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NASA NTRS2006

Modification of a Limbed Robot to Favor Climbing

The figure shows the LEMUR IIb, which is a modified version of the LEMUR II the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR). Except as described below, the LEMUR IIb hardware is mostly the same as that of the LEMUR II. The IIb and II versions differ in their kinematic configurations and characteristics associated with their kinematic configurations. The differences are such that relative to the LEMUR II, the LEMUR IIb is simpler and is better suited to climbing on inclined surfaces. The first-generation LEMUR, now denoted the LEMUR I, was described in Six-Legged Experimental Robot (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II was described in Second-Generation Six-Limbed Experimental Robot (NPO-35140) NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 55. To recapitulate: the LEMUR I and LEMUR II were six-legged or sixlimbed robots for demonstrating robotic capabilities for assembly, maintenance, and inspection. They were designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location. They were equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. They were also equipped with wireless modems, through which they could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations by use of one or both of its front legs (or in the case of the LEMUR II, any of its limbs could be used to perform mechanical operations). Either LEMUR could also transmit images to a host computer. The differences between the LEMUR IIb and the LEMUR II are the following: Whereas the LEMUR II had six limbs, the LEMUR IIb has four limbs. This change has reduced both the complexity and mass of the legs and of the overall robot. Whereas each limb of the LEMUR II had four degrees of freedom (DOFs), each limb of the LEMUR IIb has three DOFs. This change has also reduced both complexity and mass. Notwithstanding the decrease in the number of DOFs, the three remaining DOFs are configured to provide greater dexterity for motion along a surface. To extend reach, the limbs of the LEMUR IIb are 25 percent longer than those of the LEMUR II. Additional benefits stemming from the modifications are that the robot body supported by the limbs is now less massive and its center of gravity is now closer to the surface along which the robot is to move. These benefits have been obtained without sacrificing load-carrying capacity. Hence, overall, the LEMUR IIb is a more adept climber.

Okon, Avi↗

NASA NTRS2006

Tunable Filter Made From Three Coupled WGM Resonators

A tunable third-order band-pass optical filter has been constructed as an assembly of three coupled, tunable, whispering-gallery-mode resonators similar to the one described in Whispering-Gallery-Mode Tunable Narrow-Band-Pass Filter (NPO-30896), NASA Tech Briefs, Vol. 28, No. 4 (April 2004), page 5a. This filter offers a combination of four characteristics that are desirable for potential applications in photonics: (1) wide real-time tunability accompanied by a high-order filter function, (2) narrowness of the passband, (3) relatively low loss between input and output coupling optical fibers, and (4) a sparse spectrum. In contrast, prior tunable band-pass optical filters have exhibited, at most, two of these four characteristics. As described in several prior NASA Tech Briefs articles, a whispering-gallery-mode (WGM) resonator is a spheroidal, disklike, or toroidal body made of a highly transparent material. It is so named because it is designed to exploit whispering-gallery electromagnetic modes, which are waveguide modes that propagate circumferentially and are concentrated in a narrow toroidal region centered on the equatorial plane and located near the outermost edge. Figure 1 depicts the optical layout of the present filter comprising an assembly of three coupled, tunable WGM resonators. Each WGM resonator is made from a disk of Z-cut LiNbO3 of 3.3-mm diameter and 50-m thickness. The perimeter of the disk is polished and rounded to a radius of curvature of 40 microns. The free spectral range of each WGM resonator is about 13.3 GHz. Gold coats on the flat faces of the disk serve as electrodes for exploiting the electro-optical effect in LiNbO3 for tuning. There is no metal coat on the rounded perimeter region, where the whispering-gallery modes propagate. Light is coupled from an input optical fiber into the whispering-gallery-modes of the first WGM resonator by means of a diamond prism. Another diamond prism is used to couple light from the whispering-gallery-modes of the third WGM resonator to an output optical fiber. The filter operates at a nominal wavelength of 1,550 nm and can be tuned over a frequency range of plus or minus 12 GHz by applying a potential in the range of plus or minus 150 V to the electrodes. The insertion loss (the loss between the input and output coupling optical fibers) was found to be repeatable at 6 dB. The resonance quality factor (Q) of the main sequence of resonator modes was found to be 5 x 10(exp 6), which corresponds to a bandwidth of 30 MHz. The filter can be shifted from one operating frequency to another within a tuning time less than or equal to 30 micro seconds. The transmission curve of the filter at frequencies near the middle of the passband closely approximates a theoretical third-order Butterworth filter profile, as shown in Figure 2.

