Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “hands”

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.

At least 523 records · Page 29
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Kinematics of the six-degree-of-freedom force-reflecting Kraft Master

Presented here are kinematic equations for a six degree of freedom force-reflecting hand controller. The forward kinematics solution is developed and shown in simplified form. The Jacobian matrix, which uses terms from the forward kinematics solution, is derived. Both of these kinematic solutions require joint angle inputs. A calibration method is presented to determine the hand controller joint angles given the respective potentiometer readings. The kinematic relationship describing the mechanical coupling between the hand and controller shoulder and elbow joints is given. These kinematic equations may be used in an algorithm to control the hand controller as a telerobotic system component. The purpose of the hand controller is two-fold: operator commands to the telerobotic system are entered using the hand controller, and contact forces and moments from the task are reflected to the operator via the hand controller.

Williams, Robert L., II↗
NASA NTRS1998

Applying Space Technology to Enhance Control of an Artificial Arm for Children and Adults With Amputations

The first single function myoelectric prosthetic hand was introduced in the 1960's. This hand was controlled by the electric fields generated by muscle contractions in the residual limb of the amputee user. Electrodes and amplifiers, embedded in the prosthetic socket, measured these electric fields across the skin, which increase in amplitude as the individual contracts their muscle. When the myoelectric signal reached a certain threshold amplitude, the control unit activated a motor which opened or closed a hand-like prosthetic terminal device with a pincher grip. Late in the 1990's, little has changed. Most current myoelectric prostheses still operate in this same, single-function way. To better understand the limitations of the current single-function myoelectric hand and the needs of those who use them, The Institute for Rehabilitation and Research (TIRR), sponsored by the National Institutes of Health (NUH), surveyed approximately 2,500 individuals with upper limb loss [1]. When asked to identify specific features of their current myoelectric prostheses that needed improvement, the survey respondents overwhelmingly identified the lack of wrist and finger movement, as well as poor control capability. However, simply building a mechanism with individual finger and wrist motion is not enough. In the 1960's and 1970's, engineers built a number of more dexterous prosthetic hands. Unfortunately, these were rejected during clinical trials due to a difficult and distracting control interface. The goal of this project, "Applying Space Technology to Enhance Control of an Artificial Arm for Children and Adults with Amputations," was to lay the foundation for a multi-function, intuitive myoelectric control system which requires no conscious thought to move the hand. We built an extensive myoelectric signal database for six motions from ten amputee volunteers, We also tested a control system based on new artificial intelligence techniques on the data from two of these subjects. This data is available to anyone doing myoelectric control research. Its availability is an important contribution to the prosthetics research community, as many researchers do not have access to amputee subjects. Since we collected myoelectric data from subjects' sound arms as well as their residual arms, this database will also prove useful to virtual reality and robotics researchers who want to explore myoelectric-based interfaces between any user and a machine. Currently, one small company (Intelligenta, Inc.) and one university (University of New Brunswick, Canada) are using this myoelectric database under other funding to develop multifunction control systems for prostheses. A prosthetics manufacturer (Liberty Technology, Inc.) is making plans to incorporate the results of their work into an artificial hand capable of several different movements to provide functionality only dreamed of by current myoelectric users. Methods Six adults and four children, all with unilateral, below-elbow amputations served as subjects. Five of the adults (3 male, 2 female, average age 34 years) had amputations due to traumatic injury, while one adult (female, age 32 years) and the four children (3 male, 1 female, average age 13 years) had congenital (i.e. from birth) limb deficiencies.

