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Reaction Li-6/p, pt/ at 590 MeV.

A lithium target enriched to 95.6 per cent of Li-6 and 0.685 cm thick was bombarded in the 590-MeV proton beam of a synchrocyclotron. Coincident events were detected in a double telescope arrangement. The characteristics of the unobserved three-nucleon residual system calculated for each event include the missing energy, the longitudinal recoil, and the transverse recoil. The cross-section data obtained indicate that zero recoil momentum for the unobserved three-nucleon recoil system is the most likely situation.

Dollhopf, W.↗

Initial results of positron ionization mass spectrometry

The use of monoenergetic positrons for the ionization of organic molecules in the gas phase is described. The ionic products are analyzed with a time-of-flight mass spectrometer and detected to produce a mass spectrum. The ionization mechanisms which can be studied in this way include positron impact at energies above the ionization limit of the target molecules, positronium formation in the Ore gap energy range, and positron attachment at energies less than 1eV. The technique of positron ionization mass spectrometry (PIMS) may have analytical utility in that chemical selectivity is observed for one or more of these processes.

Donohue, D. L.↗

ASCA Observations of the Dwarf Novae SS Cyg and VW Hyi And Observations of the Precessing Disk Cataclysmic Variable TV Col

The observations for both SS Cyg and VW Hyi were to be scheduled as Targets of Opportunity jointly with other satellites. The VW Hyi observation was obtained jointly with EUVE during a superoutburst. The XTE data were initially processed, revealing no detection. However, the XTE team improved the instrumental background model and distributed it in July 1998. A further improvement was made in August 1999. The improved models allow a better background subtraction, thereby detecting previously un-detected sources.

Schlegel, E.↗

NASA Remote Sensing Applications for Archaeology and Cultural Resources Management

NASA's Earth Science Mission Directorate recently completed the deployment of the Earth Observation System (EOS) which is a coordinated series of polar-orbiting and low inclination satellites for long-term global observations of the land surface, biosphere, solid Earth, atmosphere, and oceans. One of the many applications derived from EOS is the advancement of archaeological research and applications. Using satellites, manned and unmanned airborne platform, NASA scientists and their partners have conducted archaeological research using both active and passive sensors. The NASA Stennis Space Center (SSC) located in south Mississippi, near New Orleans, has been a leader in space archaeology since the mid-1970s. Remote sensing is useful in a wide range of archaeological research applications from landscape classification and predictive modeling to site discovery and mapping. Remote sensing technology and image analysis are currently undergoing a profound shift in emphasis from broad classification to detection, identification and condition of specific materials, both organic and inorganic. In the last few years, remote sensing platforms have grown increasingly capable and sophisticated. Sensors currently in use, including commercial instruments, offer significantly improved spatial and spectral resolutions. Paired with new techniques of image analysis, this technology provides for the direct detection of archaeological sites. As in all archaeological research, the application of remote sensing to archaeology requires a priori development of specific research designs and objectives. Initially targeted at broad archaeological issues, NASA space archaeology has progressed toward developing practical applications for cultural resources management (CRM). These efforts culminated with the Biloxi Workshop held by NASA and the University of Mississippi in 2002. The workshop and resulting publication specifically address the requirements of cultural resource managers through the use of remote sensing. In 2007, NASA awarded six competitively chosen projects in Space Archaeology through an open solicitation whose purpose, among several, was to addresses the potential benefits to modern society that can be derived through a better understanding of how past cultures succeeded or failed to adapt to local, regional, and global change. A further objective of NASA's space archaeology is the protection and preservation of cultural heritage sites while planning for the sustainable development of cultural resources. NASA s archaeological approach through remote sensing builds on traditional methods of aerial archaeology (i.e. crop marks) and utilizes advanced technologies for collecting and analyzing archaeological data from digital imagery. NASA s archaeological research and application projects using remote sensing have been conducted throughout the world. In North America, NASA has imaged prehistoric mound sites in Mississippi; prehistoric shell middens in Louisiana, Puebloan sites in New Mexico and more recently the sites associated with the Lewis and Clark Corps of Discovery Expedition (1804-1806). In Central America, NASA archaeologists have researched Mayan sites throughout the region, including the Yucatan and Costa Rica, as well as Olmec localities in Veracruz. Other data has been collected over Angkor, Cambodia, Giza in Egypt, the lost city of Ubar on the Arabian Peninsula.

