SEARCH · Search NASA
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
In this paper, we discuss the development of very sensitive long wavelength infrared (LWIR) GaAs/Al(x)Ga(l-x)As quantum well infrared photodetectors (QWIPs), fabrication of random reflectors for efficient light coupling, and the demonstration of the first hand-held long-wavelength 256 x 256 QWIP focal plane array camera. Excellent imagery, with a noise equivalent differential temperature (NE Delta T) of 25 mK has been achieved.
We show, for a superposition of Yukawa potentials, that the left hand cut discontinuity in the complex E plane of the (S-wave) scattering amplitude is given exactly, in an interval depending on n, by the discontinuity of the Born series stopped at order n. This also establishes an inverse and unexpected correspondence of the Born series at positive high energies and negative low energies. We can thus construct a viable dispersion relation (DR) for the partial (S-) wave amplitude. The high numerical precision achievable by the DR is demonstrated for the exponential potential at zero scattering energy. We also briefly discuss the extension of our results to Field Theory.
The recognition of material resources on a planetary surface requires exploration strategies not dissimilar to those employed by early field geologists who searched for ore deposits primarily from surface clues. In order to determine the location of mineral ores or other materials, it will be necessary to characterize host terranes at regional or subregional scales. This requires geographically broad surveys in which statistically significant numbers of samples are rapidly scanned from a roving platform. To enable broad-scale, yet power-conservative planetary-surface exploration, we are developing an instrument that combines x-ray diffractometry (XRD), x-ray fluorescence spectrometry (XRF), and optical capabilities; the instrument can be deployed at the end of a rover's robotic arm, without the need for sample capture or preparation. The instrument provides XRD data for identification of mineral species and lithological types; diffractometry of minerals is conducted by ascertaining the characteristic lattice parameters or "d-spacings" of mineral compounds. D-spacings of 1.4 to 25 angstroms can be determined to include the large molecular structures of hydrated minerals such as clays. The XRF data will identify elements ranging from carbon (Atomic Number = 6) to elements as heavy as barium (Atomic Number = 56). While a sample is being x-rayed, the instrument simultaneously acquires an optical image of the sample surface at magnifications from lx to at least 50x (200x being feasible, depending on the sample surface). We believe that imaging the sample is extremely important as corroborative sample-identification data (the need for this capability having been illustrated by the experience of the Pathfinder rover). Very few geologists would rely on instrument data for sample identification without having seen the sample. Visual inspection provides critical recognition data such as texture, crystallinity, granularity, porosity, vesicularity, color, lustre, opacity, and so forth. These data can immediately distinguish sedimentary from igneous rocks, for example, and can thus eliminate geochemical or mineral ambiguities arising, say between arkose and granite. It would be important to know if the clay being analyzed was part of a uniform varve deposit laid down in a quiescent lake, or the matrix of a megabreccia diamictite deposited as a catastrophic impact ejecta blanket. The unique design of the instrument, which combines Debye-Scherrer geometry with elements of standard goniometry, negates the need for sample preparation of any kind, and thus negates the need for power-hungry and mechanically-complex sampling systems that would have to chip, crush, sieve, and mount the sample for x-ray analysis. Instead, the instrument is simply rested on the sample surface of interest (like a hand lens); the device can interrogate rough rock surfaces, coarse granular material, or fine rock flour. A breadboard version of the instrument has been deployed from the robotic arm of the Marsokhod rover in field trials at NASA Ames, where large vesicular boulders were x-rayed to demonstrate the functionality of the instrument design, and the ability of such a device to comply with constraints imposed by a roving platform. Currently under development is a flight prototype concept of this instrument that will weigh 0.3 kg, using about 4500 J of energy per sample analysis. It requires about 5 min. for XRD analysis, and about 30 min. for XRF interrogation. Its small mass and rugged design make it ideal for deployment on small rovers of the type currently envisaged for the exploration of Mars (e.g., Sojourner-scale platforms). The design utilizes a monolithic P-N junction photodiode pixel array for XRD, a Si PIN photodiode/avalanche photodiode system for XRF, and an endoscopic imaging camera system unobtrusively embedded between the detectors and the x-ray source (the endoscope with its board-mounted camera can be adapted for IR light in addition to visible wavelenths. A rugged, miniature (7 cu cm) x-ray source for the instrument has already been breadboarded.