Savchenkov, Anatoliy↗

NASA NTRS2010

A Safe, Self-Calibrating, Wireless System for Measuring Volume of Any Fuel at Non-Horizontal Orientation

A system for wirelessly measuring the volume of fluid in tanks at non-horizontal orientation is predicated upon two technologies developed at Langley Research Center. The first is a magnetic field response recorder that powers and interrogates magnetic field response sensors [ Magnetic Field Response Measurement Acquisition System, (LAR-16908), NASA Tech Briefs, Vol. 30, No. 6 (June 2006), page 28]. Magnetic field response sensors are a class of sensors that are powered via oscillating magnetic fields and when electrically active respond with their own magnetic fields whose attributes are dependent upon the magnitude of the physical quantity being measured. The response recorder facilitates the use of the second technology, which is a magnetic field response fluid-level sensor ["Wireless Fluid- Level Sensors for Harsh Environments," (LAR-17155), NASA Tech Briefs, Vol. 33, No. 4 (April 2009), page 30]. The method for powering and interrogating the sensors allows them to be completely encased in materials (Fig. 1) that are chemically resilient to the fluid being measured, thereby facilitating measurement of substances (e.g., acids, petroleum, cryogenic, caustic, and the like) that would normally destroy electronic circuitry. When the sensors are encapsulated, no fluid (or fluid vapor) is exposed to any electrical component of the measurement system. There is no direct electrical line from the vehicle or plant power into a fuel container. The means of interrogating and powering the sensors can be completely physically and electrically isolated from the fuel and vapors by placing the sensor on the other side of an electrically non-conductive bulkhead (Fig. 2). These features prevent the interrogation system and its electrical components from becoming an ignition source.

Woodward, Stanley E.↗

NASA NTRS2010

Lithium-Ion Electrolytes Containing Phosphorous-Based, Flame-Retardant Additives

Future NASA missions aimed at exploring Mars, the Moon, and the outer planets require rechargeable batteries that can operate over a wide temperature range (-60 to +60 C) to satisfy the requirements of various applications. In addition, many of these applications will require improved safety, due to their use by humans. Currently, the state-of-the-art lithium-ion (Li-ion) system has been demonstrated to operate over a wide range of temperatures (-40 to +40 C); however, abuse conditions can often lead to cell rupture and fire. The nature of the electrolyte can greatly affect the propensity of the cell/battery to catch fire, given the flammability of the organic solvents used within. Li-ion electrolytes have been developed that contain a flame-retardant additive in conjunction with fluorinated co-solvents to provide a safe system with a wide operating temperature range. Previous work incorporated fluorinated esters into multi-component electrolyte formulations, which were demonstrated to cover a temperature range from 60 to +60 C. This work was described in Fluoroester Co-Solvents for Low-Temperature Li+ Cells (NPO-44626), NASA Tech Briefs, Vol. 33, No. 9 (September 2009), p. 37; and Optimized Li-Ion Electrolytes Con tain ing Fluorinated Ester Co-Solvents (NPO-45824), NASA Tech Briefs, Vol. 34, No. 3 (March 2010), p. 48. Other previous work improved the safety characteristics of the electrolytes by adding flame-retardant additives such as triphenyl phosphate (TPhPh), tri-butyl phosphate (TBuPh), triethyl phosphate (TEtPh), and bis(2,2,2-trifluoroethyl) methyl phosphonate (TFMPo). The current work involves further investigation of other types of flame-retardant additives, including tris(2,2,2-trifluoroethyl) phosphate, tris(2,2,2-trifluoroethyl) phosphite, triphenylphosphite, diethyl ethylphosphonate, and diethyl phenylphosphonate added to an electrolyte composition intended for wide operating temperatures. In general, many of the formulations investigated in this study displayed good performance over a wide temperature range, good cycle life characteristics, and are expected to have improved safety characteristics, such as low flammability. Of the electrolytes studied, 1.0 M LiPF6 in EC+EMC+DEP (20:75:5 v/v %) and 1.0 M LiPF6 in EC+EMC+DPP (20:75:5 v/v %) displayed the best operation at low temperatures, whereas the electrolyte containing triphenylphosphite displayed the best cycle life performance compared to the baseline solution. It is anticipated that further improvements can be made to the life characteristics with the incorporation of a SET promoters (such as VC, vinylene carbonate), which will likely inhibit the decomposition of the flame-retardant additives.