Giardino, Marco J.↗

NASA Tech Briefs, December 2007

Topics include: Ka-Band TWT High-Efficiency Power Combiner for High-Rate Data Transmission; Reusable, Extensible High-Level Data-Distribution Concept; Processing Satellite Imagery To Detect Waste Tire Piles; Monitoring by Use of Clusters of Sensor-Data Vectors; Circuit and Method for Communication Over DC Power Line; Switched Band-Pass Filters for Adaptive Transceivers; Noncoherent DTTLs for Symbol Synchronization; High-Voltage Power Supply With Fast Rise and Fall Times; Waveguide Calibrator for Multi-Element Probe Calibration; Four-Way Ka-Band Power Combiner; Loss-of-Control-Inhibitor Systems for Aircraft; Improved Underwater Excitation-Emission Matrix Fluorometer; Metrology Camera System Using Two-Color Interferometry; Design and Fabrication of High-Efficiency CMOS/CCD Imagers; Foam Core Shielding for Spacecraft CHEM-Based Self-Deploying Planetary Storage Tanks Sequestration of Single-Walled Carbon Nanotubes in a Polymer PPC750 Performance Monitor Application-Program-Installer Builder Using Visual Odometry to Estimate Position and Attitude Design and Data Management System Simple, Script-Based Science Processing Archive Automated Rocket Propulsion Test Management Online Remote Sensing Interface Fusing Image Data for Calculating Position of an Object Implementation of a Point Algorithm for Real-Time Convex Optimization Handling Input and Output for COAMPS Modeling and Grid Generation of Iced Airfoils Automated Identification of Nucleotide Sequences Balloon Design Software Rocket Science 101 Interactive Educational Program Creep Forming of Carbon-Reinforced Ceramic-Matrix Composites Dog-Bone Horns for Piezoelectric Ultrasonic/Sonic Actuators Benchtop Detection of Proteins Recombinant Collagenlike Proteins Remote Sensing of Parasitic Nematodes in Plants Direct Coupling From WGM Resonator Disks to Photodetectors Using Digital Radiography To Image Liquid Nitrogen in Voids Multiple-Parameter, Low-False-Alarm Fire-Detection Systems Mosaic-Detector-Based Fluorescence Spectral Imager Plasmoid Thruster for High Specific-Impulse Propulsion Analysis Method for Quantifying Vehicle Design Goals Improved Tracking of Targets by Cameras on a Mars Rover Sample Caching Subsystem Multistage Passive Cooler for Spaceborne Instruments GVIPS Models and Software Stowable Energy-Absorbing Rocker-Bogie Suspensions

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NASA Tech Briefs, November 2007

Topics include: Wireless Measurement of Contact and Motion Between Contact Surfaces; Wireless Measurement of Rotation and Displacement Rate; Portable Microleak-Detection System; Free-to-Roll Testing of Airplane Models in Wind Tunnels; Cryogenic Shrouds for Testing Thermal-Insulation Panels; Optoelectronic System Measures Distances to Multiple Targets; Tachometers Derived From a Brushless DC Motor; Algorithm-Based Fault Tolerance for Numerical Subroutines; Computational Support for Technology- Investment Decisions; DSN Resource Scheduling; Distributed Operations Planning; Phase-Oriented Gear Systems; Freeze Tape Casting of Functionally Graded Porous Ceramics; Electrophoretic Deposition on Porous Non- Conductors; Two Devices for Removing Sludge From Bioreactor Wastewater; Portable Unit for Metabolic Analysis; Flash Diffusivity Technique Applied to Individual Fibers; System for Thermal Imaging of Hot Moving Objects; Large Solar-Rejection Filter; Improved Readout Scheme for SQUID-Based Thermometry; Error Rates and Channel Capacities in Multipulse PPM; Two Mathematical Models of Nonlinear Vibrations; Simpler Adaptive Selection of Golomb Power-of- Two Codes; VCO PLL Frequency Synthesizers for Spacecraft Transponders; Wide Tuning Capability for Spacecraft Transponders; Adaptive Deadband Synchronization for a Spacecraft Formation; Analysis of Performance of Stereoscopic-Vision Software; Estimating the Inertia Matrix of a Spacecraft; Spatial Coverage Planning for Exploration Robots; and Increasing the Life of a Xenon-Ion Spacecraft Thruster.

