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All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Task automation in a successful industrial telerobot

In this paper, we discuss cooperative work by Oak Ridge National Laboratory and Remotec, Inc., to automate components of the operator's workload using Remotec's Andros telerobot, thereby providing an enhanced user interface which can be retrofit to existing fielded units as well as being incorporated into new production units. Remotec's Andros robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as by the armed forces and numerous law enforcement agencies. The automation of task components, as well as the video graphics display of the robot's position in the environment, will enhance all tasks performed by these users, as well as enabling performance in terrain where the robots cannot presently perform due to lack of knowledge about, for instance, the degree of tilt of the robot. Enhanced performance of a successful industrial mobile robot leads to increased safety and efficiency of performance in hazardous environments. The addition of these capabilities will greatly enhance the utility of the robot, as well as its marketability.

Spelt, Philip F.↗
NASA NTRS2010

Analytical Dimensional Reduction of a Fuel Optimal Powered Descent Subproblem

Current renewed interest in exploration of the moon, Mars, and other planetary objects is driving technology development in many fields of space system design. In particular, there is a desire to land both robotic and human missions on the moon and elsewhere. The landing guidance system must be able to deliver the vehicle to a desired soft landing while meeting several constraints necessary for the safety of the vehicle. Due to performance limitations of current launch vehicles, it is desired to minimize the amount of fuel used. In addition, the landing site may change in real-time in order to avoid previously undetected hazards which become apparent during the landing maneuver. This complicated maneuver can be broken into simpler subproblems that bound the full problem. One such subproblem is to find a minimum-fuel landing solution that meets constraints on the initial state, final state, and bounded thrust acceleration magnitude. With the assumptions of constant gravity and negligible atmosphere, the form of the optimal steering law is known, and the equations of motion can be integrated analytically, resulting in a system of five equations in five unknowns. It is shown that this system of equations can be reduced analytically to two equations in two unknowns. With an additional assumption of constant thrust acceleration magnitude, this system can be reduced further to one equation in one unknown. It is shown that these unknowns can be bounded analytically. An algorithm is developed to quickly and reliably solve the resulting one-dimensional bounded search, and it is used as a real-time guidance applied to a lunar landing test case.

Rea, Jeremy R.↗
NASA NTRS2010

Operational Lessons Learned from NASA Analog Missions

National Aeronautics and Space Administration s (NASA) efforts in human space flight are currently focused on the Space Shuttle and International Space Station (ISS) programs, with efforts beginning on the future exploration opportunities. Both the Space Shuttle and ISS programs are important to the development of a capability for human exploration beyond Low Earth Orbit (LEO). The ISS provides extensive research capabilities to determine how the human body reacts to long duration stays in space. Also, the ISS and Shuttle can serve as a limited testbed for equipment or entire systems that may be used on missions to the Moon, Mars, or to a near-Earth asteroid. It has been nearly 35 years since the Apollo astronauts visited the Moon. Future space explorers will have to re-learn how to work and live on planetary surfaces, and how to do that for extended periods of time. Exploration crews will perform a wide assortment of scientific tasks, including material sampling and emplacement of automated instruments. Surface mission operations include the activities of the crew living and working, mission support from the Earth, and the operation of robotic and other remotely commanded equipment on the surface and in planetary orbit. Other surface activities will include the following: exploring areas surrounding a habitat; using rovers to collect rock and soil samples; setting up experiments on the surface to monitor the radiation environment and any seismic or thermal activity; and conducting scientific analyses and experiments inside a habitat laboratory. Of course, the astronauts will also have to spend some of their surface time "doing chores" and maintaining their habitat and other systems. In preparation for future planetary exploration, NASA must design the answers to many operational questions. What will the astronauts do on the surface? How will they accomplish this? What tools will they require for their tasks? How will robots and astronauts work together? What vehicle and system capabilities are required to support the activities? How will the crew and the Earth-based mission control team interact? During the initial phases of manned planetary exploration, one challenge in particular is virtually the same as during the Apollo program: How can scientific return be maximized during a relatively short surface mission? Today, NASA is investigating solutions to these challenges by conducting analog missions. These Earth-based missions possess characteristics that are analogous to missions on the Moon or Mars. These missions are excellent for testing operational concepts, and the design, configuration, and functionality of spacesuits, robots, rovers, and habitats. Analog mission crews test specific techniques and procedures for surface field geology, biological sample collection, and planetary protection. The process of actually working an analog mission reveals a myriad of small details, which either contribute to or impede efficient operations, many of which would never have been thought about otherwise. It also helps to define the suite of tools, containers, and other small equipment that surface explorers will use. This paper focuses on how analog missions have addressed selected operational considerations for future planetary missions.