Smart, Marshall C.↗

NASA NTRS2010

What if Things Get Worse? Really Grand Challenges for Modeling and Simulation in a Risky and Complex World or Modeling and Simulation for the "Greater Good"?

Today Modeling and Simulation-- ---as an important practice or industry or area of expertise ----- is at a complex crossroad - a sort of cyber-highway--where these complexities meet-technical, economic, environmental, geopolitical and cultural. They may converge or collide. Let's not kid ourselves. It is all too much for anyone person or organization Malcolm Gladwell said it. "We have constructed a world in which the potential for high tech catastrophe is embedded in the fabric of everyday life." We are surrounded by problems that scream at us from our television, Internet and social networks along with billboards and protest signs. We face not just high tech catastrophes but, also, landslides, earthquakes, tornados, floods and hurricanes and large-scale criminality. Evil, war, famine and pestilence have not gone away. It is all too much to think about. My friend, George Peabody, who taught me everything I know about power said that addressing such issues requires that we constantly build our network, information resources and the credibility and visibility of our work. That is how we will build the power of simulation so it can change the world --even maybe, save it. We need all the help we can get and give one another because our human early warning systems appear to be out of kilter. We seem to have trouble imagining how small failings can continue to lead to catastrophic disaster. Think about O-rings and blowout preventers. One is reminded of the old nursery rhyme, "For want of a nail, a shoe was lost! for want of a shoe the horse was lost! for want of a rider the battle was lost and so the kingdom fell." Although the investigation will take more time for real answers, it is worrisome that a rig worker reported to the BBC that-- weeks before the explosion of Deep Ocean Horizon. -he identified a leak in the oil rig's safety equipment -the Control Pod of the blowout preventer which has giant shears designed to cut and seal off the well's main pipe. With both electronics and hydraulics, these are effectively the brains of the blowout preventer. No one fixed it, he alleges, they just shut it down and relied on the other control pod -an act deemed unacceptable by petroleum expert, Tad Patzek, at the University of Texas. The US Congress has identified numerous other problems with the blowout preventer, including design problems and unexpected modifications.

Fifrey, Priscilla↗

NASA NTRS2010

Modeling Tools Predict Flow in Fluid Dynamics

"Because rocket engines operate under extreme temperature and pressure, they present a unique challenge to designers who must test and simulate the technology. To this end, CRAFT Tech Inc., of Pipersville, Pennsylvania, won Small Business Innovation Research (SBIR) contracts from Marshall Space Flight Center to develop software to simulate cryogenic fluid flows and related phenomena. CRAFT Tech enhanced its CRUNCH CFD (computational fluid dynamics) software to simulate phenomena in various liquid propulsion components and systems. Today, both government and industry clients in the aerospace, utilities, and petrochemical industries use the software for analyzing existing systems as well as designing new ones."

