority Class in Hyperspectral Data Using Machine Learning; KSC Spaceport Weather Data Archive; Visualizing Acquisition, Processing, and Network Statistics Through Database Queries; Simulating Data Flow via Multiple Secure Connections; Systems and Services for Near-Real-Time Web Access to NPP Data; CCSDS Telemetry Decoder VHDL Core; Thermal Response of a High-Power Switch to Short Pulses; Solar Panel and System Design to Reduce Heating and Optimize Corridors for Lower-Risk Planetary Aerobraking; Low-Cost, Very Large Diamond-Turned Metal Mirror; Very-High-Load-Capacity Air Bearing Spindle for Large Diamond Turning Machines; Elevated-Temperature, Highly Emissive Coating for Energy Dissipation of Large Surfaces; Catalyst for Treatment and Control of Post-Combustion Emissions; Thermally Activated Crack Healing Mechanism for Metallic Materials; Subsurface Imaging of Nanocomposites; Self-Healing Glass Sealants for Solid Oxide Fuel Cells and Electrolyzer Cells; Micromachined Thermopile Arrays with Novel Thermo - electric Materials; Low-Cost, High-Performance MMOD Shielding; Head-Mounted Display Latency Measurement Rig; Workspace-Safe Operation of a Force- or Impedance-Controlled Robot; Cryogenic Mixing Pump with No Moving Parts; Seal Design Feature for Redundancy Verification; Dexterous Humanoid Robot; Tethered Vehicle Control and Tracking System; Lunar Organic Waste Reformer; Digital Laser Frequency Stabilization via Cavity Locking Employing Low-Frequency Direct Modulation; Deep UV Discharge Lamps in Capillary Quartz Tubes with Light Output Coupled to an Optical Fiber; Speech Acquisition and Automatic Speech Recognition for Integrated Spacesuit Audio Systems, Version II; Advanced Sensor Technology for Algal Biotechnology; High-Speed Spectral Mapper; "Ascent - Commemorating Shuttle" - A NASA Film and Multimedia Project DVD; High-Pressure, Reduced-Kinetics Mechanism for N-Hexadecane Oxidation; Method of Error Floor Mitigation in Low-Density Parity-Check Codes; X-Ray Flaw Size Parameter for POD Studies; Large Eddy Simulation Composition Equations for Two-Phase Fully Multicomponent Turbulent Flows; Scheduling Targeted and Mapping Observations with State, Resource, and Timing Constraints;

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NASA NTRS2000

Current-Produced Magnetic Field Effects on Current Collection

Current collection by an infinitely long, conducting cylinder in a magnetized plasma, taking into account the magnetic field of the collected current, is discussed. A region of closed magnetic surfaces disconnects the cylinder from infinity. Owing to this, the collected current depends on the ratio between this region and the plasma sheath region and, under some conditions, current reduction arises. It is found that the upper bound limit of current collection is reduced due to this change of magnetic field topology. The effect can be substantial even if the orbit-limited model of current collection is valid. This model is used to find the reduction of the total current collected by a cylinder (e.g., a bare tether). It is shown that this effect strongly depends on plasma density. The results are applied to a tether system in the ionosphere, and it is found that current reduction can be significant for long tethers in typical dayside ionospheric conditions.

Khazanov, G. V.↗
NASA NTRS1998

Research on Orbital Plasma Electrodynamics (ROPE)

This final report summarizes some of the important scientific contributions to the Research on Orbital Plasma Electrodynamics (ROPE) investigation, to the Tethered Satellite System (TSS) mission, and to NASA that resulted from the work carried out under this contract at Carmel Research Center. These include Dr. Intriligator's participation in the PIT for the TSS-1R simulations and flight, her participation in ROPE team meetings and IWG meetings, her scientific analyses, and her writing and submitting technical papers to scientific journals. The scientific analyses concentrated on the characterization of energetic ions and their possible relation to pickup ion effects, correlation of particle and other effects (e.g., magnetic field, satellite surface), and collaboration with theorists including with ROPE co-investigators. In addition, scientific analyses were carried out of the effects due to satellite gas releases.