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The Importance of Sample Return in Establishing Chemical Evidence for Life on Mars or Other Solar System Bodies

The search for evidence of life on Mars and elsewhere will continue to be one of the primary goals of NASA s robotic exploration program over the next decade. NASA and ESA are currently planning a series of robotic missions to Mars with the goal of understanding its climate, resources, and potential for harboring past or present life. One key goal will be the search for chemical biomarkers including complex organic compounds important in life on Earth. These include amino acids, the monomer building blocks of proteins and enzymes, nucleobases and sugars which form the backbone of DNA and RNA, and lipids, the structural components of cell membranes. Many of these organic compounds can also be formed abiotically as demonstrated by their prevalence in carbonaceous meteorites [1], though, their molecular characteristics may distinguish a biological source [2]. It is possible that in situ instruments may reveal such characteristics, however, return of the right sample (i.e. one with biosignatures or having a high probability of biosignatures) to Earth would allow for more intensive laboratory studies using a broad array of powerful instrumentation for bulk characterization, molecular detection, isotopic and enantiomeric compositions, and spatially resolved chemistry that may be required for confirmation of extant or extinct Martian life. Here we will discuss the current analytical capabilities and strategies for the detection of organics on the Mars Science Laboratory (MSL) using the Sample Analysis at Mars (SAM) instrument suite and how sample return missions from Mars and other targets of astrobiological interest will help advance our understanding of chemical biosignatures in the solar system.

Glavin, D. P.↗

Lunar Flashlight: Mapping Lunar Surface Volatiles Using a Cubesat

Lunar Flashlight is an exciting new mission concept in preformulation studies for NASA's Advanced Exploration Systems (AES) by a team from the Jet Propulsion Laboratory, UCLA, and Marshall Space Flight Center. This innovative, low-cost concept will map the lunar south pole for volatiles and demonstrate several technological firsts, including being the first CubeSat to reach the Moon, the first mission to use an 80 m2 solar sail, and the first mission to use a solar sail as a reflector for science observations. The Lunar Flashlight mission spacecraft maneuvers to its lunar polar orbit and uses its solar sail as a mirror to reflect 50 kW of sunlight down into shaded polar regions, while the on-board spectrometer measures surface reflection and composition. The Lunar Flashlight 6U spacecraft has heritage elements from multiple cubesat systems. The deployable solar sail/reflector is based on previous solar sail experiments, scaled up for this mission. The mission will demonstrate a path where 6U CubeSats could, at dramatically lower cost than previously thought possible, explore, locate and estimate size and composition of ice deposits on the Moon. Locating ice deposits in the Moon's permanently shadowed craters addresses one of NASA's Strategic Knowledge Gaps (SKGs) to detect composition, quantity, distribution, form of water/H species and other volatiles associated with lunar cold traps. Polar volatile data collected by Lunar Flashlight could then ensure that targets for more expensive lander- and rover-borne measurements would include volatiles in sufficient quantity and near enough to the surface to be operationally useful.

Cohen, Barbara A.↗

Sensitive detection of Escherichia coli O157:H7 in food and water by immunomagnetic separation and solid-phase laser cytometry

Rapid, direct methods are needed to assess active bacterial populations in water and foods. Our objective was to determine the efficiency of bacterial detection by immunomagnetic separation (IMS) and the compatibility of IMS with cyanoditolyl tetrazolium chloride (CTC) incubation to determine respiratory activity, using the pathogen Escherichia coli O157:H7. Counterstaining with a specific fluorescein-conjugated anti-O157 antibody (FAb) following CTC incubation was used to allow confirmation and visualization of bacteria by epifluorescence microscopy. Broth-grown E. coli O157:H7 was used to inoculate fresh ground beef (<17% fat), sterile 0.1% peptone, or water. Inoculated meat was diluted and homogenized in a stomacher and then incubated with paramagnetic beads coated with anti-O157 specific antibody. After IMS, cells with magnetic beads attached were stained with CTC and then an anti-O157 antibody-fluorescein isothiocyanate conjugate and filtered for microscopic enumeration or solid-phase laser cytometry. Enumeration by laser scanning permitted detection of ca. 10 CFU/g of ground beef or <10 CFU/ml of liquid sample. With inoculated meat, the regression results for log-transformed respiring FAb-positive counts of cells recovered on beads versus sorbitol-negative plate counts in the inoculum were as follows: intercept = 1.06, slope = 0.89, and r2 = 0. 95 (n = 13). The corresponding results for inoculated peptone were as follows: intercept = 0.67, slope = 0.88, and r2 = 0.98 (n = 24). Recovery of target bacteria on beads by the IMS-CTC-FAb method, compared with recovery by sorbitol MacConkey agar plating, yielded greater numbers (beef, 6.0 times; peptone, 3.0 times; water, 2.4 times). Thus, within 5 to 7 h, the IMS-CTC-FAb method detected greater numbers of E. coli O157 cells than were detected by plating. The results show that the IMS-CTC-FAb technique with enumeration by either fluorescence microscopy or solid-phase laser scanning cytometry gave results that compared favorably with plating following IMS.