Source record↗

NASA NTRS2011

Supersonics/Airport Noise Plan: An Evolutionary Roadmap

This presentation discusses the Plan for the Airport Noise Tech Challenge Area of the Supersonics Project. It is given in the context of strategic planning exercises being done in other Projects to show the strategic aspects of the Airport Noise plan rather than detailed task lists. The essence of this strategic view is the decomposition of the research plan by Concept and by Tools. Tools (computational, experimental) is the description of the plan that resources (such as researchers) most readily identify with, while Concepts (here noise reduction technologies or aircraft configurations) is the aspects that project management and outside reviewers most appreciate as deliverables and milestones. By carefully cross-linking these so that Concepts are addressed sequentially (roughly one after another) by researchers developing/applying their Tools simultaneously (in parallel with one another), the researchers can deliver milestones at a reasonable pace while doing the longer-term development that most Tools in the aeroacoustics science require. An example of this simultaneous application of tools was given for the Concept of High Aspect Ratio Nozzles. The presentation concluded with a few ideas on how this strategic view could be applied to the Subsonic Fixed Wing Project's Quiet Aircraft Tech Challenge Area as it works through its current roadmapping exercise.

Bridges, James↗

NASA NTRS2005

Electrostatic Evaluation: SCAPE Suit Materials

The surface resistivity tests are performed per the requirements of the ESD Association Standard Test Method ESD STM11.11*. These measurements are taken using a PRS-801 resistance system with an Electro Tech System (ETS) PRF-911 concentric ring resistance probe. The tests require a five pound weight on top of cylindrical electrodes and were conducted at both ambient and low humidity conditions. In order for materials to "pass" resistivity tests the surface of the materials must either be conductive or statically dissipative otherwise the materials "fail" ESD. Volume resistivity tests are also conducted to measure conductivity through the material as opposed to conductivity along the surface. These tests are conducted using the same PRS-801 resistance system with the Electro Tech System PRF-911 concentric ring resistance probe but are performed in accordance with ESD Association Standard Test Method ESD STM11.l2**.

Buhler, Charles↗

NASA NTRS2006

FORTRAN Versions of Reformulated HFGMC Codes

Several FORTRAN codes have been written to implement the reformulated version of the high-fidelity generalized method of cells (HFGMC). Various aspects of the HFGMC and its predecessors were described in several prior NASA Tech Briefs articles, the most recent being HFGMC Enhancement of MAC/GMC (LEW-17818-1), NASA Tech Briefs, Vol. 30, No. 3 (March 2006), page 34. The HFGMC is a mathematical model of micromechanics for simulating stress and strain responses of fiber/matrix and other composite materials. The HFGMC overcomes a major limitation of a prior version of the GMC by accounting for coupling of shear and normal stresses and thereby affords greater accuracy, albeit at a large computational cost. In the reformulation of the HFGMC, the issue of computational efficiency was addressed: as a result, codes that implement the reformulated HFGMC complete their calculations about 10 times as fast as do those that implement the HFGMC. The present FORTRAN implementations of the reformulated HFGMC were written to satisfy a need for compatibility with other FORTRAN programs used to analyze structures and composite materials. The FORTRAN implementations also afford capabilities, beyond those of the basic HFGMC, for modeling inelasticity, fiber/matrix debonding, and coupled thermal, mechanical, piezo, and electromagnetic effects.

Arnold, Steven M.↗

NASA NTRS2006

Mixed-Salt/Ester Electrolytes for Low-Temperature Li+ Cells

Electrolytes comprising, variously, LiPF6 or LiPF6 plus LiBF4 dissolved at various concentrations in mixtures of alkyl carbonates and alkyl esters have been found to afford improved low-temperature performance in rechargeable lithium-ion electrochemical cells. These and other electrolytes have been investigated in a continuing effort to extend the lower limit of operating temperatures of such cells. This research at earlier stages, and the underlying physical and chemical principles, were reported in numerous previous NASA Tech Briefs articles, the most recent being Ester-Based Electrolytes for Low-Temperature Li-Ion Cells (NPO-41097), NASA Tech Briefs, Vol. 29, No. 12 (December 2005), page 59. The ingredients of the solvent mixtures include ethylene carbonate (EC), ethyl methyl carbonate (EMC), methyl butyrate (MB), and methyl propionate (MP). The electrolytes were placed in Li-ion cells containing carbon anodes and LiNi0.8Co0.2O2 cathodes, and the electrical performances of the cells were measured over a range of temperatures down to 60 C. The electrolytes that yielded the best low-temperature performances were found to consist, variously, of 1.0 M LiPF6 + 0.4 M LiBF4 or 1.4 LiPF6 in 1EC + 1EMC + 8MP or 1EC + 1EMC + 8MB, where the concentrations of the salts are given in molar units and the proportions of the solvents are by relative volume.

