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All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Validating a Tethered Balloon System and Optical Technologies for Marine Wildlife Detection and Tracking

The interactions between marine wildlife and marine energy devices are not well understood, leading to regulatory delays for device deployments and testing. Technologies that enable marine wildlife observations can help to fill data gaps and reduce uncertainties about animal–device interactions. A validation test conducted in Galveston Bay near La Porte, Texas, in December 2022 used a technology package consisting of a tethered balloon system and three independent sensor systems, including three-band visible, eight-band multispectral, and single-band thermal to detect three marine-mammal-shaped surrogates. The field campaign aimed to provide an initial step to evaluating the use of the TBS and the effectiveness of the sensor suite for marine wildlife observations and detection. From 2 December to 7 December 2022, 6 flights were conducted under varying altitudes and environmental conditions resulting in the collection of 5454 images. A subset of the images was classified and analyzed with two collection criteria including Beaufort wind force scale and TBS altitude to assess a range of observations of a surrogate from near-shore to offshore based on pixel count. The results of this validation test demonstrate the potential for using TBSs and imaging sensors for marine wildlife observations and offer valuable information for further development and application of this technology for marine energy and other blue economy sectors.

47 OTHER INSTRUMENTATION↗
DOE OSTI2026

CRCNS21 Computational Models of Multisensory Integration by Upper Limb in Humanoids and Amputees

This international collaborative research project between Johns Hopkins University (JHU) and the Technical University of Munich (TUM) investigated how the human brain processes and integrates multiple types of sensory information, such as touch and force, with the goal of improving prosthetic limbs for amputees and advancing sensory capabilities in humanoid robots. The research advanced our understanding of how the brain responds to sensory feedback in upper-limb amputees. Through experiments in which amputees received electrical stimulation while performing phantom hand movements, we demonstrated that sensory feedback activates the cortical sensorimotor and multisensory regions, and that these regions communicate dynamically during stimulation. Experiments with intact-limb participants explored the integration of visual, haptic, and force feedback, as well as in virtual reality motor training, further showing how the brain processes multimodal sensory information. In addition, this research inspired work on examining the reliability of where amputees perceive sensations over time, which contributed to a successful doctoral fellowship for continued investigation. Our collaborators at TUM improved multimodal sensor technology combining tactile and thermal feedback for humanoid robots, demonstrating the feasibility of integrating multiple sensor types into a unified system for detecting and responding to environmental stimuli. The experimental methods and analysis techniques developed across both teams, including functional network analysis and multimodal sensor integration, provide a foundation for future research in prosthetics and robotics. This research benefits the public by generating knowledge about how amputees process restored sensory information. Advances in humanoid sensing contribute to safer human-robot interaction. The project also fostered international collaboration and cross-disciplinary training: one TUM doctoral student spent a summer at JHU working on multimodal sensor integration, while two JHU students traveled to TUM to host workshops on neuromorphic sensory encoding and sensory integration.

42 ENGINEERING↗
NASA NTRS1993

Smart patch piezoceramic actuator issues

The Phillips Laboratory is undertaking the challenge of finding new and innovative ways to integrate sensing, actuation, and the supporting control and power electronics into a compact self-contained unit to provide vibration suppression for a host structure. This self-contained unit is commonly referred to as a smart patch. The interfaces to the smart patch will be limited to standard spacecraft power and possibly a communications line. The effort to develop a smart patch involves both contractual and inhouse programs which are currently focused on miniaturization of the electronics associated with vibrational control using piezoceramic sensors and actuators. This paper is comprised of two distinct parts. The first part examines issues associated with bonding piezoceramic actuators to a host structure. Experimental data from several specimens with varying flexural stiffness are compared to predictions from two piezoelectric/substructure coupling models, the Blocked Force Model and the Uniform Strain Model with Perfect Bonding. The second part of the paper highlights a demonstration article smart patch created using the insights gained from inhouse efforts at the Phillips Laboratory. This demonstration article has self contained electronics on the same order of size as the actuator powered by a voltage differential of approximately 32 volts. This voltage is provided by four rechargeable 8 volt batteries.