Intriligator, Devrie S.↗
NASA NTRS2000

Current-Produced Magnetic Field Effects on Current Collection

Current collection by an infinitely long, conducting cylinder in a magnetized plasma, taking into account the magnetic field of the collected current, is discussed. A region of closed magnetic surfaces disconnects the cylinder from infinity. Due to this, the collected current depends on the ratio between this region and the plasma sheath region and, under some conditions, current reduction arises. It is found that the upper-bound limit of current collection is reduced due to this change of magnetic field topology. The effect can be essential even if the orbit-limited model of current collection is valid. This model is used to find the reduction of the total current collected by a cylinder (e.g., a bare tether). Such effect strongly depends on plasma density. The results are applied to a tether system in the ionosphere. For this case, it is found that current reduction can be significant for long tethers in typical dayside ionospheric conditions.

Khazanov, G. V.↗
NASA NTRS2018

Sample Return Systems for Extreme Environments (SaRSEE)

Sample return missions offer a greater science yield when compared to missions that only employ in situ experiments or remote sensing observations, since they allow the application of more complex technological and analytical methodologies in controlled terrestrial laboratories,that are both repeatable and can be independently verified. The successful return of extraterrestrial materials over the last four decades has contributed to our understanding of the solar system, but retrieval techniques have largely depended on the use of either soft-landing, or touch-and-go procedures that result in high V requirements, larger spacecraft mass ratios, and return yields typically limited to a few grams of surface materials that have experienced varying degrees of alteration from space weathering. Hard-landing methods using planetary penetrators offer an alternative for sample return that significantly reduce a mission's V and mass ratios,increase sample yields, and allow for the collection of subsurface materials, and lessons can be drawn from previous sample return missions. The following details progress in the design,development, and testing of penetrator/sampler technology capable of surviving subsonic and low, supersonic impact velocities (<700 m/s) that would enable the collection of geologic materials using tether technology to return the sample to a passing spacecraft. The testing of energy absorbing material for protecting the sample, design evolution and field testing of the penetrator, and dynamic modeling of tether behavior during sampling are discussed. It is shown through both modeling and field testing that penetrators at speeds between 300-600 m/s (~Mach 1-2) can penetrator into the ground to depths of 1-2 m with overall structural integrity attained.The first flight tests demonstrated the potential for survivability at these speeds. The second flight series demonstrated core sample collection with partial ejection of the sample return canister. The 3rd flight series demonstrated self-ejection of the sample return system fully intact and with the core retaining the full stratigraphy of the rock bed. The tether analysis shows that the forces on the tether during release and return of the sample to the main spacecraft are all at levels that can easily be handled by existing tether materials. The mass analysis of the requirements indicates that sample return form the asteroids could be handled with Discovery or New Frontier range of missions dependent on the number of samples to be returned to the Earth.

Winglee, R. M.↗
NASA NTRS1985

Quasi non-intrusive sampling and analysis of gases associated with the boundary layer on the tethered satellite and similar supersonic and hypersonic research vehicles

The effect that one candidate inlet, an assembly of capillary openings in a thin glass plate (a multichannel plate), might have on the overall sampling process is considered. The flow characteristics of the plate, under a variety of conditions of external pressure and mass flow, is evaluated. A review of capillary flow theory is presented with some development of the pertinent equations. The predicted mass flow will be compared to that determined perimentally to assess the effect that mass flow through one capillary might have upon a neighboring capillary. Mass spectrometric measurements of mixtures flowing through the multichannel plate (MCP) is also considered. In the first part of the experiments, the flow was in a direction normal to the surface of the plate. The experimental gases were Argon and mixtures of carbon dioxide in air. Ongoing experiments are discussed which are conducted with the flow parallel to the surface of the plate, a simulation of the kind of flow that a flight vehicle would experience.