Atkins, Diane J.↗
NASA NTRS2008

Using the Space Glove to Teach Spatial Thinking

The challenge of extending students' skills in spatial thinking to astronomical scales was the central focus of our K-8 curriculum development. When the project's lead teacher requested a curriculum that cumulatively built on each prior year's learning in a spiral fashion, I knew exactly what the school was asking for. Second and third graders began by noticing the cyclical patters that the sun, moon, and stars make in the sky. Fourth graders explored the phases of the moon by taking turns modeling and sketching them in their classroom and then comparing them to the real sky. Sixth !graders used real telescopes to observe a moving model of our solar system and walked a scale model of the planets' orbits. The curriculum is designed to expand students' capacity to visualize space in a hierarchical fashion that asks them to imagine themselves from a broader number of spatial perspectives through hands-on activities. The "situational awareness" Peter's story describes is a hallmark of high-performance engineering and innovation. Keeping in mind the potential outcomes of multiple paths of pursuit from multiple perspectives while keeping track of their relative merits and performance requirements is a demanding spatial task. What made it possible for Peter to transform the failure of his first glove into triumph was the mental space in which that failure provided exactly the information needed for a new breakthrough. In at least two cases, Peter could immediately "see" the full implications of what his hands were telling him. He tells the story of how putting his hands in a Phase VI astronaut glove instantly transformed his understanding of the glove challenge. Six months into his development, the failure of circumferentially wrapped cords to produce a sufficiently flexible glove again forced him to abandon his assumptions. His situational awareness was so clear and compelling it became a gut-level response. Peter's finely developed spatial skills enabled him to almost instinctively focus his full energy on a carefully constructed set of experiments. The finger's ability to sense pressure, force, and work gave him the immediate feedback required to solve this one central problem. Once properly understood, his failure quickly led to the magical "Aha!" moment of discovery; the rest is history. Just as children need opportunities to develop hands-on understanding, engineers need to explore new possibilities through incremental hands-on failure. High-performance innovation is all about learning to make maximum use of thinking spatially to direct this process. Peter Homer's glove also reminds us that efficient engineering decisions need to be made as close to the hardware as possible. Whether we're doing hands-on education or hands-on engineering, it is when we trust in our ability to "feel our way" through failure that we reach our highest potential.

Lord, Peter↗
DOE OSTI2025

Assessing the Role of Hydrodynamics in Enhancing Height-Above-the-Nearest-Drainage Derived Synthetic Rating Curves: A Comparative Study in the Wu River Basin, Taiwan

The conventional approach to generating synthetic rating curves (SRC) using the Height-Above-the-Nearest-Drainage (HAND) method typically relies on the assumption of uniform flow, such as Manning's equation, to establish stage-discharge ratings. The zero-physics application of the uniform flow equation is insufficient for capturing detailed hydraulic features (e.g., backwater effect) and neglects the hydraulic effects from adjacent channels. This lack of hydrodynamic computation can impact the accuracy and effectiveness of riverine flood risk estimation and management. To reduce this foreseeable error, we introduce the HAND-hd workflow, which integrates sophisticated hydrodynamic computations in the production of HAND-based SRC with hydrodynamic features (SRC hd ). The results indicate that SRC hd demonstrates consistent agreement with both gauge observations and benchmark solutions. Additionally, the comparative analysis suggests that SRC hd provides notable improvements in stage-discharge ratings over conventional HAND-based SRCs, particularly in channels with mild bed gradients, where it reduces water stage prediction errors and percent biases. In steeper channel segments, SRC hd maintains comparable accuracy to conventional methods. The comprehensive evaluation in this study emphasizes the potential discrepancies and inaccuracies associated with the adoption of the uniform flow assumption in the conventional HAND-SRCs and addresses the necessity of including hydrodynamic physics in the application of HAND-based SRC (e.g., inundation map) in channels with mild gradients.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1994

Anthropomorphic Telemanipulation System in Terminus Control Mode

This paper describes a prototype anthropomorphic kinesthetic telepresence system that is being developed at JPL. It utilizes dexterous terminus devices in the form of an exoskeleton force-sensing master glove worn by the operator and a replica four finger anthropomorphic slave hand. The newly developed master glove is integrated with our previously developed non-anthropomorphic six degree of freedom (DOF) universal force-reflecting hand controller (FRHC). The mechanical hand and forearm are mounted to an industrial robot (PUMA 560), replacing its standard forearm. The notion of 'terminus control mode' refers to the fact that only the terminus devices (glove and robot hand) are of anthropomorphic nature, and the master and slave arms are non-anthropomorphic. The system is currently being evaluated, focusing on tool handling and astronaut equivalent task executions. The evaluation revealed the system's potential for tool handling but it also became evident that hand tool manipulations and space operations require a dual arm robot. This paper describes the system's principal components, its control and computing architecture, discusses findings of the tool handling evaluation, and explains why common tool handling and EVA space tasks require dual arm robots.