Griffin, Steven F.↗
NASA NTRS2016

An Efficient Ray-Tracing Method for Determining Terrain Intercepts in EDL Simulations

The calculation of a ray's intercept from an arbitrary point in space to a prescribed surface is a common task in computer simulations. The arbitrary point often represents an object that is moving according to the simulation, while the prescribed surface is fixed in a defined frame. For detailed simulations, this surface becomes complex, taking the form of real-world objects such as mountains, craters or valleys which require more advanced methods to accurately calculate a ray's intercept location. Incorporation of these complex surfaces has commonly been implemented in graphics systems that utilize highly optimized graphics processing units to analyze such features. This paper proposes a simplified method that does not require computationally intensive graphics solutions, but rather an optimized ray-tracing method for an assumed terrain dataset. This approach was developed for the Mars Science Laboratory mission which landed on the complex terrain of Gale Crater. First, this paper begins with a discussion of the simulation used to implement the model and the applicability of finding surface intercepts with respect to atmosphere modeling, altitude determination, radar modeling, and contact forces influencing vehicle dynamics. Next, the derivation and assumptions of the intercept finding method are presented. Key assumptions are noted making the routines specific to only certain types of surface data sets that are equidistantly spaced in longitude and latitude. The derivation of the method relies on ray-tracing, requiring discussion on the formulation of the ray with respect to the terrain datasets. Further discussion includes techniques for ray initialization in order to optimize the intercept search. Then, the model implementation for various new applications in the simulation are demonstrated. Finally, a validation of the accuracy is presented along with the corresponding data sets used in the validation. A performance summary of the method will be shown using the analysis from the Mars Science Laboratory's terminal descent sensing model. Alternate uses will also be shown for determining horizon maps and orbiter set times.

Shidner, Jeremy D.↗
NASA NTRS2016

Evaluating Summer-Time Ozone Enhancement Events in the Southeast United States

This study evaluates source attribution of ozone (O3) in the southeast US within O3 lamina observed by the University of Alabama in Huntsville (UAH) Tropospheric Ozone Lidar Network (TOLNet) system during June 2013. This research applies surface-level and airborne in situ data and chemical transport model, GEOS-Chem, simulations in order to quantify the impact of North American anthropogenic emissions, wildfires, lightning NOx, and background stratospheric transport on the observed O3 lamina. During the summer of 2013, two anomalous O3 layers were observed and evaluated: 1) a nocturnal near-surface enhancement and 2) a late evening elevated (3-6 km above ground level) O3 plume. A "brute force" zeroing method was applied in GEOS-Chem to quantify the impact of individual emission sources and transport pathways on the vertical distribution of O3 during the two observed lamina. These model simulations suggest that the nocturnal O3 enhancement on June 12, 2013 below 3 km was primarily due to wildfire emissions and the fact that daily maximum anthropogenic emission contributions occurred during these night-time hours. During the second case study it was predicted that above average contributions from background stratospheric transport was largely contributing to the O3 lamina observed on June 29, 2013 between 3-6 km. Further evaluation suggested that a stratospheric intrusion was likely the main source contributing to this O3 enhancement between 3-6 km. Supporting information from other models, remote-sensing observations, and ground-based airborne in situ data agree with the source attribution predicted by GEOS-Chem simulations for both case studies. Overall, this study demonstrates the dynamic atmospheric chemistry occurring in the southeast US and displays the various emission sources and transport processes impacting O3 enhancements at different vertical levels of the troposphere.

Laminates↗
NASA NTRS2004

Spatial and Temporal Distribution of Tropospheric Clouds and Aerosols Observed by MODIS Onboard the Terra and Aqua Satellites

Remote sensing of cloud and aerosol optical properties is routinely obtained using the Moderate Resolution Imaging Spectroradiometer (MODIS) onboard the Terra and Aqua satellites. Techniques that are being used to enhance our ability to characterize the global distribution of cloud and aerosol properties include well-calibrated multispectral radiometers that rely on visible, near-infrared, and thermal infrared channels. The availability of thermal channels to aid in cloud screening for aerosol properties is an important additional piece of information that has not always been incorporated into sensor designs. In this paper, we describe the radiative properties of clouds as currently determined from satellites (cloud fraction, optical thickness, cloud top pressure, and cloud effective radius), and highlight the global and regional cloud microphysical properties currently available for assessing climate variability and forcing. These include the latitudinal distribution of cloud optical and radiative properties of both liquid water and ice clouds, as well as joint histograms of cloud optical thickness and effective radius for selected geographical locations around the world. In addition, we will illustrate the radiative and microphysical properties of aerosol particles that are currently available from space-based observations, and show selected cases in which aerosol particles are observed to modify the cloud optical properties.

