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At least 685 records · Page 38

Reliable vision-guided grasping

Automated assembly of truss structures in space requires vision-guided servoing for grasping a strut when its position and orientation are uncertain. This paper presents a methodology for efficient and robust vision-guided robot grasping alignment. The vision-guided grasping problem is related to vision-guided 'docking' problems. It differs from other hand-in-eye visual servoing problems such as tracking in that the distance from the target is a relevant servo parameter. The methodology described in this paper is a hierarchy of levels in which the vision/robot interface is decreasingly 'intelligent', and increasingly fast. Speed is achieved primarily by information reduction. This reduction exploits the use of region-of-interest windows in the image plane and feature motion prediction. These reductions invariably require stringent assumptions about the image. Therefore, at a higher level, these assumptions are verified using slower, more reliable methods. This hierarchy provides for robust error recovery in that when a lower-level routine fails, the next-higher routine will be called and so on. A working system is described which visually aligns a robot to grasp a cylindrical strut. The system uses a single camera mounted on the end effector of a robot and requires only crude calibration parameters. The grasping procedure is fast and reliable, with a multi-level error recovery system.

Nicewarner, Keith E.↗

Computing Misalignments From Measured Contact Resistances

Misalignments of contacts in integrated circuits computed, and measured contact resistances corrected for effects of misalignments by use of method based on relatively simple mathematical model of measured contact resistance. Flange resistance of aligned contact multiplied by semiempirical factor. Method particularly useful in estimating effects of misalignments on four- and six-terminal (Kelvin-tap) contact-resistance measurements taken with L-shaped test structures.

Lieneweg, Udo↗

Incorporation of New Benzofulvene Derivatives Into Polymers to Give New NLO Materials

The need for fast electro-optic switches and modulators for optical communication, and laser frequency conversion has created a demand for new second-order non-linear optical materials. One approach to produce such materials is to align chromophores with large molecular hyperpolarizabilities in polymers. Recently fulvenes and benzofulvenes which contain electron donating groups have been shown to exhibit large second-order non-linear optical properties. The resonance structures shown below suggest that intramolecular charge transfer (ICT) should be favorable in omega - (hydroxyphenyl)benzofulvenes and even more favorable in omega-omega - (phenoxy)benzofulvenes because of the enhanced donor properties of the O group. This ICT should lead to enormously enhanced second-order hyperpolarizability. We have prepared all three new omega - (hydroxyphenyl)benzofulvenes by the condensation of indene with the appropriate hydroxyaryl aldehyde in MeOH or MeOH/H2O under base catalysis. In a similar fashion we have prepared substituted benzofulvenes with multipal donor groups. Preliminary studies show that some of our benzofulvene derivatives exhibit second order harmonic generation (SHG). Measurements were carried out by preparing host-guest polymers. The results of our work on benzofulvene derivatives in host-guest polymers when covalently bonded in the polymer will be described.

Bowens, Andrea D.↗

Carbon Nanofiber-Based, High-Frequency, High-Q, Miniaturized Mechanical Resonators