glove exoskeleton force-sensing master glove EVA s↗
DOE OSTI2022

Light sterile neutrinos, left-right symmetry, and 0νββ decay

We investigate neutrinoless double beta (0νββ) decay rates in minimal left-right symmetric models in presence of relatively light right-handed neutrinos. By use of an effective field theory approach, we systematically include all contributions in the model as well as the dependence of the decay amplitude on the masses of right-handed neutrinos. In type-I and type-II seesaw scenarios, we analyze the impact of right-handed neutrinos heavier than about 10 MeV, showing that this effect can lead to a detection of 0νββ decay in the next-generation experiments even for the normal hierarchy and a relatively large right-handed scale set by the mass of hypothetical right-handed gauge bosons. Finally, we comment on a possible connection between light right-handed neutrinos and the strong CP problem.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2020

Optimizing the Accelerated Recursive Doubling Algorithm for Block Tridiagonal Systems of Equations

The need to solve block tridiagonal systems with hundreds or thousands of right-hand sides for the same block tridiagonal matrix is common in a variety of disciplines. To meet this need, the Accelerated Recursive Doubling Algorithm was developed. After a right-hand side independent phase, the algorithm allows for the quick, online calculation of solutions for different right-hand sides. In this work, we present methods to optimize the Accelerated Recursive Doubling Algorithm in memory usage and computation time in a hybrid parallelization model. The right-hand side independent phase of the naïve implementation takes ≥ 11/3 the amount of memory required to store the tridiagonal matrix, while our implementation reduces the fraction to ≈ 5/3 . The right-hand side dependent phase of the naïve implementation takes ≥ 6 times the amount of memory required to store the right-hand side, while our implementation reduces the fraction to ≈ 3. The computation time for the independent phase is reduced to ≈ 2/3 times that of the naïve implementation, while the computation time for the dependent phase is reduced to ≈ 5/9 . With increasing numbers of shared-memory threads q on every distributed processing element, we have O(q) theoretical speedup.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2025

Snakes for the Hadron Storage Ring

The Electron Ion Collider calls for collisions of polarized proton and polarized helion beams on polarized electron beams. To preserve polarization of these polarized hadron beams during acceleration, six full helical snakes will be installed. As there are currently 4 snakes in RHIC, the remaining two snakes will be made from existing rotator magnet coils. The existing snakes are made from only right-handed helices where the rotator magnets are made from both right handed and left handed helicity magnets. In order for a sufficient stock of spare coils, one snake will be made of left handed coils. Simulations using Opera field maps in zgoubi show the left handed snake has sufficient range to provide the desired snake precession axes for helions and protons with the existing power supplies. This is an overview of the right and left handed snake assemblies and their effects.

43 PARTICLE ACCELERATORS↗
NASA NTRS1994

Semiannual Status Report

During the last six months, we have continued our study of the excitation of electromagnetic waves in the whistler frequency range and the role that these waves will play in the acceleration of electrons and ions in the auroral region. A paper entitled 'Electron Beam Excitation of Upstream Waves in the Whistler Mode Frequency Range' was listed in the Journal of Geophysical Research. In this paper, we have shown that an anisotropic electron beam (or gyrating electron beam) is capable of generating both left-hand and right-hand polarized electromagnetic waves in the whistler frequency range. Since right-hand polarized electromagnetic waves can interact with background electrons and left-hand polarized waves can interact with background ions through cyclotron resonance, it is possible that these beam generated left-hand and right-hand polarized electromagnetic waves can accelerate either ions or electrons (or both), depending on the physical parameters under consideration. We are currently carrying out a comprehensive study of the electromagnetic whistler and lower hybrid like waves observed in the auroral zone using both wave and particle data. Our first task is to identify these wave modes and compare it with particle observations. Using both the DE-1 particle and wave measurements, we can positively identify those electromagnetics lower hybrid like waves as fast magnetosonic waves and the upper cutoff of these waves is the local lower hybrid frequency. From the upper cutoff of the frequency spectrum, one can infer the particle density and the result is in very good agreement with the particle data. Since these electromagnetic lower hybrid like waves can have frequencies extended down to the local ion cyclotron frequency, it practically confirms that they are not whistler waves.