Fishel, C.↗
NASA NTRS1985

Candidate techniques for non-intrusive measurement of flight boundary-layer properties

Techniques to measure gas composition and chemical activity in the hypersonic boundary layer associated with entry research vehicles and with a tethered satellite deployed at 100-125 km altitude are currently being investigated at the NASA-Langley Research Center. These measurements are appropriate for the study of the aerothermodynamic properties of these vehicles when operating with controlled trajectories in the thermosphere between 125 and 55 km. A number of the required quantitative physical measurements have been identified, and candidate techniques to obtain the measurements without perturbing the flow are being considered. Two candidate techniques are discussed in this paper: a mass spectrometer to analyze the gas composition at the vehicle surface, and Rayleigh scattering to obtain density, velocity, and temperature gradients from the surface to the edge of the boundary layer.

Wood, G. M., Jr.↗
NASA NTRS2013

An SDO/AIA-Observed Filament Eruption Triggered by a Lid-Removal Onset Mechanism

An eruption of a solar filament often presages the onset of a more general solar eruption, often leading to a solar flare and coronal mass ejection (CME). Among the mechanisms suggested for triggering eruptions are flux cancellation, flux emergence, tether‐cutting reconnection, and breakout reconnection. Here we present an example of a filament eruption due to a different trigger mechanism, which we call ``lid removal,'' whereby a magnetic structure overlying the filament is removed by a preceding adjacent eruption, rendering MHD unstable the magnetic system containing the filament and resulting in the subsequent eruption of the filament. This filament eruption occurred on 23 Jan 2013, and was well‐seen in SDO/AIA 193 Ang images. Prior to its eruption the filament was at an approximately constant height above the solar surface for approx. 4 hours, before smoothly lifting off. Evidence for the overlying "lid'' field was difficult to discern in 193 Ang images, but was apparent in hotter coronal images, such as SDO/AIA 335. Removal of the lid field was due to an eruption of that field visible in the hotter‐corona images. In this way, the lid‐removal filament‐eruption mechanism is similar to recent observations of connected or cascading eruptions originating from magnetically‐linked locations.

Sterling, Alphonse C.↗
NASA NTRS2014

Use MACES IVA Suit for EVA Mobility Evaluations

The use of an Intra-Vehicular Activity (IVA) suit for a spacewalk or Extra-Vehicular Activity (EVA) was evaluated for mobility and usability in the Neutral Buoyancy Lab (NBL) environment. The Space Shuttle Advanced Crew Escape Suit (ACES) has been modified (MACES) to integrate with the Orion spacecraft. The first several missions of the Orion MPCV spacecraft will not have mass available to carry an EVA specific suit so any EVA required will have to be performed by the MACES. Since the MACES was not designed with EVA in mind, it was unknown what mobility the suit would be able to provide for an EVA or if a person could perform useful tasks for an extended time inside the pressurized suit. The suit was evaluated in multiple NBL runs by a variety of subjects including crewmembers with significant EVA experience. Various functional mobility tasks performed included: translation, body positioning, carrying tools, body stabilization, equipment handling, and use of tools. Hardware configurations included with and without TMG, suit with IVA gloves and suit with EVA gloves. Most tasks were completed on ISS mockups with existing EVA tools. Some limited tasks were completed with prototype tools on a simulated rocky surface. Major findings include: demonstration of the ability to weigh-out the suit, understanding the need to have subjects perform multiple runs prior to getting feedback, determination of critical sizing factors, and need for adjustment of suit work envelop. The early testing has demonstrated the feasibility of EVA's limited duration and limited scope. Further testing is required with more flight like tasking and constraints to validate these early results. If the suit is used for EVA, it will require mission specific modifications for umbilical management or PLSS integration, safety tether attachment, and tool interfaces. These evaluations are continuing through calendar year 2014.