High Q resonators are a critical component of stable, low-noise communication systems, radar, and precise timing applications such as atomic clocks. In electronic resonators based on Si integrated circuits, resistive losses increase as a result of the continued reduction in device dimensions, which decreases their Q values. On the other hand, due to the mechanical construct of bulk acoustic wave (BAW) and surface acoustic wave (SAW) resonators, such loss mechanisms are absent, enabling higher Q-values for both BAW and SAW resonators compared to their electronic counterparts. The other advantages of mechanical resonators are their inherently higher radiation tolerance, a factor that makes them attractive for NASA s extreme environment planetary missions, for example to the Jovian environments where the radiation doses are at hostile levels. Despite these advantages, both BAW and SAW resonators suffer from low resonant frequencies and they are also physically large, which precludes their integration into miniaturized electronic systems. Because there is a need to move the resonant frequency of oscillators to the order of gigahertz, new technologies and materials are being investigated that will make performance at those frequencies attainable. By moving to nanoscale structures, in this case vertically oriented, cantilevered carbon nanotubes (CNTs), that have larger aspect ratios (length/thickness) and extremely high elastic moduli, it is possible to overcome the two disadvantages of both bulk acoustic wave (BAW) and surface acoustic wave (SAW) resonators. Nano-electro-mechanical systems (NEMS) that utilize high aspect ratio nanomaterials exhibiting high elastic moduli (e.g., carbon-based nanomaterials) benefit from high Qs, operate at high frequency, and have small force constants that translate to high responsivity that results in improved sensitivity, lower power consumption, and im - proved tunablity. NEMS resonators have recently been demonstrated using topdown, lithographically fabricated ap - proaches to form cantilever or bridgetype structures. Top-down approaches, however, rely on complicated and expensive e-beam lithography, and often require a release mechanism. Reso - nance effects in structures synthesized using bottom-up approaches have also recently been reported based on carbon nanotubes, but such approaches have relied on a planar two-dimensional (2D) geometry. In this innovation, vertically aligned tubes synthesized using a bottom- up approach have been considered, where the vertical orientation of the tubes has the potential to increase integration density even further. The simulation of a vertically oriented, cantilevered carbon nanotube was performed using COMSOL Multi - physics, a finite element simulation package. All simulations were performed in a 2D geometry that provided consistent results and minimized computational complexity. The simulations assumed a vertically oriented, cantilevered nanotube of uniform density (1.5 g/cu cm). An elastic modulus was assumed to be 600 GPa, relative permittivity of the nanotube was assumed to be 5.0, and Poisson s ratio was assumed to be 0.2. It should be noted that the relative permittivity and Poisson s ratio for the nanotubes of interest are not known accurately. However, as in previous simulations, the relative permittivity and Poisson s ratios were treated as weak variables in the simulation, and no significant changes were recognized when these variables were varied.

Kaul, Anupama B.↗

Optical Testing and Verification Methods for the James Webb Space Telescope Integrated Science Instrument Module Element

NASA's James Webb Space Telescope (JWST) is a 6.6m diameter, segmented, deployable telescope for cryogenic IR space astronomy (~40K). The JWST Observatory includes the Optical Telescope Element (OTE) and the Integrated Science Instrument Module (ISIM) that contains four science instruments (SI) and the fine guider. The SIs are mounted to a composite metering structure. The SI and guider units were integrated to the ISIM structure and optically tested at the NASA Goddard Space Flight Center as a suite using the Optical Telescope Element SIMulator (OSIM). OSIM is a full field, cryogenic JWST telescope simulator. SI performance, including alignment and wave front error, were evaluated using OSIM. We describe test and analysis methods for optical performance verification of the ISIM Element, with an emphasis on the processes used to plan and execute the test. The complexity of ISIM and OSIM drove us to develop a software tool for test planning that allows for configuration control of observations, associated scripts, and management of hardware and software limits and constraints, as well as tools for rapid data evaluation, and flexible re-planning in response to the unexpected. As examples of our test and analysis approach, we discuss how factors such as the ground test thermal environment are compensated in alignment. We describe how these innovative methods for test planning and execution and post-test analysis were instrumental in the verification program for the ISIM element, with enough information to allow the reader to consider these innovations and lessons learned in this successful effort in their future testing for other programs.

spaceborne telescopes↗

Magnetospheric Multiscale Satellite Observations of Parallel Electron Acceleration in Magnetic Field Reconnection by Fermi Reflection from Time Domain Structures

The same time domain structures (TDS) have been observed on two Magnetospheric Multiscale Satellites near Earth's dayside magnetopause. These TDS, traveling away from the X line along the magnetic field at 4000 km/s, accelerated field-aligned approx. 5 eV electrons to approx. 200 eV by a single Fermi reflection of the electrons by these overtaking barriers. Additionally, the TDS contained both positive and negative potentials, so they were a mixture of electron holes and double layers. They evolve in approx.10 km of space or 7 ms of time and their spatial scale size is 10-20 km, which is much larger than the electron gyroradius (less than1km) or the electron inertial length (4 km at the observation point, less nearer the X line).