Source record↗
NASA NTRS1995

Mobility management in satellite networks

This paper addresses the methods used or proposed for use in multi-beam and/or multi-satellite networks designed to provide Mobile Satellite Services (MSS). Specific topics include beam crossover in the North American Mobile Satellite (MSAT) system as well as registration and live call hand-off for a multi-regional geosynchronous (GEO) satellite based system and a global coverage Low Earth Orbiting (LEO) system. In the MSAT system, the individual satellite beams cover very large geographic areas so the need for live call hand-off was not anticipated. This paper discusses the methods used to keep track of the beam location of the users so that incoming call announcements or other messages may be directed to them. Proposed new GEO systems with large numbers of beams will provide much smaller geographic coverage in individual beams and thus the need arises to keep track of the user's location as well as to provide live call hand-off as the user traverses from beam to beam. This situation also occurs in proposed LEO systems where the problems are worsened by the need for satellite to satellite hand-off as well as beam to beam hand-off within a single satellite. The paper discusses methods to accomplish these handoffs and proposes system architectures to address the various hand-off scenarios.

Johanson, Gary A.↗
NASA NTRS1996

An Assessment of Molten Metal Detachment Hazards During Electron Beam Welding in the Space Shuttle Bay at LEO for the International Space Welding Experiment

In 1997, the United States [NASA] and the Paton Electric Welding Institute are scheduled to cooperate in a flight demonstration on the U.S. Space Shuttle to demonstrate the feasibility of welding in space for a possible repair option for the International Space Station Alpha. This endeavor, known as the International Space Welding Experiment (ISWE), will involve astronauts performing various welding exercises such as brazing, cutting, welding, and coating using an electron beam space welding system that was developed by the E.O. Paton Electric Welding Institute (PWI), Kiev Ukraine. This electron beam welding system known as the "Universal Weld System" consists of hand tools capable of brazing, cutting, autogeneous welding, and coating using an 8 kV (8000 volts) electron beam. The electron beam hand tools have also been developed by the Paton Welding Institute with greater capabilities than the original hand tool, including filler wire feeding, to be used with the Universal Weld System on the U.S. Space Shuttle Bay as part of ISWE. The hand tool(s) known as the Ukrainian Universal Hand [Electron Beam Welding] Tool (UHT) will be utilized for the ISWE Space Shuttle flight welding exercises to perform welding on various metal alloy samples. A total of 61 metal alloy samples, which include 304 stainless steel, Ti-6AI-4V, 2219 aluminum, and 5456 aluminum alloys, have been provided by NASA for the ISWE electron beam welding exercises using the UHT. These samples were chosen to replicate both the U.S. and Russian module materials. The ISWE requires extravehicular activity (EVA) of two astronauts to perform the space shuttle electron beam welding operations of the 61 alloy samples. This study was undertaken to determine if a hazard could exist with ISWE during the electron beam welding exercises in the Space Shuttle Bay using the Ukrainian Universal Weld System with the UHT. The safety issue has been raised with regard to molten metal detachments as a result of several possible causes such as welder procedural error, externally applied impulsive forces(s), filler wire entrainment and snap-out, cutting expulsion, and puddle expulsion. Molten metal detachment from either the weld/cut substrate or weld wire could present harm to a astronaut in the space environment it the detachment was ti burn through the fabric of the astronaut Extravehicular Mobility Unit (EMC). In this paper an experimental test was performed in a 4 ft. x 4 ft. vacuum chamber at MSFC enabling protective garment to be exposed to the molten metal drop detachments to over 12 inches. The chamber was evacuated to vacuum levels of at least 1 x 10(exp -5) torr (50 micro-torr) during operation of the 1.0 kW Universal Hand Tool (UHT). The UHT was manually operated at the power mode appropriate for each material and thickness. The space suit protective welding garment, made of Teflon fabric (10 oz. per yard) with a plain weave, was placed on the floor of the vacuum chamber to catch the molten metal drop detachments. A pendulum release mechanism consisting of four hammers, each weighing approximately 3.65 lbs, was used to apply an impact forces to the weld sample/plate during both the electron beam welding and cutting exercises. Measurements were made of the horizontal fling distances of the detached molten metal drops. The volume of a molten metal drop can also be estimated from the size of the cut. Utilizing equations, calculations were made to determine chande in surafec area (Delat a(surface)) for 304 stainless steel for cutting based on measurements of metal drop sizes at the cut edges. For the cut sample of 304 stainless steel based on measurement of the drop size at the edge, Delta-a(surface) was determined to be 0.0054 2 in . Calculations have indicated only a small amount of energy is required to detach a liquid metal drop. For example, approximately only 0.000005 ft-lb of energy is necessary to detach a liquid metal steel drop based on the above theoretical analysis. However, some of the energy will be absorbed by the plate before it reaches the metal drop. Based on the theoretical calculations, it was determined that during a weld cutting exercise, the titanium alloy would be the most difficult to detach molten metal droplets followed by stainless steel and then by aluminum. The results of the experimental effort have shown that molten metal will detach if large enough of a hammer blow is applied to the weld sample plate during the full penetration welding and cutting exercises. However, no molten metal detachments occurred as a result of the filler wire snap-out tests from the weld puddle since it was too difficult to cause the metal to flick-out from the pool. Molten metal detachments, though not large in size, did result from the direct application of the electron beam on the end of the filler weld wire.