Non-NASA Center↗

NASA's Optical Measurement Program 2014

The Optical Measurements Group (OMG) within the NASA Orbital Debris Program Office (ODPO) addresses U.S. National Space Policy goals by monitoring and characterizing debris. Since 2001, the OMG has used the Michigan Orbital Debris Survey Telescope (MODEST) at Cerro Tololo Inter-American Observatory (CTIO) in Chile for general orbital debris surveys. The 0.6-m Schmidt MODEST provides calibrated astronomical data of GEO targets, both catalogued and uncatalogued debris, with excellent image quality. The data are utilized by the ODPO modeling group and are included in the Orbital Debris Engineering Model (ORDEM) v. 3.0. MODEST and the CTIO/SMARTS (Small and Moderate Aperture Research Telescope System) 0.9 m are both employed to acquire filter photometry data as well as synchronously observe targets in selected optical filters. Obtaining data synchronously yields data for material composition studies as well as longer orbital arc data on the same target without time delay or bias from a rotating, tumbling, or spinning target. Observations of GEO orbital debris using the twin 6.5-m Magellan telescopes at Las Campanas Observatory in Chile for deep imaging (Baade) and spectroscopic data (Clay) began in 2011. Through the data acquired on Baade, debris has been detected that reaches approx. 3 magnitudes fainter than detections with MODEST, while the spectral data from Clay provide better resolved information used in material characterization analyses. To better characterize and model optical data, the Optical Measurements Center (OMC) at NASA/JSC has been in operation since 2005, resulting in a database of comparison laboratory data. The OMC is designed to emulate illumination conditions in space using equipment and techniques that parallel telescopic observations and sourcetarget- sensor orientations. Lastly, the OMG is building the Meter Class Autonomous Telescope (MCAT) at Ascension Island. The 1.3-m telescope is designed to observe GEO and LEO targets, using a modified Ritchey-Chrétien configuration on a double horseshoe equatorial mount to allow tracking objects at LEO rates through the dome's keyhole at zenith. Through the data collection techniques employed at these unique facilities, NASA's ODPO has developed a multifaceted approach to characterize the orbital debris risk to satellites in various altitudes and provide insight leading toward material characterization of debris via photometric and spectroscopic measurements. Ultimately, the data are used in conjunction with in-situ and radar measurements to provide accurate data for models of our space environment and for facilitating spacecraft risk assessment.

Cowardin, H.↗

KELT-24b: A 5M(J) Planet on a 5.6 day Well-aligned Orbit around the Young V=8.3 F-star HD 93148

We present the discovery of KELT-24 b, a massive hot Jupiter orbiting a bright (V=8.3 mag, K=7.2 mag) young F-star with a period of 5.6 days. The host star, KELT-24 (HD 93148), has a Teff=-+65094950K, a mass of M*=+1.4600.0590.055Me, a radius of R*=1.506±0.022Re, and an age of +0.780.420.61Gyr. Its planetary companion (KELT-24 b) has a radius of RP=1.272±0.021RJ and a mass of MP=-+5.180.220.21MJ, and from Doppler tomographic observations, we find that the planet’s orbit is well aligned to its host star’s projected spin axis (l=-+2.63.65.1). The young age estimated for KELT-24 suggests that it only recently started to evolve from the zero-age main sequence. KELT-24 is the brightest star known to host a transiting giant planet with a period between 5 and 10 days. Although the circularization timescale is much longer than the age of the system, we do not detect a large eccentricity or significant misalignment that is expected from dynamical migration. The brightness of its host star and its moderate surface gravity make KELT-24b an intriguing target for detailed atmospheric characterization through spectroscopic emission measurements since it would bridge the current literature results that have primarily focused on lower mass hot Jupiters and a few brown dwarfs.