Arnold, Larissa S.↗
NASA NTRS2018

Human Mars Surface Mission Nuclear Power Considerations

A key decision facing Mars mission designers is how to power a crewed surface field station. Unlike the solar-powered Mars Exploration Rovers (MER) that could retreat to a very low power state during a Martian dust storm, human Mars surface missions are estimated to need at least 15 kilowatts of electrical (kWe) power simply to maintain critical life support and spacecraft functions. 'Hotel' loads alone for a pressurized crew rover approach two kWe; driving requires another five kWe-well beyond what the Curiosity rover’s Radioisotope Power System (RPS) was designed to deliver. Full operation of a four-crew Mars field station is estimated at about 40 kWe. Clearly, a crewed Mars field station will require a substantial and reliable power source, beyond the scale of robotic mission experience. This paper explores the applications for both fission and RPS nuclear options for Mars.

Rucker, Michelle A.↗
DOE OSTI2025

Stimulus-Responsive Modulation of Solvation Environments in Solid Catalysts

Liquid environments play a crucial role in the biological processes occurring in living organisms as well as in many human-made processes involving electrochemistry, photo-, and thermocatalysis. In the majority of these systems, aqueous phases are ubiquitous due to water’s natural abundance. Water molecules, however, can exert large changes in the chemical environment of catalytically active sites, altering the reaction rates, selectivity, and catalyst stability. These solvation effects induced by water molecules near catalytic sites can drastically change the energy landscape and unlock unique reaction pathways with far more favorable kinetics. In nature, living organisms couple these complex interactions with detection, communication, and actuation mechanisms to induce self-regulatory behavior, ensuring stability of the system and thus long-term durability. Extrapolating this behavior to heterogeneous catalysis is desirable because the resulting “smart materials” can potentially unlock new chemical conversion processes with higher atom efficiency, rates, and stability. The combination of polymer chemistry and heterogeneous catalysis has introduced versatile approaches for creating materials that can respond to cues in the reaction medium that alter the accessibility, intrinsic activity, and selectivity of the catalyst. To achieve this, one could combine stimulus-responsive polymers, which undergo a large volumetric phase transition in response to an external stimulus, with a solid catalyst. This chemo-mechanical response has been employed to create a variety of nanoreactor vessels with stimulus-responsive character that turn on- and off- depending on the reaction conditions. In this Account, we focus on the impact of these polymer coatings on the solvation environment around the active site and the implications of these effects on the reaction energy landscape, molecular arrangement of the solvent, electric fields at the catalyst–liquid interface, binding energy, and mobility of surface reaction intermediates. These seemingly subtle changes in solvent molecules induced by the presence of polymers can have a tremendous impact on the development of bioinspired heterogeneous catalysts, reliable chemical clocks, micro/nanoreactors, and robots. The large library of polymer chemistries offers a plethora of combinations of stimulus-responsive mechanisms (e.g., temperature, pH, light, magnetic field, solvent composition), providing the possibility of creating homeostatic catalysts à la carte.

catalysts↗
NASA NTRS2003

The Mars Microbeam Raman Spectrometer: An Improved Advanced Brassboard

An advanced brassboard (ADBB) of the Mars Miscrobeam Raman Spectrometer is being developed. The probe and spectrograph have been redesigned with improved optics and the electronics have been miniaturized. The modified optical design in the probe and spectrograph provides better spectral resolution than the previous model and enables the probe design to be more compatible with robotic arm deployment. The CCD detector is now cooled thermoelectrically in anticipation of eventual terrestrial field testing of the instrument.