Mozer, F. S.↗

Alignment and Bonding of Silicon Mirrors for High-Resolution Astronomical X-Ray Optics [10699-141]

Future large x-ray astronomy missions require large area and high resolution. The present consensus is to integrate thin, lightweight, segmented mirrors to form a compact but large telescope with high resolution (better than 1 sec). Key technologies: 1) Accurate mirror substrates: polishing high quality mono-crystalline silicon. 2) Stress-free reflective coating: stress-based distortion cancellation. 3) Precise alignment and integration: kinematic mounting and distortion-free bonding. Four-point alignment for quasi-cylindrically symmetric mirrors (segments) - 4-Point alignment: Pitch and yaw angles, image center (X, Y) are controlled by heights of the 4 mount points; Alignment Precision: better than 1 sec; Bonding error: approx. 0.1 micrometers (approx. 1 sec); Current single mirror pair x-ray tested: 3 sec (Half-Power Diameter). Integration into (meta) shell: Shell structure has rotationally defined axis; Interlocking mirrors means lightweight, mechanically strong telescope.

Chan, Kai-Wing↗

TIC 168789840: A Sextuply Eclipsing Sextuple Star System

We report the discovery of a sextuply eclipsing sextuple star system from TESS data, TIC 168789840, also known as TYC 7037-89-1, the first known sextuple system consisting of three eclipsing binaries. The target was observed in Sectors 4 and 5 during Cycle 1, with light curves extracted from TESS Full Frame Image data. It was also previously observed by the WASP survey and ASAS-SN. The system consists of three gravitationally bound eclipsing binaries in a hierarchical structure of an inner quadruple system with an outer binary subsystem. Follow up observations from several different observatories were conducted as a means of determining additional parameters. The system was resolved by speckle interferometry with a 0 42 separation between the inner quadruple and outer binary, inferring an estimated outer period of ∼2 kyr. It was determined that the fainter of the two resolved components is an 8.217 day eclipsing binary, which orbits the inner quadruple that contains two eclipsing binaries with periods of 1.570 days and 1.306 days. Markov Chain Monte Carlo (MCMC) analysis of the stellar parameters has shown that the three binaries of TIC 168789840 are “triplets,” as each binary is quite similar to the others in terms of mass, radius, and Teff. As a consequence of its rare composition, structure, and orientation, this object can provide important new insight into the formation, dynamics, and evolution of multiple star systems. Future observations could reveal if the intermediate and outer orbital planes are all aligned with the planes of the three inner eclipsing binaries.

Brian P. Powell↗

Large Photospheric Doppler Shift in Solar Active Region 12673: I. Field-Aligned Flows

Delta (δ) sunspots sometimes host fast photospheric flows along the central magnetic polarity inversion line (PIL). Here we study the strong Doppler shift signature in the central penumbral light bridge of solar active region NOAA 12673. Observations from the Helioseismic and Magnetic Imager (HMI) indicate highly sheared, strong magnetic fields. Large Doppler shifts up to 3.2 km s −1 appeared during the formation of the light bridge and persisted for about 16 hours. A new velocity estimator, called DAVE4VMwDV, reveals fast converging and shearing motion along the PIL from HMI vector magnetograms, and recovers the observed Doppler signal much better than an old version of the algorithm. The inferred velocity vectors are largely (anti-)parallel to the inclined magnetic fields, suggesting that the observed Doppler shift contains significant contribution from the projected, field-aligned flows. High-resolution observations from the Hinode/Spectro-Polarimeter (SP) further exhibit a clear correlation between the Doppler velocity and the cosine of the magnetic inclination, which is in agreement with HMI results and consistent with a field-aligned flow of about 9.6 km s −1 . The complex Stokes profiles suggest significant gradients of physical variables along the line of sight. We discuss the implications on the δ-spot magnetic structure and the flow-driving mechanism.