Transit photometry↗

Self-Nulling Lock-in Detection Electronics for Capacitance Probe Electrometer

A multi-channel electrometer voltmeter that employs self-nulling lock-in detection electronics in conjunction with a mechanical resonator with noncontact voltage sensing electrodes has been developed for space-based measurement of an Internal Electrostatic Discharge Monitor (IESDM). The IESDM is new sensor technology targeted for integration into a Space Environmental Monitor (SEM) subsystem used for the characterization and monitoring of deep dielectric charging on spacecraft. Use of an AC-coupled lock-in amplifier with closed-loop sense-signal nulling via generation of an active guard-driving feedback voltage provides the resolution, accuracy, linearity and stability needed for long-term space-based measurement of the IESDM. This implementation relies on adjusting the feedback voltage to drive the sense current received from the resonator s variable-capacitance-probe voltage transducer to approximately zero, as limited by the signal-to-noise performance of the loop electronics. The magnitude of the sense current is proportional to the difference between the input voltage being measured and the feedback voltage, which matches the input voltage when the sense current is zero. High signal-to-noise-ratio (SNR) is achieved by synchronous detection of the sense signal using the correlated reference signal derived from the oscillator circuit that drives the mechanical resonator. The magnitude of the feedback voltage, while the loop is in a settled state with essentially zero sense current, is an accurate estimate of the input voltage being measured. This technique has many beneficial attributes including immunity to drift, high linearity, high SNR from synchronous detection of a single-frequency carrier selected to avoid potentially noisy 1/f low-frequency spectrum of the signal-chain electronics, and high accuracy provided through the benefits of a driven shield encasing the capacitance- probe transducer and guarded input triaxial lead-in. Measurements obtained from a 2- channel prototype electrometer have demonstrated good accuracy (|error| < 0.2 V) and high stability. Twenty-four-hour tests have been performed with virtually no drift. Additionally, 5,500 repeated one-second measurements of 100 V input were shown to be approximately normally distributed with a standard deviation of 140 mV.

Blaes, Brent R.↗

Extreme Ionizing-Radiation-Resistant Bacterium

There is a growing concern that desiccation and extreme radiation-resistant, non-spore-forming microorganisms associated with spacecraft surfaces can withstand space environmental conditions and subsequent proliferation on another solar body. Such forward contamination would jeopardize future life detection or sample return technologies. The prime focus of NASA s planetary protection efforts is the development of strategies for inactivating resistance-bearing microorganisms. Eradification techniques can be designed to target resistance-conferring microbial populations by first identifying and understanding their physiologic and biochemical capabilities that confers its elevated tolerance (as is being studied in Deinococcus phoenicis, as a result of this description). Furthermore, hospitals, food, and government agencies frequently use biological indicators to ensure the efficacy of a wide range of radiation- based sterilization processes. Due to their resistance to a variety of perturbations, the non-spore forming D. phoenicis may be a more appropriate biological indicator than those currently in use. The high flux of cosmic rays during space travel and onto the unshielded surface of Mars poses a significant hazard to the survival of microbial life. Thus, radiation-resistant microorganisms are of particular concern that can survive extreme radiation, desiccation, and low temperatures experienced during space travel. Spore-forming bacteria, a common inhabitant of spacecraft assembly facilities, are known to tolerate these extreme conditions. Since the Viking era, spores have been utilized to assess the degree and level of microbiological contamination on spacecraft and their associated spacecraft assembly facilities. Members of the non-spore-forming bacterial community such as Deinococcus radiodurans can survive acute exposures to ionizing radiation (5 kGy), ultraviolet light (1 kJ/sq m), and desiccation (years). These resistive phenotypes of Deinococcus enhance the potential for transfer, and subsequent proliferation, on another solar body such as Mars and Europa. These organisms are more likely to escape planetary protection assays, which only take into account presence of spores. Hence, presences of extreme radiation-resistant Deinococcus in the cleanroom facility where spacecraft are assembled pose a serious risk for integrity of life-detection missions. The microorganism described herein was isolated from the surfaces of the cleanroom facility in which the Phoenix Lander was assembled. The isolated bacterial strain was subjected to a comprehensive polyphasic analysis to characterize its taxonomic position. This bacterium exhibits very low 16SrRNA similarity with any other environmental isolate reported to date. Both phenotypic and phylogenetic analyses clearly indicate that this isolate belongs to the genus Deinococcus and represents a novel species. The name Deinococcus phoenicis was proposed after the Phoenix spacecraft, which was undergoing assembly, testing, and launch operations in the spacecraft assembly facility at the time of isolation. D. phoenicis cells exhibited higher resistance to ionizing radiation (cobalt-60; 14 kGy) than the cells of the D. radiodurans (5 kGy). Thus, it is in the best interest of NASA to thoroughly characterize this organism, which will further assess in determining the potential for forward contamination. Upon the completion of genetic and physiological characteristics of D. phoenicis, it will be added to a planetary protection database to be able to further model and predict the probability of forward contamination.