Smart, Marshall↗

NASA NTRS2005

Insect-Inspired Flight Control for Unmanned Aerial Vehicles

Flight-control and navigation systems inspired by the structure and function of the visual system and brain of insects have been proposed for a class of developmental miniature robotic aircraft called "biomorphic flyers" described earlier in "Development of Biomorphic Flyers" (NPO-30554), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 54. These form a subset of biomorphic explorers, which, as reported in several articles in past issues of NASA Tech Briefs ["Biomorphic Explorers" (NPO-20142), Vol. 22, No. 9 (September 1998), page 71; "Bio-Inspired Engineering of Exploration Systems" (NPO-21142), Vol. 27, No. 5 (May 2003), page 54; and "Cooperative Lander-Surface/Aerial Microflyer Missions for Mars Exploration" (NPO-30286), Vol. 28, No. 5 (May 2004), page 36], are proposed small robots, equipped with microsensors and communication systems, that would incorporate crucial functions of mobility, adaptability, and even cooperative behavior. These functions are inherent to biological organisms but are challenging frontiers for technical systems. Biomorphic flyers could be used on Earth or remote planets to explore otherwise difficult or impossible to reach sites. An example of an exploratory task of search/surveillance functions currently being tested is to obtain high-resolution aerial imagery, using a variety of miniaturized electronic cameras. The control functions to be implemented by the systems in development include holding altitude, avoiding hazards, following terrain, navigation by reference to recognizable terrain features, stabilization of flight, and smooth landing. Flying insects perform these and other functions remarkably well, even though insect brains contains fewer than 10(exp -4) as many neurons as does the human brain. Although most insects have immobile, fixed-focus eyes and lack stereoscopy (and hence cannot perceive depth directly), they utilize a number of ingenious strategies for perceiving, and navigating in, three dimensions. Despite their lack of stereoscopy, insects infer distances to potential obstacles and other objects from image motion cues that result from their own motions in the environment. The concept of motion of texture in images as a source of motion cues is denoted generally as the concept of optic or optical flow. Computationally, a strategy based on optical flow is simpler than is stereoscopy for avoiding hazards and following terrain. Hence, this strategy offers the potential to design vision-based control computing subsystems that would be more compact, would weigh less, and would demand less power than would subsystems of equivalent capability based on a conventional stereoscopic approach.

Thakoor, Sarita↗

NASA NTRS2005

Two Methods for Efficient Solution of the Hitting-Set Problem

A paper addresses much of the same subject matter as that of Fast Algorithms for Model-Based Diagnosis (NPO-30582), which appears elsewhere in this issue of NASA Tech Briefs. However, in the paper, the emphasis is more on the hitting-set problem (also known as the transversal problem), which is well known among experts in combinatorics. The authors primary interest in the hitting-set problem lies in its connection to the diagnosis problem: it is a theorem of model-based diagnosis that in the set-theory representation of the components of a system, the minimal diagnoses of a system are the minimal hitting sets of the system. In the paper, the hitting-set problem (and, hence, the diagnosis problem) is translated from a combinatorial to a computational problem by mapping it onto the Boolean satisfiability and integer- programming problems. The paper goes on to describe developments nearly identical to those summarized in the cited companion NASA Tech Briefs article, including the utilization of Boolean-satisfiability and integer- programming techniques to reduce the computation time and/or memory needed to solve the hitting-set problem.