This final report discusses the development and implementation of several educational products for K-16 teachers and students. Specifically, I received support for: (A) three K-12 Teacher workshops, Exploring the Solar System in the Classroom: A Hands-On Approach, and minimal Support to finish two computer-based tutorials. (B) Contact Light: An Interactive CD-ROM, and (C) Another Look at Taurus Littrow: An Interactive GIS Database. Each of these projects directly supports NASA's Strategic Plan to: "Involve the education community in our endeavors to inspire America's students, create learning opportunities, enlighten inquisitive minds", and, to "communicate widely the content, relevancy, and excitement of NASA's missions and discoveries to inspire and to increase understanding and the broad application of science and technology." Attachment: Appendix A. And also article: "Aristarchus plateau: as potential lunar base site."
Techniques for determining and correcting threaded part alignment using force and angular position data are developed to augment currently limited techniques for align- ing threaded parts. These new techniques are based on backspinning a nut with respect to a bolt and measuring the force change that occurs when the bolt "falls" into the nut. Kinematic models that describe the relationship between threaded parts during backspinning are introduced and are used to show how angular alignment may be determined. The models indicate how to distinguish between the aligned and misaligned cases of a bolt and a nut connection by using axial force data only. In addition, by tracking the in-plane relative attitude of the bolt during spinning, data can be obtained on the direction of the angular misalignment which, in turn, is used to correct the misalignment. Results from experiments using a bolt held in a specialized fixture and a three fingers Stanford/JPL hand are presented.
In order to increase our knowledge of the Martian polar caps, an improved understanding of the behavior of both frozen H2O and CO2 in different parts of the electromagnetic spectrum is needed. The thermal microwave part of the spectrum has received relatively little attention compared to the visible and infrared wavelengths. A simple experiment to measure the brightness temperature of frozen CO2 was first performed in the winter of 1998 using a 35 GHz radiometer. in experiments performed during the winter of 1999 and 2000, passive microwave radiation emanating from within layers of manufactured CO2 (dry ice) crystals was again measured with a 35 GHz handheld radiometer. Both large (0.8 cm) and small (0.3 cm) cylindrical-shaped dry ice pellets, at a temperature of 197 K (-76 C), were measured. A 1 sq m plate of aluminum sheet metal was positioned beneath the dry ice so that microwave emissions from the underlying soil layers would be minimized. Non-absorbing foam was positioned around the sides of the plate in order to keep the dry ice in place and to assure that the incremental deposits were level. Thirty-five GHz measurements of this plate were made through the dry ice deposits in the following way. Layers of dry ice were built up and measurements were repeated for the increasing CO2 pack. First, 7 cm of large CO2 pellets were poured onto the sheet metal plate, then an additional 7 cm were added, and finally, 12 cm were added on top of the 14 cm base. Hand-held 35 GHz measurements were made each time the thickness of the deposit was increased. The same process was repeated for the smaller grain pellets. Furthermore, during the past winter, 35 GHz measurements were taken of a 25 kg (27 cm x 27 cm x 27 cm) solid cube Of CO2, which was cut in half and then re-measured. Additional information is contained in the original extended abstract.
Recently, left-handed metamaterials (LHM s) have been demonstrated with an effective negative index of refraction and with antiparallel group and phase velocities for microwave radiation over a narrow frequency bandwidth. In order to take advantage of these characteristics for practical applications, it will be beneficial to develop LHM s with increased frequency bandwidth response and lower losses. In this paper a commercial three-dimensional electromagnetic simulation code is used to explore the effects of geometry parameter variations on the frequency bandwidth of a LHM at microwave frequencies. Utilizing an optimizing routine in the code, a geometry was generated with a bandwidth more than twice as large as the original geometry.