Fragomeni, James M.↗
NASA NTRS1992

Small Business Innovations (Exoskeletons)

The Dexterous Hand Master (DHM), a 1989 winner of an R&D 100 Award, is an exoskeleton device for measuring the joints of the human hand with extreme precision. It was originally developed for NASA by Arthur D. Little, and is sold commercially by EXOS, Inc. The DHM is worn on the hand and connected to a computer that records hand motions. The resulting data is transmitted as control signals to robots and other computers, enabling robotic hands to emulate human hand actions. Two additional spinoff products were also inspired by the DHM.

Source record↗
NASA NTRS2002

Skin microvascular flow during hypobaric exposure with and without a mechanical counter-pressure space suit glove

INTRODUCTION: Current space suits are rigid, gas-pressurized shells that protect astronauts from the vacuum of space. A tight elastic garment or mechanical-counter-pressure (MCP) suit generates pressure by compression and may have several advantages over current space suit technology. In this study, we investigated local microcirculatory effects produced with and without a prototype MCP glove. METHODS: The right hand of eight normal volunteers was studied at normal ambient pressure and during exposure to -50, -100 and -150 mm Hg with and without the MCP glove. Measurements included the pressure against the hand, skin microvascular flow, temperature on the dorsum of the hand, and middle finger girth. RESULTS: Without the glove, skin microvascular flow and finger girth significantly increased with negative pressure, and the skin temperature decreased compared with the control condition. The MCP glove generated approximately 200 mm Hg at the skin surface; all measured values remained at control levels during exposure to negative pressure. DISCUSSION: Without the glove, skin microvascular flow and finger girth increased with negative pressure, probably due to a blood shift toward the hand. The elastic compression of the material of the MCP glove generated pressure on the hand similar to that in current gas-pressurized space suit gloves. The MCP glove prevented the apparent blood shift and thus maintained baseline values of the measured variables despite exposure of the hand to negative pressure.

NASA Discipline Cardiopulmonary↗
NASA NTRS2002

Compression under a mechanical counter pressure space suit glove

Background: Current gas-pressurized space suits are bulky stiff shells severely limiting astronaut function and capability. A mechanical counter pressure (MCP) space suit in the form of a tight elastic garment could dramatically improve extravehicular activity (EVA) dexterity, but also be advantageous in safety, cost, mass and volume. The purpose of this study was to verify that a prototype MCP glove exerts the design compression of 200 mmHg, a pressure similar to the current NASA EVA suit. Methods: Seven male subjects donned a pressure measurement array and MCP glove on the right hand, which was placed into a partial vacuum chamber. Average compression was recorded on the palm, the bottom of the middle finger, the top of the middle finger and the dorsum of the hand at pressures of 760 (ambient), 660 and 580 mmHg. The vacuum chamber was used to simulate the pressure difference between the low breathing pressure of the current NASA space suits (approximately 200 mmHg) and an unprotected hand in space. Results: At ambient conditions, the MCP glove compressed the dorsum of the hand at 203.5 +/- 22.7 mmHg, the bottom of the middle finger at 179.4 +/- 16.0 mmHg, and the top of the middle finger at 183.8 +/- 22.6 mmHg. The palm compression was significantly lower (59.6 +/- 18.8 mmHg, p<0.001). There was no significant change in glove compression with the chamber pressure reductions. Conclusions: The MCP glove compressed the dorsum of the hand and middle finger at the design pressure.