Vatan, Farrokh↗

NASA NTRS2005

Custom Sky-Image Mosaics from NASA's Information Power Grid

yourSkyG is the second generation of the software described in yourSky: Custom Sky-Image Mosaics via the Internet (NPO-30556), NASA Tech Briefs, Vol. 27, No. 6 (June 2003), page 45. Like its predecessor, yourSkyG supplies custom astronomical image mosaics of sky regions specified by requesters using client computers connected to the Internet. Whereas yourSky constructs mosaics on a local multiprocessor system, yourSkyG performs the computations on NASA s Information Power Grid (IPG), which is capable of performing much larger mosaicking tasks. (The IPG is high-performance computation and data grid that integrates geographically distributed 18 NASA Tech Briefs, September 2005 computers, databases, and instruments.) A user of yourSkyG can specify parameters describing a mosaic to be constructed. yourSkyG then constructs the mosaic on the IPG and makes it available for downloading by the user. The complexities of determining which input images are required to construct a mosaic, retrieving the required input images from remote sky-survey archives, uploading the images to the computers on the IPG, performing the computations remotely on the Grid, and downloading the resulting mosaic from the Grid are all transparent to the user

Jacob, Joseph↗

NASA NTRS2005

Precision Cryogenic Dilatometer

A dilatometer based on a laser interferometer is being developed to measure mechanical creep and coefficients of thermal expansion (CTEs) of materials at temperatures ranging from ambient down to 15 K. This cryogenic dilatometer has been designed to minimize systematic errors that limit the best previously available dilatometers. At its prototype stage of development, this cryogenic dilatometer yields a strain measurement error of 35 ppb or 1.7 ppb/K CTE measurement error for a 20-K thermal load, for low-expansion materials in the temperature range from 310 down to 30 K. Planned further design refinements that include a provision for stabilization of the laser and addition of a high-precision sample-holding jig are expected to reduce the measurement error to 5-ppb strain error or 0.3-ppb/K CTE error for a 20-K thermal load. The dilatometer (see figure) includes a common-path, differential, heterodyne interferometer; a dual-frequency, stabilized source bench that serves as the light source for the interferometer; a cryogenic chamber in which one places the material sample to be studied; a cryogenic system for cooling the interior of the chamber to the measurement temperature; an ultra-stable alignment stage for positioning the chamber so that the sample is properly positioned with respect to the interferometer; and a data-acquisition and control system. The cryogenic chamber and the interferometer portion of the dilatometer are housed in a vacuum chamber on top of a vibration isolating optical table in a cleanroom. The sample consists of two pieces a pillar on a base both made of the same material. Using reflections of the interferometer beams from the base and the top of the pillar, what is measured is the change in length of the pillar as the temperature in the chamber is changed. In their fundamental optical and electronic principles of operation, the laser light source and the interferometer are similar to those described in Common-Path Heterodyne Interferometers (NPO-20786), NASA Tech Briefs, Vol. 25, No. 7 (July 2001), page 12a, and Interferometer for Measuring Displacement to Within 20 pm (NPO- 21221), NASA Tech Briefs, Vol. 27, No. 7 (July 2003), page 8a. However, the present designs incorporate a number of special geometric, optical, and mechanical features to minimize optical and thermal-expansion effects that contribute to measurement errors. These features include the use of low-thermal expansion materials for structural components, kinematic mounting and symmetrical placement of optical components, and several measures taken to minimize spurious reflections of laser beams.

Dudik, Matthew↗

NASA NTRS2005

Ester-Based Electrolytes for Low-Temperature Li-Ion Cells

Electrolytes comprising LiPF6 dissolved at a concentration of 1.0 M in five different solvent mixtures of alkyl carbonates have been found to afford improved performance in rechargeable lithium-ion electrochemical cells at temperatures as low as -70 C. These and other electrolytes have been investigated in continuing research directed toward extending the lower limit of practical operating temperatures of Li-ion cells. This research at earlier stages, and the underlying physical and chemical principles, were reported in numerous previous NASA Tech Briefs articles, the most recent being Low-EC-Content Electrolytes for Low-Temperature Li-Ion Cells (NPO-30226), NASA Tech Briefs, Vol. 27, No. 1 (January 2003), page 46. The ingredients of the present solvent mixtures are ethylene carbonate (EC), ethyl methyl carbonate (EMC), methyl butyrate (MB), methyl propionate (MP), ethyl propionate (EP), ethyl butyrate (EB), and ethyl valerate (EV). In terms of volume proportions of these ingredients, the present solvent mixtures are 1EC + 1EMC + 8MB, 1EC + 1EMC + 8EB, 1EC + 1EMC + 8MP, 1EC + 1EMC + 8EV, and 1EC + 9EMC. These electrolytes were placed in Liion cells containing carbon anodes and LiNi0.8Co0.2O2 cathodes, and the low-temperature electrical performances of the cells were measured. The cells containing the MB and MP mixtures performed best.