This document catalogs Space Shuttle hand-held Earth observations photography which was collected on the Space Transportation System (STS) 41-G mission of October 1984. The catalog includes the following data for each of 2480 frames: geographical name, feature description, latitude and longitude, percentage of cloud cover, look direction and tilt, lens focal length, exposure evaluation, stereopairs, and orbit number. The catalog is a product of the Space Shuttle Earth Observations Project, Solar System Exploration Division, Space and Life Sciences Directorate, of the National Aeronautics and Space Administration, Lyndon B. Johnson Space Center.
The MArs Hand Lens Imager (MAHLI) is a small, RGB-color camera designed to examine geologic material at 12.5-75 microns/pixel resolution at the Mars Science Laboratory (MSL) landing site. MAHLI is a PI-led investigation competitively selected by NASA in December 2004 as part of the science payload for the MSL rover launching in 2009. The instrument is being fabricated by, and will be operated by, Malin Space Science Systems of San Diego, California.
Left-handed metamaterials (LHM's) are a new media engineered to possess an effective negative index of refraction over a selected frequency range. This characteristic enables LHM's to exhibit physical properties never before observed. In particular, a negative index of refraction should cause electromagnetic radiation to refract or bend at a negative angle when entering an LHM, as shown in the figure above on the left. The figure on the right shows that this property could be used to bring radiation to a focus with a flat LHM lens. The advantage of a flat lens in comparison to a conventional curved lens is that the focal length could be varied simply by adjusting the distance between the lens and the electromagnetic wave source. In this in-house work, researchers at the NASA Glenn Research Center developed a computational model for LHM's with the three-dimensional electromagnetic commercial code Microwave Studio, constructed an LHM flat lens, and used it to experimentally demonstrate the reversed refraction and flat lens focusing of microwave radiation.
Variable structure control system design methods are applied to the problem of aircraft spin recovery. A variable structure control law typically has two phases of operation. The reaching mode phase uses a nonlinear relay control strategy to drive the system trajectory to a pre-defined switching surface within the motion state space. The sliding mode phase involves motion along the surface as the system moves toward an equilibrium or critical point. Analysis results presented in this paper reveal that the conventional method for spin recovery can be interpreted as a variable structure controller with a switching surface defined at zero yaw rate. Application of Lyapunov stability methods show that deflecting the ailerons in the direction of the spin helps to insure that this switching surface is stable. Flight test results, obtained using an instrumented hand-launched glider, are used to verify stability of the reaching mode dynamics.
Software was developed for a Fujitsu HOAP-2 humanoid robot to demonstrate that such "human form" robots can be used to perform useful tasks in an unknown environment; specifically, that they can operate with or in the place of humans to carry out construction operations necessary for space exploration, such as building or maintaining planetary surface habitats for humans. This paper describes the autonomous vision and hand-eye coordination software that enables the HOAP-2 to locate and manipulate objects. Simple vision and pattern detection algorithms including color filtering, noise filtering, image segmentation, orientation filters, and a feedback controlled tracking system enable the robot to locate marked building materials in the workspace. Experimentally determined spatial mappings associate locations in the visual field with the arm joint angles and trajectories necessary to reach these locations, allowing the robot to reach for and manipulate the building materials. These capabilities, when combined with locomotion capabilities, enable the robot to operate autonomously in an unknown workspace.
A 9 (micro)m 256x256 hand-held quantum well infrared photodetector (QWIP) camera has been demonstrated. Excellent imagery, with a noise equivalent differential temperature (NE(gamma)) of 26 mK has been achieved. In this presentation, we discuss the development of this very sensitive long wavelength infrared (LWIR) camera based on a GaAs/AlGaAs QWIP focal plane array, its performance in quantum efficience, NA(gamma), minimum resolvable temperature (MRTD), uniformity, operability, and its applications.