NASA Discipline Life Sciences Technologies↗
DOE OSTI2025

Teleoperation of Construction Robots Using Human Interaction: Case Study Examples: Preprint

The integration of advanced teleoperation methods in construction robotics has the potential to enhance productivity and safety in demanding environments. Among different methods, hand gestures have emerged as an intuitive approach, enabling seamless communication between human operators and robotic systems. This study demonstrates the use of hand gestures for controlling a model robotic excavator and a virtual robotic arm in construction applications. Two case study examples are presented. In the first case study, a series of hand gestures are performed to control a model robotic excavator's bucket and arm movements. The second case study focuses on using hand gestures to control a virtual robotic arm to perform a material handling task in a simulated environment. In both cases, the performed hand gestures are all successfully captured and interpreted by the gesture-based teleoperation method to conduct the corresponding tasks, which demonstrates the application of the gesture-based control method for various types of construction robots. Also, the limitations of the gesture-based teleoperation method (e.g., recognition delay, sensitivity to motion outliers) are discussed. Future work will focus on developing a digital twin system to support gesture-based teleoperation for a wider range of construction robots.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2023

Origins of Conformational Heterogeneity in Peptoid Helices Formed by Chiral N -1-Phenylethyl Sidechains

N-substituted glycines (polypeptoids) containing chiral hydrophobic sidechains are known to fold into biomimetic alpha helices. These helix formers often produce conformationally heterogeneous structures and are difficult to characterize at a sub-nanometer resolution. Previously, peptoid N-1-phenylethyl (S)-enantiomer sidechains (Nspe) were inferred from various experiments to form right-handed helices and (R)-enantiomers (Nrpe), left-handed helices. Prior computational work for N(s/r)pe oligomers has struggled to reproduce this trend. Herein, quantum mechanics calculations and molecular dynamics simulations are used to understand the origins of this discrepancy. Results from DFT and molecular mechanics calculations on a variety of Nspe and Nrpe oligomers as a function of chain length are in agreement, showing that Nspe and Nrpe prefer left- and right-handed helices, respectively. Additional metadynamics simulations are used to study Nrpe and Nspe oligomers folding in water. These results show that the free-energy driving forces for assembly into a helical backbone configuration are very small (within ~k B T). Lastly, we compare DFT calculations for other experimentally characterized peptoid sidechains, N(r/s)sb, N(r/s)tbe, and N(r/s)npe. In this analysis, we show that peptoid sidechains determined to be more robust experimentally (tbe and npe) have helical preferences opposite the trend seen in less robust assemblies formed by N(r/s)pe and N(r/s)sb chemistries. Furthermore, the more robust tbe and nnpe favor the (S)-enantiomer to right-handed and the (R)-enantiomers to left-handed helices.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2020

Taylor State Merging at SSX: Experiment and Simulation

We describe experiments and simulations of dynamical merging with two Taylor state plasmas in a Swarthmore Spheromak Experiment (SSX) device. Taylor states are formed by magnetized plasma guns at opposite ends of the device. We performed experiments with Taylor states of both senses of magnetic helicity (right-handed twist or left-handed twist). We present results of both counter-helicity merging (one side left-handed, the other right-handed) and co-helicity merging (both sides left-handed). Experiments show significant ion heating, consistent with magnetic reconnection. We suggest that the merged, warm state could be a suitable target for future magneto-inertial fusion experiments. Magnetohydrodynamic simulations of these experiments reveal the structure of the final relaxed, merged state.

Brown, Michael↗
NASA NTRS1972

Measurement of the wave-normal vector of proton whistlers on Ogo 6.

Description of the first experimental determination of the wave-normal vector of proton whistlers in the ionosphere. Between the crossover frequency and the proton gyrofrequency, both right-hand and left-hand modes of propagation can occur for upgoing waves. Theoretically, the amount of energy in the respective modes depends on theta, the angle between the wave normal and the magnetic field. For proton whistlers with only left-hand mode energy between the crossover and proton gyrofrequency, theta ranged from 36 to 51 deg. For proton whistlers with strong right-hand and left-hand mode signals, theta ranged from 24 to 29 deg. The result is in good agreement with Wang's (1971) collisionless mode-coupling model. The angle between the wave normal and the vertical is found to increase with increasing altitude.

Chan, K. W.↗