Haskin, L. A.↗
NASA NTRS2010

An Overview of the Micro Pulse Lidar Network (MPLNET)

The NASA Micro Pulse Lidar Network (MPLNET) is a federated network of Micro Pulse Lidar (MPL) systems designed to measure aerosol and cloud vertical structure continuously, day and night, over long time periods required to contribute to climate change studies and provide ground validation for models and satellite sensors in the NASA Earth Observing System (FOS). At present, there are eighteen active sites worldwide, and several more in the planning stage. Numerous temporary sites are deployed in support of various field campaigns. Most MPLNET sites are co-located with sites in the NASA Aerosol Robotic Network (AERONET) to provide both column and vertically resolved aerosol and cloud data. MPLNET data and more information on the project are available at http://mpinet.gsfc.nasa.gov . Here we present a summary of the first ten years of MPLNET, along with an overview of our current status, specifically our version two data products and applications. Future network plans will be presented, with a focus on our activities in South East Asia.

Welton, Ellsworth↗
NASA NTRS2019

In Space Assembled Telescope (ISAT) Study Preliminary Findings

“When is it advantageous to assemble telescopes in space rather than deploying them from launch vehicle fairings”? This question forms the crux of the objectives of a NASA study we have been conducting in collaboration with colleagues from different NASA centers, industry and academia. In this study, we have engaged a broad cross section of experts from the various fields of optics engineering, that is, telescope design and instrument design, structure and thermal engineering, robotics, launch system engineering, orbital mechanics, integration and testing, astrophysics, and NASA programmatics among others. Initial efforts began with a quick review of the current state of art of the component technologies that contribute towards an in-space assembled telescope. Then, leveraging the collective expertise of the diverse group of experts, we formulated a reference telescope design and attempted to develop a baseline approach to modularize the telescope into components amenable for robotic assembly. The group identified different trades associated with modularization and also developed a set of criteria to discern between the different options as revealed by the trades. Based on the modularization of the telescope, we will assess the impact of various launch vehicles, orbits for assembly and operation, robotic systems and operational approaches, and other related variables. From this, a concept to assemble the reference telescope in space from modular components will be developed. Based on this concept, and definition of the modules, we will develop a mission lifecycle plan for an assembled telescope over different phases of preliminary design, detailed design, assembly-test-and-integration, and in space operations. The mission lifecycle plan will be used to evaluate cost and risk implications of in-space assembly toward answering our fundamental question of the advantages, if any, of assembling a telescope in space as compared to self-deployment. In this paper, we summarize the objectives of the study, a review of the status of the underlying component technologies, a description of the methodology, including three different multi-day technical interchange meetings (TIMs), summary of findings from the TIMs and other related activities. In addition, a detailed description of the various factors that impact in-space assembly, their interplay and criteria for discerning among them, a preliminary description of the life cycle plan, including the test and integration plan, and initial observations on cost and risk implications will be included in the paper.

Mukherjee, Rudranarayan↗
NASA NTRS2021

Conceptualizing the Impact of Dust Contaminated Infrared Radiances on Data Assimilation for Numerical Weather Prediction

Numerical weather prediction systems depend on Hyperspectral Infrared Sounder (HIS) data, yet the impacts of dust-contaminated HIS radiances on weather forecasts has not been quantified. To determine the impact of dust aerosol on HIS radiance assimilation, we use a modified radiance assimilation system employing a one-dimensional variational assimilation system (1DVAR) developed under the European Organisation for the Exploitation of Meteorological Satellites (EUMETSAT) Numerical Weather Prediction–Satellite Application Facility (NWP-SAF) project, which uses the Radiative Transfer for TOVS (RTTOV). Dust aerosol impacts on analyzed temperature and moisture fields are quantified using synthetic HIS observations from rawinsonde, Micropulse Lidar Network (MPLNET), and Aerosol Robotic Network (AERONET). Specifically, a unit dust aerosol optical depth (AOD) contamination at 550 nm can introduce larger than 2.4 and 8.6 K peak biases in analyzed temperature and dewpoint, respectively, over our test domain. We hypothesize that aerosol observations, or even possibly forecasts from aerosol predication models, may be used operationally to mitigate dust induced temperature and moisture analysis biases through forward radiative transfer modeling.