Watson, Richard D.↗
NASA NTRS2013

An SDO/AIA-Observed Filament Eruption Triggered by a Lid-Removal Onset Mechanism

An eruption of a solar filament often presages the onset of a more general solar eruption, often leading to a solar flare and coronal mass ejection (CME). Among the mechanisms suggested for triggering eruptions are flux cancellation, flux emergence, tether-cutting reconnection, and breakout reconnection. Here we present an example of a filament eruption due to a different trigger mechanism, which we call "lid removal,'' whereby a magnetic structure overlying the filament is removed by a preceding adjacent eruption, rendering MHD unstable the magnetic system containing the filament and resulting in the subsequent eruption of the filament. This filament eruption occurred on 23 Jan 2013, and was well-seen in SDO/AIA 193 Ang images. Prior to its eruption the filament was at an approximately constant height above the solar surface for approx 4 hours, before smoothly lifting off. Evidence for the overlying "lid'' field was difficult to discern in 193 Ang images, but was apparent in hotter coronal images, such as SDO/AIA 335. Removal of the lid field was due to an eruption of that field visible in the hotter‐corona images. In this way, the lid‐removal filament‐eruption mechanism is similar to recent observations of connected or cascading eruptions originating from magnetically‐linked locations.

Sterling, Alphonse C.↗
NASA NTRS2014

Modified Advanced Crew Escape Suit Intravehicular Activity Suit for Extravehicular Activity Mobility Evaluations

The use of an intravehicular activity (IVA) suit for a spacewalk or extravehicular activity (EVA) was evaluated for mobility and usability in the Neutral Buoyancy Laboratory (NBL) environment at the Sonny Carter Training Facility near NASA Johnson Space Center in Houston, Texas. The Space Shuttle Advanced Crew Escape Suit was modified to integrate with the Orion spacecraft. The first several missions of the Orion Multi-Purpose Crew Vehicle will not have mass available to carry an EVA-specific suit; therefore, any EVA required will have to be performed by the Modified Advanced Crew Escape Suit (MACES). Since the MACES was not designed with EVA in mind, it was unknown what mobility the suit would be able to provide for an EVA or whether a person could perform useful tasks for an extended time inside the pressurized suit. The suit was evaluated in multiple NBL runs by a variety of subjects, including crewmembers with significant EVA experience. Various functional mobility tasks performed included: translation, body positioning, tool carrying, body stabilization, equipment handling, and tool usage. Hardware configurations included with and without Thermal Micrometeoroid Garment, suit with IVA gloves and suit with EVA gloves. Most tasks were completed on International Space Station mock-ups with existing EVA tools. Some limited tasks were completed with prototype tools on a simulated rocky surface. Major findings include: demonstrating the ability to weigh-out the suit, understanding the need to have subjects perform multiple runs prior to getting feedback, determining critical sizing factors, and need for adjusting suit work envelope. Early testing demonstrated the feasibility of EVA's limited duration and limited scope. Further testing is required with more flight-like tasking and constraints to validate these early results. If the suit is used for EVA, it will require mission-specific modifications for umbilical management or Primary Life Support System integration, safety tether attachment, and tool interfaces. These evaluations are continuing through calendar year 2014.

Watson, Richard D.↗
DOE OSTI2022

Tethered balloon-borne profile measurements of atmospheric properties in the cloudy atmospheric boundary layer over the Arctic sea ice during MOSAiC: Overview and first results