Smart, Marshall↗

NASA NTRS2004

Second-Generation Six-Limbed Experimental Robot

The figure shows the LEMUR II - the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR), which was described in "Six-Legged Experimental Robot" (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II incorporates a number of improvements, including new features, that extend its capabilities beyond those of its predecessor, which is now denoted the LEMUR I. To recapitulate: the LEMUR I was a six-limbed robot for demonstrating robotic capabilities for assembly, maintenance, and inspection. The LEMUR I was designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location and to perform other operations. The LEMUR I was equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. It was also equipped with a wireless modem, through which it could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations with one or both of its front limbs. It could also transmit images to a host computer. Each of the six limbs of the LEMUR I was operated independently. Each of the four rear limbs had three degrees of freedom (DOFs), while each of the front two limbs had four DOFs. The front two limbs were designed to hold, operate, and/or be integrated with tools. The LEMUR I included an onboard computer equipped with an assortment of digital control circuits, digital input/output circuits, analog-to-digital converters for input, and digital-to-analog (D/A) converters for output. Feedback from optical encoders in the limb actuators was utilized for closed-loop microcomputer control of the positions and velocities of the actuators. The LEMUR II incorporates the following improvements over the LEMUR I: a) The drive trains for the joints of the LEMUR II are more sophisticated, providing greater torque and accuracy. b) The six limbs are arranged symmetrically about a hexagonal body platform instead of in straight lines along the sides. This symmetrical arrangement is more conducive to omnidirectional movement in a plane. c) The number of degrees of freedom of each of the rear four limbs has been increased by one. Now, every limb has four degrees of freedom: three at the hip (or shoulder, depending on one s perspective) and one at the knee (or elbow, depending on one s perspective). d) Now every limb (instead of only the two front limbs) can perform operations. For this purpose, each limb is tipped with an improved quick-release mechanism for swapping of end-effector tools. e) New end-effector tools have been developed. These include an instrumented rotary driver that accepts all tool bits that have 0.125-in. (3.175-mm)-diameter shanks, a charge-coupled-device video camera, a super bright light-emitting diode for illuminating the work area of the robot, and a generic collet tool that can be quickly and inexpensively modified to accept any cylindrical object up to 0.5 in. (12.7 mm) in diameter. f) The stereoscopic cameras are mounted on a carriage that moves along a circular track, thereby providing for omnidirectional machine vision. g) The control software has been augmented with software that implements innovations reported in two prior NASA Tech Briefs articles: the HIPS algorithm ["Hybrid Image-Plane/Stereo Manipulation" (NPO-30492), Vol. 28, No. 7 (July 2004), page 55] and the CAMPOUT architecture ["An Architecture for Controlling Multiple Robots" (NPO-30345), Vol. 28, No. 10 (October 2004), page 65].