Jared W. Marquis↗
NASA NTRS2021

Conceptualizing the Impact of Dust-Contaminated Infrared Radiances on Data Assimilation for Numerical Weather Prediction

Numerical weather prediction systems depend on Hyperspectral Infrared Sounder (HIS) data, yet the impacts of dust-contaminated HIS radiances on weather forecasts has not been quantified. To determine the impact of dust aerosol on HIS radiance assimilation, we use a modified radiance assimilation system employing a one-dimensional variational assimilation system (1DVAR) developed under the European Organisation for the Exploitation of Meteorological Satellites (EUMETSAT) Numerical Weather Prediction–Satellite Application Facility (NWP-SAF) project, which uses the Radiative Transfer for TOVS (RTTOV). Dust aerosol impacts on analyzed temperature and moisture fields are quantified using synthetic HIS observations from rawinsonde, Micropulse Lidar Network (MPLNET), and Aerosol Robotic Network (AERONET). Specifically, a unit dust aerosol optical depth (AOD) contamination at 550 nm can introduce larger than 2.4 and 8.6 K peak biases in analyzed temperature and dewpoint, respectively, over our test domain. We hypothesize that aerosol observations, or even possibly forecasts from aerosol predication models, may be used operationally to mitigate dust induced temperature and moisture analysis biases through forward radiative transfer modeling.

Jared W Marquis↗
NASA NTRS2004

Biomimetic robots using EAP as artificial muscles - progress and challenges

Biology offers a great model for emulation in areas ranging from tools, computational algorithms, materials science, mechanisms and information technology. In recent years, the field of biomimetics, namely mimicking biology, has blossomed with significant advances enabling the reverse engineering of many animals' functions and implementation of some of these capabilities.

robotics↗
NASA NTRS2005

Displacing Unpredictable Nulls in Antenna Radiation Patterns

A method of maintaining radio communication despite the emergence of unpredictable fades and nulls in the radiation pattern of an antenna has been proposed. The method was originally intended to be applied in the design and operation of a radio antenna aboard a robotic exploratory vehicle on a remote planet during communication with a spacecraft in orbit around the planet. The method could also be applied in similar terrestrial situations for example, radio communication between two ground vehicles or between a ground vehicle and an aircraft or spacecraft. The method is conceptually simple, is readily adaptable to diverse situations, and can be implemented without adding greatly to the weight, cost, power demand, or complexity of a system to which it may be applied. The unpredictable fades and nulls in an antenna radiation pattern arise because of electromagnetic interactions between the antenna and other objects within the near field of the antenna (basically, objects within a distance of a few wavelengths). These objects can include general vehicle components, masts, robotic arms, other antennas, the ground, and nearby terrain features. Figure 1 presents representative plots of signal strength versus time during a typical pass of a spacecraft or aircraft through the far field of such an antenna, showing typical nulls and fades caused by nearby objects. The traditional approach to ensuring reliability of communication in the presence of deep fades calls for increasing the effective transmitter power and/or reducing the receiver noise figure at the affected ground vehicle, possibly in combination with appropriate redesign of the equipment at the spacecraft or aircraft end of the communication link. These solutions can be expensive and/or risky and, depending on the application, can add significantly to weight, cost, and power demand. The proposed method entails none of these disadvantages.

Lux, James↗
NASA NTRS1992

Automation and Robotics for Space-Based Systems, 1991

A NASA Langley workshop on Automation and Robotics for Space-Based Systems was held on December 10, 1991. This conference proceedings document presents the overhead slides from each speaker at this event. The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from a LaRC perspective and to identify areas of opportunity for future research. The workshop was sponsored by the Guidance, Navigation, and Control Technical Committee, chaired by Mr. Raymond C. Montgomery. Nineteen talks were given, reflecting a high level of interest in the field of automation at NASA Langley. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, EVA and IVA robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered RMS active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

Automation↗
NASA NTRS2013

Helicopter Flight Test of a Compact, Real-Time 3-D Flash Lidar for Imaging Hazardous Terrain During Planetary Landing