Solar active region magnetic fields↗

Optical Alignment of the High-Precision UV Spectro-Polarimeter (CLASP2)

Chromospheric LAyer Spectro-Polarimeter (CLASP2) is our next sounding rocket experiment after the success of Chromospheric Lyman-Alpha Spectro-Polarimeter (CLASP1). CLASP2 is scheduled to launch in 2019, and aims to achieve high precision measurements of the linear and circular polarizations in the Mg II h & k lines near the 280 nm, whose line cores originate in the upper solar chromosphere. The CLASP2 spectro-polarimeter follows very successful design concept of the CLASP1 instrument with the minimal modification. A new grating was fabricated with the same radius of curvature as the CLASP1 grating, but with a different ruling density. This allows us to essentially reuse the CLASP1 mechanical structures and layout of the optics. However, because the observing wavelength of CLASP2 is twice longer than that of CLASP1, a magnifier optical system was newly added in front of the cameras to double the focal length of CLASP2 in order to maintain the same wavelength resolution as CLASP1 (0.01 nm). Meanwhile, a careful optical alignment of the specto-polarimeter is required to reach the 0.01 nm wavelength resolution. Therefore, we established an efficient alignment procedure for the CLASP2 spectro-polarimeter based on an experience of CLASP1. Here, we explain in detail the methods for achieving the optical alignment of the CLASP2 spectro-polarimeter and discuss our results by comparing with the performance requirements.

chromosphere; polarimetry; sounding rocket↗

The aurora - An electrical discharge phenomenon surrounding the earth

An attempt to model the processes underlying the appearance of auroral phenomena as a chain of events beginning with power production and resulting in auroral light emissions is presented. Power is produced by the interaction of the solar wind with the earth magnetosphere, creating a dynamo effect which is a function of the solar wind speed and the magnitude and orientation of the solar wind magnetic field. The dynamo power generates the convective motion of magnetospheric plasma, and subsequent magnetic-field aligned currents communicate the dynamo power to the polar ionosphere. The currents close as Pederson currents, and the associated Lorentz force accelerates the ionosphere in the direction of the convective motion. An electric potential structure develops at a few thousand km height, forcing current-carrying electrons to flow down the field lines to the ionosphere, where interactions with atmospheric constituents create auroral displays.

Akasofu, S.-I.↗

Control of leading edge vortex breakdown by blowing

An investigation into the effects of using a jet of air to control the vortex breakdown position on a 70 degree delta wing is presented. The specific objectives focused on optimizing the blowing positions in terms of maximum lift increments obtained for minimum blowing rates. The tests were conducted at chord Reynolds numbers of 150,000, 200,000, and 250,000 at angles of incidence of 30 and 35 degrees. Visualization and force data is presented to show the effect of the jet on the wing aerodynamic characteristics. The results indicate a jet position located at and aligned parallel to the leading edge to be the optimum. Nearness to the apex and tangency to the upper surface were also crucial factors. The influence of the jet on the leading edge vortex structure was examined using laser Doppler anemometry. Velocity surveys through the vortex showed that at high blowing rates the parallel velocity in the outer swirling region of the vortex increased and the normal velocity decreased. This resulted in a decrease in the swirling angle in the outer region. The peak core velocity was reduced and the vortex breakdown was delayed.

Visser, K. D.↗

Design of a spaceworthy adiabatic demagnetization refrigerator

A spaceworthy adiabatic demagnetization refrigerator (ADR) under development at NASA-Goddard is presented. A baseline model heat switch was tested extensively with an on/off ratio of about 10,000 and a parasitic heat leak of 10 micro-W. Data obtained from the breadboard models were used to design an ADR with improved structural integrity. The core of the ADR is the salt pill which consists of the paramagnetic salt crystal and the thermal bus. When a magnetic field is applied to the salt it forces the alignment of the magnetic moments, thereby decreasing the entropy of the salt. Preliminary tests results showed a net crystal mass of 680 g instead of the expected 740 g, which indicate that there are gaps in the salt pill. A partial fix was accomplished by sealing helium gas in the salt pill at a pressure of 2 bar, which improved the thermal contact during salt magnetization, at about 2 K.