This paper describes the Active Electromechanical Compliance (AEC) system that was developed for the Jau-JPL anthropomorphic robot. The AEC system imitates the functionality of the human muscle's secondary function, which is to control the joint's stiffness: AEC is implemented through servo controlling the joint drive train's stiffness. The control strategy, controlling compliant joints in teleoperation, is described. It enables automatic hybrid position and force control through utilizing sensory feedback from joint and compliance sensors. This compliant control strategy is adaptable for autonomous robot control as well. Active compliance enables dual arm manipulations, human-like soft grasping by the robot hand, and opens the way to many new robotics applications.
This paper describes ways to make to hands-on activities more closely aligned with the science education guidelines of the National Science Standards and the California Science Framework.
Remcom's XFDTD software was used to model the properties of a two-dimensional left-handed metamaterial (LHM) flat lens. The focusing capability and attenuation of the material were examined. The results showed strong agreement with experimental results and theoretical predictions of focusing effects and focal length. The inherent attenuation in the model corresponds well with the experimental results and implies that the code does a reasonably accurate job of modeling the actual metamaterial.
Virtual environments (VE) offer unique training opportunities, particularly for training astronauts and preadapting them to the novel sensory conditions of microgravity. Sensorimotor aftereffects of VEs are often quite similar to adaptive sensorimotor responses observed in astronauts during and/or following space flight. The purpose of this research was to compare disturbances in sensorimotor coordination produced by dome virtual environment display and to examine the effects of exposure duration, and repeated exposures to VR systems. The current study examined disturbances in eye-head-hand (EHH) and eye-head coordination. Preliminary results will be presented. Eleven subjects have participated in the study to date. One training session was completed in order to achieve stable performance on the EHH coordination and VE tasks. Three experimental sessions were performed each separated by one day. Subjects performed a navigation and pick and place task in a dome immersive display VE for 30 or 60 min. The subjects were asked to move objects from one set of 15 pedestals to the other set across a virtual square room through a random pathway as quickly and accurately as possible. EHH coordination was measured before, immediately after, and at 1 hr, 2 hr, 4 hr and 6 hr following exposure to VR. EHH coordination was measured as position errors and reaction time in a pointing task that included multiple horizontal and vertical LED targets. Repeated measures ANOVAs were used to analyze the data. In general, we observed significant increases in position errors for both horizontal and vertical targets. The largest decrements were observed immediately following exposure to VR and showed a fairly rapid recovery across test sessions, but not across days. Subjects generally showed faster RTs across days. Individuals recovered from the detrimental effects of exposure to the VE on position errors within 1-2 hours. The fact that subjects did not significantly improve across days suggests that in order to achieve dual adaptation of EHH coordination may require more than three training sessions. These findings provide some direction for developing training schedules for VE users that facilitate adaptation, support the idea that preflight training of astronauts may serve as useful countermeasure for the sensorimotor effects of space flight, and support the idea that VEs may serve as an analog for sensorimotor effects of spaceflight.
Tyrell Inc., a Houston-based medical technologies company, was able to access engineering support in redesigning a heating element for a hand-held acne-fighting device through SATOP, NASA's Space Alliance Technology Outreach Program. SATOP put Tyrell in contact with The Boeing Company, which assessed the design and made several major contributions. The product, named Zeno, is now the highest selling over-the-counter medical device for the treatment of acne, and in 2006, Zeno was named the "SATOP Texas, Success Story of the Year." Zeno employs proprietary ClearPoint technology to provide relief of mild to moderate inflammatory acne by delivering a precisely controlled low-level dosage of heat to the blemish, causing the bacteria at the root of more than 90 percent of acne to self-destruct. Within its first year on the market, Zeno was cited by various publications for several awards, including Allure's 2005 "Best of Beauty," Marie Claire's "10 Best Gadgets for Girls," and Popular Science's 2005 "Best of What's New." A variation of the Zeno for use in treating herpetic lesions such as cold sores, by killing the virus that causes them, is currently undergoing FDA trials.