Kennedy, Brett↗

NASA NTRS2004

Development of Biomorphic Flyers

Biomorphic flyers have recently been demonstrated that utilize the approach described earlier in "Bio-Inspired Engineering of Exploration Systems" (NPO-21142), NASA Tech Briefs, Vol. 27, No. 5 (May 2003), page 54, to distill the principles found in successful, nature-tested mechanisms of flight control. Two types of flyers are being built, corresponding to the imaging and shepherding flyers for a biomorphic mission described earlier in "Cooperative Lander- Surface/Aerial Microflyer Missions for Mars Exploration" (NPO-30286), NASA Tech Briefs, Vol. 28, No. 5 (May 2004), page 36. The common features of these two types of flyers are that both are delta-wing airplanes incorporating bio-inspired capabilities of control, navigation, and visual search for exploration. The delta-wing design is robust to approx.40 G axial load and offers ease of stowing and packaging. The prototype that we have built recently is shown in the figure. Such levels of miniaturization and autonomous navigation are essential to enable biomorphic microflyers (<1 kg) that can be deployed in large numbers for distributed measurements and exploration of difficult terrain while avoiding hazards. Individual bio-inspired sensors that will be incorporated in a biomorphic flyer have been demonstrated recently. These sensors include a robust, lightweight (~6 g), and low-power (~40 mW) horizon sensor for flight stabilization. It integrates successfully the principles of the dragonfly ocelli. The ocelli are small eyes on the dorsal and forward regions of the heads of many insects. The ocelli are distinct from the compound eyes that are most commonly associated with insect vision. In many insects, the ocelli are little more than single-point detectors of short-wavelength light and behavioral responses to ocelli stimuli are hard to observe. The notable exception is found in dragonflies, where flight control is notably degraded by any interference with the ocellar system. Our team has discovered recently that the ocelli are a dedicated horizon sensor, with substantial optical processing and multiple spectral sensitivity. To our knowledge, this is the world s first demonstrated use of a "biomorphic ocellus" as a flight-stabilization system. The advantage of the ocelli over a similarly sized system of rate gyroscopes is that both attitude control and rate damping can be realized in one device. A full inertial unit and significant processing would otherwise be required to achieve the same effect. As a prelude to full autonomy, substantial stability augmentation is provided to the pilot at very low cost in terms of space, power, and mass. The sensor is about 40 times lighter than a comparable inertial attitude reference system. Other significant features of the biomorphic flyer shown in the figure include its ability to fly at high angles of attack ~30 and a deep wing chord which allows scaling to small size and low Reynold s number situations. Furthermore, the placement of the propulsion system near the center of gravity allows continued control authority at low speeds. These attributes make such biomorphic flyers uniquely suited to planetary and terrestrial exploration where small size and autonomous airborne operation are required.

Thakoor, Sarita↗

NASA NTRS2003

Improved Multiple-DOF SAW Piezoelectric Motors

Surface-acoustic-wave (SAW) piezoelectric motors of a proposed type would be capable of operating in multiple degrees of freedom (DOFs) simultaneously and would be amenable to integration into diverse structures and mechanisms. These motors would be compact and structurally simple and would not contain bearings or lead screws. One example of a particularly useful motor of this type would be a two-dimensional- translation stage. Another such example would be a self-actuated spherical joint that could be made to undergo controlled, simultaneous rotations about two orthogonal axes: Such a motor could serve as a mechanism for aiming an "eyeball" camera or as a compact transducer in, and an integral part of, a joint in a robot arm. The multiple-DOF SAW piezoelectric motors as now proposed would be successors to the ones reported in "Multiple-DOF Surface-Acoustic-Wave Piezoelectric Motors" (NPO-20735), NASA Tech Briefs, Vol. 24, No. 12 (December 2000), page 5b. The basic principle of operation of a multiple-DOF SAW piezoelectric motor is a straightforward extension of that of single-DOF SAW piezoelectric motors, which have been reported in several previous NASA Tech Briefs articles: For example, in the case of a linear SAW piezoelectric motor, piezoelectric transducers at opposite ends of a stator excite surface acoustic waves that travel along the surface of the stator. An object (denoted the slider) is pressed against the stator with sufficient pressure (in practice .300 MPa) that it remains in frictional contact with the stator at all times. The slider rides the crests of the waves and is thereby made to move along the surface of the stator. The direction of motion (forward or backward) is controlled by selecting the relative phase of waves generated by the two piezoelectric transducers. The speed increases with the amplitude of the waves and thus with the magnitude of the voltage applied to the transducers.

Bar-Cohen, Yoseph↗