Serlemitsos, A. T.↗

Solar fine scale structures in the corona, transition region, and lower atmosphere

The American Science and Engineering Soft X-ray Imaging Payload and the Naval Research Laboratory High Resolution Telescope and Spectrograph (HRTS) were launched from White Sands on 1987 December 11 in coordinated sounding rocket flights. The goal was to investigate the correspondence of fine-scale structures from different temperature regimes in the solar atmosphere, and particularly the relationship between X-ray bright points (XBPs) and transition region explosive events. We present results of the analysis of co-aligned X-ray images, maps of sites of transition region explosive events observed in C IV 10(exp 5), HRTS 1600 A spectroheliograms of the T(sub min) region, and ground-based magnetogram and He I 10830 A images. We examined the relationship of He I 10830 A dark features and evolving magnetic features which correspond to XBPs. We note a frequent double ribbon pattern of the He I dark feature counterparts to XBPs. We discuss an analysis of the relationship of XBPs to evolving magnetic features by Webb et al., which shows that converging magnetic features of opposite polarity are the most significant magnetic field counterparts to XBPs. The magnetic bipolar features associated with XBPs appear as prominent network elements in chromospheric and transition region images. The features in C IV observations corresponding to XBP sites are in general bright, larger scale (approximately 10 arcsec) regions of complex velocity fields of order 40 km/s, which is typical of brighter C IV network elements. These C IV features do not reach the approximately 100 km/s velocities seen in the C IV explosive events. Also, there are many similar C IV bright network features without a corresponding XBP in the X-ray image. The transition region explosive events do not correspond directly to XBPs. The explosive events appear to be concentrated in the quiet Sun at the edges of strong network, or within weaker field strength network regions. We find a greater number of C IV events than expected from the results of a previous Spacelab 2 HRTS disk survey. We attribute this at least partly to better spatial resolution with the newer HRTS data. The full-disk X-ray image shows a pattern of dark lanes in quiet Sun areas. The number density of C IV events is twice as large inside as outside a dark lane (4.6 x 10(exp -3) vs. 2.3 x 10(exp -3) explosive events per arcsec (exp 2)). The dark lane corresponds to an old decaying magnetic neutral line. We suggest that this provides an increased opportunity for small-scale convergence and reconnection of opposite polarity magnetic field features, in analogy with the results of Webb et al. for XBPs but at a reduced scale of reconnection.

Moses, Dan↗

Characteristics of Seamounts Near Hawaii as Viewed by GLORIA

Using images and data acquired from the GLORIA sonar system, 390 seamounts within the U.S. Hawaiian Exclusive Economic Zone (HEEZ) off Hawaii have been studied. Their diameters range from 1 to 57 km. with most less than 15 km. Seamount abundance increases exponentially with decreasing size. The areal density of observed seamounts having diameters greater than 1 km is 182/10(exp 6) sq km. The theoretical abundance of seamounts of all sizes normalized to a unit area is (309 +/- 17)/10(exp 6) sq km, about an order of magnitude less than other surveyed areas of the Pacific. This may reflect a lower abundance of Cretaceous seamounts in this region, the covering of small seamounts by sediment, or discrepancies from the use of different data sets to derive the abundance statistics. The seamounts have morphologies ranging from steep-sided, flat-topped structures to cones to more amorphous structures; they are similar to volcanoes found elsewhere on the seafloor. A suite of secondary features associated with the seamounts includes summit craters, summit mounds, coalesced boundaries, landslides, and graben. Several seamount chains are aligned parallel to Cretaceous fracture zones, consistent with an origin close to the ancestral East Pacific Rise. Others are aligned parallel to the Necker Ridge, suggesting that they formed contemporaneously with Necker in the plate interior. This observation, together with high abundances of seamounts where other intraplate igneous processes have occurred, suggests some seamounts formed since leaving the spreading center.

Bridges, Nathan T.↗

International Space Station Powered Bolt Nut Anomaly and Failure Analysis Summary

A key mechanism used in the on-orbit assembly of the International Space Station (ISS) pressurized elements is the Common Berthing Mechanism. The mechanism that effects the structural connection of the Common Berthing Mechanism halves is the Powered Bolt Assembly. There are sixteen Powered Bolt Assemblies per Common Berthing Mechanism. The Common Berthing Mechanism has a bolt which engages a self aligning Powered Bolt Nut (PBN) on the mating interface (Figure 1). The Powered Bolt Assemblies are preloaded to approximately 84.5 kN (19000 lb) prior to pressurization of the CBM. The PBNs mentioned below, manufactured in 2009, will be used on ISS future missions. An on orbit functional failure of this hardware would be unacceptable and in some instances catastrophic due to the failure of modules to mate and seal the atmosphere, risking loss of crew and ISS functions. The manufacturing processes that create the PBNs need to be strictly controlled. Functional (torque vs. tension) acceptance test failures will be the result of processes not being strictly followed. Without the proper knowledge of thread tolerances, fabrication techniques, and dry film lubricant application processes, PBNs will be, and have been manufactured improperly. The knowledge gained from acceptance test failures and the resolution of those failures, thread fabrication techniques and thread dry film lubrication processes can be applied to many aerospace mechanisms to enhance their performance. Test data and manufactured PBN thread geometry will be discussed for both failed and successfully accepted PBNs.