Vaishampayan, Parag A.↗

Atmospheric radar sounding

Monostatic and bistatic radar techniques for the measurement of the structure of volume targets in the troposphere and lower stratosphere are reviewed. The targets considered are thin turbulent layers in the lower stratosphere and rain in the troposphere. The measurements of scattering from thin turbulent layers show that layers are generally detected at or near the tropopause, and in 31 out of 34 sets of measurements, layers were detected above the tropopause in the lower 10 km of the stratosphere. The threshold for turbulent layer detection corresponds to an equivalent thickness product of ten to the minus 13th power times the cube root of m at a range of 100 km and for layers with less than 1000 m thickness. The measurement of scattering by rain shows that in the New England area both convective and widespread rain consists of a number of small cells. On average, the cells appear to have a half-intensity width of 3 to 4 km as measured with a radar system with a 1.8 km resolution cell size for cells at 100 km range.

Crane, R. K.↗

Neutrinos from neutron stars

A calculation of the flux of ultra-high energy neutrinos from galactic neutron stars is presented. The calculation is used to determine the number of point sources detectable at the sensitivity threshold of a proposed deep underwater muon and neutrino detector array. The detector array would have a point source detection threshold of about 100 eV/sq cm-sec. Analysis of neutrino luminosities and the number of detectable sources suggests that the deep underwater detector may make a few discoveries. In particular, a suspected neutron star in the Cyg X-3 source seems a promising target for the deep underwater array.

Helfand, D. J.↗

Airborne reconnaissance XIII; Proceedings of the Meeting, San Diego, CA, Aug. 7-9, 1989

The present conference on airborne reconnaissance discusses topics in imagery exploitation, reconsystem modeling and analysis, and reconnaissance optics and electronics configurations. Attention is given to airborne minefield detection, the optimization of an IR linescanner for RPV operations, real-time display of IR linescanner data for RPVs, three-dimensional model-guided site recognition, the AMIDARS high-performance real-time display, and MMW sensor image analysis. Also discussed are reconnaissance concepts for the 3-5 micron spectral window, sensor concept development for hazard detection, a stabilization system for a large aperture camera, three-axis image stabilization with a two-axis mirror, the results of performance tests on the TOW target collimator design, and the replacement of film by electrooptic media in advanced tactical airborne reconnaissance.

Henkel, Paul A.↗

Negative-ion formation in the explosives RDX, PETN, and TNT by using the reversal electron attachment detection technique

First results of a beam-beam, single-collision study of negative-ion mass spectra produced by attachment of zero-energy electrons to the molecules of the explosives RDX, PETN, and TNT are presented. The technique used is reversal electron attachment detection (READ) wherein the zero-energy electrons are produced by focusing an intense electron beam into a shaped electrostatic field which reverses the trajectory of electrons. The target beam is introduced at the reversal point, and attachment occurs because the electrons have essentially zero longitudinal and radial velocity. The READ technique is used to obtain the 'signature' of molecular ion formation and/or fragmentation for each explosive. Present data are compared with results from atmospheric-pressure ionization and negative-ion chemical ionization methods.

Boumsellek, S.↗

Grasping objects autonomously in simulated KC-135 zero-g

The KC-135 aircraft was chosen for simulated zero gravity testing of the Extravehicular Activity Helper/retriever (EVAHR). A software simulation of the EVAHR hardware, KC-135 flight dynamics, collision detection and grasp inpact dynamics has been developed to integrate and test the EVAHR software prior to flight testing on the KC-135. The EVAHR software will perform target pose estimation, tracking, and motion estimation for rigid, freely rotating, polyhedral objects. Manipulator grasp planning and trajectory control software has also been developed to grasp targets while avoiding collisions.

Norsworthy, Robert S.↗