A second generation, compact, real-time, air-cooled 3-D imaging Flash Lidar sensor system, developed from a number of cutting-edge components from industry and NASA, is lab characterized and helicopter flight tested under the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project. The ALHAT project is seeking to develop a guidance, navigation, and control (GN&C) and sensing system based on lidar technology capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The Flash Lidar incorporates a 3-D imaging video camera based on Indium-Gallium-Arsenide Avalanche Photo Diode and novel micro-electronic technology for a 128 x 128 pixel array operating at a video rate of 20 Hz, a high pulse-energy 1.06 μm Neodymium-doped: Yttrium Aluminum Garnet (Nd:YAG) laser, a remote laser safety termination system, high performance transmitter and receiver optics with one and five degrees field-of-view (FOV), enhanced onboard thermal control, as well as a compact and self-contained suite of support electronics housed in a single box and built around a PC-104 architecture to enable autonomous operations. The Flash Lidar was developed and then characterized at two NASA-Langley Research Center (LaRC) outdoor laser test range facilities both statically and dynamically, integrated with other ALHAT GN&C subsystems from partner organizations, and installed onto a Bell UH-1H Iroquois "Huey" helicopter at LaRC. The integrated system was flight tested at the NASA-Kennedy Space Center (KSC) on simulated lunar approach to a custom hazard field consisting of rocks, craters, hazardous slopes, and safe-sites near the Shuttle Landing Facility runway starting at slant ranges of 750 m. In order to evaluate different methods of achieving hazard detection, the lidar, in conjunction with the ALHAT hazard detection and GN&C system, operates in both a narrow 1deg FOV raster-scanning mode in which successive, gimbaled images of the hazard field are mosaicked together as well as in a wider, 4.85deg FOV staring mode in which digital magnification, via a novel 3-D superresolution technique, is used to effectively achieve the same spatial precision attained with the more narrow FOV optics. The lidar generates calibrated and corrected 3-D range images of the hazard field in real-time and passes them to the ALHAT Hazard Detection System (HDS) which stitches the images together to generate on-the-fly Digital Elevation Maps (DEM's) and identifies hazards and safe-landing sites which the ALHAT GN&C system can then use to guide the host vehicle to a safe landing on the selected site. Results indicate that, for the KSC hazard field, the lidar operational range extends from 100m to 1.35 km for a 30 degree line-of-sight angle and a range precision as low as 8 cm which permits hazards as small as 25 cm to be identified. Based on the Flash Lidar images, the HDS correctly found and reported safe sites in near-real-time during several of the flights. A follow-on field test, planned for 2013, seeks to complete the closing of the GN&C loop for fully-autonomous operations on-board the Morpheus robotic, rocket-powered, free-flyer test bed in which the ALHAT system would scan the KSC hazard field (which was vetted during the present testing) and command the vehicle to landing on one of the selected safe sites.

Roback, VIncent E.↗
NASA NTRS2016

Soft-Robotic Rover with Electrodynamic Power Scavenging: NIAC Final Report - Phase 1

The purpose of studying the capabilities of Electrodynamic Tethers (EDT) and Soft Robotics is to ascertain the feasibility of using cross-cutting EDT and soft robotics technologies to achieve future NASA mission objectives with mass and power budgets orders of magnitude lower than conventional spacecraft. In this context, the Phase I study focuses on three technological elements: the design of a soft-robotic rover that can operate in extraterrestrial oceans, demonstrating feasibility of electrodynamic tethers for power scavenging in the Europa environment, and utilizing electrolysis to power biomimetic propulsion.The Phase I results show that a soft robotic, underwater rover has many advantages over a traditional view of autonomous underwater vehicles. Many of these advantages stem from its ability to collapse or expand the body, which carries two key benefits: (i) cost savings in transport and (ii) buoyancy control. Furthermore, this rover's material offers properties that enable it to survive most oceanic conditions, withstand a likely radiation environment, and retard ice formation. The use of these soft robots under water is very attractive because buoyancy enables very large robots without the need for skeletal structures that limit their shape-changing ability. The prime limitation of soft robots for underwater exploration is their nascent state of development, an issue that this study has begun to address and that we hope to continue in Phase II. The theoretical calculations and experimental investigation on electrodynamic tethers discussed in this report show that their use in saltwater environments is feasible. However, magneto hydrodynamic effects require attention, which will be a priority in Phase II. A possible approach involves magnetic shielding of a portion of the EDT array to generate significant current from imposed alternating magnetic fields. The Phase I experiments show that this approach may enable enough power to be generated for a soft robotic rover of the scale contemplated here. This power is in the range of 1mW to 1W and determines the time required to collect and transmit science data.