The tethered balloon-borne measurement system BELUGA (Balloon-bornE moduLar Utility for profilinG the lower Atmosphere) was deployed over the Arctic sea ice for 4 weeks in summer 2020 as part of the Multidisciplinary drifting Observatory for the Study of Arctic Climate expedition. Using BELUGA, vertical profiles of dynamic, thermodynamic, aerosol particle, cloud, radiation, and turbulence properties were measured from the ground up to a height of 1,500 m. BELUGA was operated during an anomalously warm period with frequent liquid water clouds and variable sea ice conditions. Three case studies of liquid water phase, single-layer clouds observed on 3 days (July 13, 23, and 24, 2020) are discussed to show the potential of the collected data set to comprehensively investigate cloud properties determining cloud evolution in the inner Arctic over sea ice. Simulated back-trajectories show that the observed clouds have evolved within 3 different air masses (“aged Arctic,” “advected over sea ice,” and “advected over open ocean”), which left distinct fingerprints in the cloud properties. Strong cloud top radiative cooling rates agree with simulated results of previous studies. The weak warming at cloud base is mostly driven by the vertical temperature profile between the surface and cloud base. In-cloud turbulence induced by the cloud top cooling was similar in strength compared to former studies. From the extent of the mixing layer, it is speculated that the overall cloud cooling is stronger and thus faster in the warm oceanic air mass. Larger aerosol particle number concentrations and larger sizes were observed in the air mass advected over the sea ice and in the air mass advected over the open ocean.

Arctic↗
DOE OSTI2020

Effects of Tethered Polymers on Dynamics of Nanoparticles in Unentangled Polymer Melts

Polymer-tethered nanoparticles (NPs) are commonly added to a polymer matrix to improve the material properties. Critical to the fabrication and processing of such composites is the mobility of the tethered NPs. Here, we study the motion of tethered NPs in unentangled polymer melts using molecular dynamics simulations, which offer a precise control of the grafted chain length N g and the number z of grafted chains per particle. As Ng increases, there is a crossover from particle-dominated to tethered-chain-dominated terminal diffusion of NPs with the same z. The mean squared displacement of loosely tethered NPs in the case of tethered-chain-dominated terminal diffusion exhibits two subdiffusive regimes at intermediate time scales for small z. The first one at shorter time scales arises from the dynamical coupling of the particle and matrix chains, while the one at longer time scales is due to the participation of the particle in the dynamics of the tethered chains. The friction of loosely grafted chains in unentangled melts scales linearly with the total number of monomers in the chains, as the friction of individual monomers is additive in the absence of hydrodynamic coupling. As more chains are grafted to a particle, hydrodynamic interactions between grafted chains emerge. As a result, there is a nondraining layer of hydrodynamically coupled chain segments surrounding the bare particle. Outside the nondraining layer is a free-draining layer of grafted chain segments with no hydrodynamic coupling. The boundary of the two layers is the stick surface where the shear stress due to the relative melt flow is balanced by the friction between the grafted and melt chains in the interpenetration layer. The stick surface is located further away from the bare surface of the particle with higher grafting density.

42 ENGINEERING↗
NASA NTRS1993

An evaluation of three-dimensional sensors for the extravehicular activity helper/retreiver

The Extravehicular Activity Retriever/Helper (EVAHR) is a robotic device currently under development at the NASA Johnson Space Center that is designed to fetch objects or to assist in retrieving an astronaut who may have become inadvertently de-tethered. The EVAHR will be required to exhibit a high degree of intelligent autonomous operation and will base much of its reasoning upon information obtained from one or more three-dimensional sensors that it will carry and control. At the highest level of visual cognition and reasoning, the EVAHR will be required to detect objects, recognize them, and estimate their spatial orientation and location. The recognition phase and estimation of spatial pose will depend on the ability of the vision system to reliably extract geometric features of the objects such as whether the surface topologies observed are planar or curved and the spatial relationships between the component surfaces. In order to achieve these tasks, accurate sensing of the operational environment and objects in the environment will therefore be critical. The qualitative and quantitative results of empirical studies of three sensors that are capable of providing three-dimensional information to the EVAHR, but using completely different hardware approaches are documented. The first of these devices is a phase shift laser with an effective operating range (ambiguity interval) of approximately 15 meters. The second sensor is a laser triangulation system designed to operate at much closer range and to provide higher resolution images. The third sensor is a dual camera stereo imaging system from which range images can also be obtained. The remainder of the report characterizes the strengths and weaknesses of each of these systems relative to quality of data extracted and how different object characteristics affect sensor operation.

Magee, Michael↗