Sievers, Daniel E.↗

Interaction Between the Celestial and the Terrestrial Reference Frames

Effects of International Celestial Reference Frame (ICRF2) on the Terrestrial Reference Frames (TRF), CRF and EOP's, The ICRF2 became official on Jan. 1, 2010. It includes positions of 3414 compact radio astronomical sources observed with VLBI, a fivefold increase from the first ICRF. Numerous new VLBI models were used and the most unstable sources were treated as arc parameters to avoid distortions of the frame. The ICRF2 has a noise floor of 40 micro-arc-seconds and an axis stability of 10 micro-arc-seconds. It was aligned with the ICRS using 138 stable sources common to ICRF2 and ICRF-Ext2. Maintenance of ICRF2 is to be made using 295 defining sources chosen for their historical positional stability, minimal source structure, and sky distribution. Their stability and their more uniform sky distribution eliminate the two largest weaknesses of ICRF I. The switchover to ICRF2 has some small effects on the TRF, CRF and Earth Orientation Parameters (EOP). A CRF based on ICRF2 shows a relative rotation of 40 micro-arc-seconds, mostly about the Y-axis. Small shifts are also seen in the EOP's, the largest being 11 micro-arc-seconds in X-pole. Some small but insignificant differences are also seen in the TRF. These results will be presented and discussed.

Gordon, David↗

Robonaut 2 - Building a Robot on the International Space Station

In 2010, the Robonaut Project embarked on a multi‐phase mission to perform technology demonstrations on‐board the International Space Station (ISS), showcasing state of the art robotics technologies through the use of Robonaut 2 (R2). This phased approach implements a strategy that allows for the use of ISS as a test bed during early development to both demonstrate capability and test technology while still making advancements in the earth based laboratories for future testing and operations in space. While R2 was performing experimental trials onboard the ISS during the first phase, engineers were actively designing for Phase 2, Intra‐Vehicular Activity (IVA) Mobility, that utilizes a set of zero‐g climbing legs outfitted with grippers to grasp handrails and seat tracks. In addition to affixing the new climbing legs to the existing R2 torso, it became clear that upgrades to the torso to both physically accommodate the climbing legs and to expand processing power and capabilities of the robot were required. In addition to these upgrades, a new safety architecture was also implemented in order to account for the expanded capabilities of the robot. The IVA climbing legs not only needed to attach structurally to the R2 torso on ISS, but also required power and data connections that did not exist in the upper body. The climbing legs were outfitted with a blind mate adapter and coarse alignment guides for easy installation, but the upper body required extensive rewiring to accommodate the power and data connections. This was achieved by mounting a custom adapter plate to the torso and routing the additional wiring through the waist joint to connect to the new set of processors. In addition to the power and data channels, the integrated unit also required updated electronics boards, additional sensors and updated processors to accommodate a new operating system, software platform, and custom control system. In order to perform the unprecedented task of building a robot in space, extensive practice sessions and meticulous procedures were required. Since crew training time is at a premium, the R2 team took a skills‐based training approach to ensure the astronauts were proficient with a basic skill set while refining the detailed procedures over several practice sessions and simulations. In addition to the crew activities, meticulous ground procedures were required in order to upgrade firmware on the upper body motor drivers. The new firmware for the IVA mobility unit needed to be deployed using the old software system. This also provided an opportunity to upgrade the upper body joints with new software and allowed for limited insight into the success of the updates. Complete verification that the updated firmware was successfully loaded was not confirmed until the rewiring of the upper body torso was complete.

Diftler, Myron↗