Soft Robotics↗
NASA NTRS2005

Robotic and Human-Tended Collaborative Drilling Automation for Subsurface Exploration

Future in-situ lunar/martian resource utilization and characterization, as well as the scientific search for life on Mars, will require access to the subsurface and hence drilling. Drilling on Earth is hard - an art form more than an engineering discipline. Human operators listen and feel drill string vibrations coming from kilometers underground. Abundant mass and energy make it possible for terrestrial drilling to employ brute-force approaches to failure recovery and system performance issues. Space drilling will require intelligent and autonomous systems for robotic exploration and to support human exploration. Eventual in-situ resource utilization will require deep drilling with probable human-tended operation of large-bore drills, but initial lunar subsurface exploration and near-term ISRU will be accomplished with lightweight, rover-deployable or standalone drills capable of penetrating a few tens of meters in depth. These lightweight exploration drills have a direct counterpart in terrestrial prospecting and ore-body location, and will be designed to operate either human-tended or automated. NASA and industry now are acquiring experience in developing and building low-mass automated planetary prototype drills to design and build a pre-flight lunar prototype targeted for 2011-12 flight opportunities. A successful system will include development of drilling hardware, and automated control software to operate it safely and effectively. This includes control of the drilling hardware, state estimation of both the hardware and the lithography being drilled and state of the hole, and potentially planning and scheduling software suitable for uncertain situations such as drilling. Given that Humans on the Moon or Mars are unlikely to be able to spend protracted EVA periods at a drill site, both human-tended and robotic access to planetary subsurfaces will require some degree of standalone, autonomous drilling capability. Human-robotic coordination will be important, either between a robotic drill and humans on Earth, or a human-tended drill and its visiting crew. The Mars Analog Rio Tinto Experiment (MARTE) is a current project that studies and simulates the remote science operations between an automated drill in Spain and a distant, distributed human science team. The Drilling Automation for Mars Exploration (DAME) project, by contrast: is developing and testing standalone automation at a lunar/martian impact crater analog site in Arctic Canada. The drill hardware in both projects is a hardened, evolved version of the Advanced Deep Drill (ADD) developed by Honeybee Robotics for the Mars Subsurface Program. The current ADD is capable of 20m, and the DAME project is developing diagnostic and executive software for hands-off surface operations of the evolved version of this drill. The current drill automation architecture being developed by NASA and tested in 2004-06 at analog sites in the Arctic and Spain will add downhole diagnosis of different strata, bit wear detection, and dynamic replanning capabilities when unexpected failures or drilling conditions are discovered in conjunction with simulated mission operations and remote science planning. The most important determinant of future 1unar and martian drilling automation and staffing requirements will be the actual performance of automated prototype drilling hardware systems in field trials in simulated mission operations. It is difficult to accurately predict the level of automation and human interaction that will be needed for a lunar-deployed drill without first having extensive experience with the robotic control of prototype drill systems under realistic analog field conditions. Drill-specific failure modes and software design flaws will become most apparent at this stage. DAME will develop and test drill automation software and hardware under stressful operating conditions during several planned field campaigns. Initial results from summer 2004 tests show seven identifi distinct failure modes of the drill: cuttings-removal issues with low-power drilling into permafrost, and successful steps at executive control and initial automation.

Glass, Brian↗
DOE OSTI2024

Phase-field-guided design of record-high piezoelectricity and discovery of simultaneous high light transparency and high piezoelectricity in relaxor ferroelectrics

Here, the phase-field method has been extensively applied to predicting the domain structures and their responses to external fields and understanding experimentally observed domain states under different electromechanical conditions in ferroelectric heterostructures. This article highlights the successful examples of phase-field applications in guiding the design of relaxor ferroelectric ceramics and crystals with record-high piezoelectricity and the discovery of simultaneous high light transparency and piezoelectricity of relaxor ferroelectric crystals for a wide range of biomedical, robotics, and optoelectronics applications.

36 MATERIALS SCIENCE↗