King, Michael D.↗
NASA NTRS2011

Pressure Regulator With Internal Ejector Circulation Pump, Flow and Pressure Measurement Porting, and Fuel Cell System Integration Options

An advanced reactant pressure regulator with an internal ejector reactant circulation pump has been developed to support NASA's future fuel cell power systems needs. These needs include reliable and safe operation in variable-gravity environments, and for exploration activities with both manned and un manned vehicles. This product was developed for use in Proton Exchange Membrane Fuel Cell (PEMFC) power plant reactant circulation systems, but the design could also be applied to other fuel cell system types, (e.g., solid-oxide or alkaline) or for other gas pressure regulation and circulation needs. The regulator design includes porting for measurement of flow and pressure at key points in the system, and also includes several fuel cell system integration options. NASA has recognized ejectors as a viable alternative to mechanical pumps for use in spacecraft fuel cell power systems. The ejector motive force is provided by a variable, high-pressure supply gas that travels through the ejector s jet nozzle, whereby the pressure energy of the fluid stream is converted to kinetic energy in the gas jet. The ejector can produce circulation-to-consumption-flow ratios that are relatively high (2-3 times), and this phenomenon can potentially (with proper consideration of the remainder of the fuel cell system s design) be used to provide completely for reactant pre-humidification and product water removal in a fuel cell system. Specifically, a custom pressure regulator has been developed that includes: (1) an ejector reactant circulation pump (with interchangeable jet nozzles and mixer sections, gas-tight sliding and static seals in required locations, and internal fluid porting for pressure-sensing at the regulator's control elements) and (2) internal fluid porting to allow for flow rate and system pressure measurements. The fluid porting also allows for inclusion of purge, relief, and vacuum-breaker check valves on the regulator assembly. In addition, this regulator could also be used with NASA's advanced nonflow-through fuel cell power systems by simply incorporating a jet nozzle with an appropriate nozzle diameter.

Vasquez, Arturo↗
NASA NTRS2015

Flexible Electrostatic Technologies for Capture and Handling, Phase 1

Fundamental to many of NASA's in-space transportation missions is the capture and handling of various objects and vehicles in various orbits for servicing, debris disposal, sample retrieval, and assembly without the benefit of sufficient grapple fixtures and docking ports. To perform similar material handling tasks on Earth, pincher grippers, suction grippers, or magnetic chucks are used, but are unable to reliably grip aluminum and composite spacecraft, insulation, radiators, solar arrays, or extra-terrestrial objects in the vacuum of outer space without dedicated handles in the right places. The electronic Flexible Electrostatic Technologies for space Capture and Handling (FETCH) will enable reliable and compliant gripping (soft dock) of practically any object in various orbits or surfaces without dedicated mechanical features, very low impact capture, and built-in proximity sensing without any conventional actuators. Originally developed to handle semiconductor and glass wafers during vacuum chamber processing without contamination, the normal rigid wafer handling chucks are replaced with thin metal foil segments laminated in flexible insulation driven by commercial off-the-shelf solid state, high-voltage power supplies. Preliminary testing in NASA Marshall Space Flight Center's (MSFC's) Flat Floor Robotics Lab demonstrated compliant alignment and gripping with a full-sized, 150-lb microsat mockup and translation before a clean release with a flip of a switch. The flexible electrostatic gripper pads can be adapted to various space applications with different sizes, shapes, and foil electrode layouts even with openings through the gripper pads for addition of guidance sensors or injection of permanent adhesives. With gripping forces estimated between 0.5 and 2.5 lb/in2 or 70-300 lb/ft2 of surface contact, the FETCH can turn on and off rapidly and repeatedly to enable sample handling, soft docking, in-space assembly, precision relocation, and surface translation for accurate anchoring.

Bryan, Thomas↗
NASA NTRS2018

Observational Evidence for Langmuir Wave Collapse in the Source Region of a Solar Type III Radio Burst

High-time-resolution in situ wave observations show that Langmuir waves associated with solar type III radio bursts often occur as coherent localized one-dimensional magnetic-field-aligned wave packets with short durations of a few milliseconds and peak intensities well above the strong turbulence thresholds. In this paper, we report observations of a wave packet obtained by the time domain sampler of the STEREO WAVES experiment, which is unique in the sense that it is the most intense wave packet ever detected in association with a solar type III radio burst, with a peak intensity Et ∼ 107 mVm(sup-1). We show that this wave packet provides evidence for (1) oscillating two-stream instability (OTSI), (2) a collapsing soliton formed as a result of OTSI, (3) the formation of a soliton-caviton pair, and (4) excitation of second and third harmonic electromagnetic waves. We also show that the peak intensity and spatial width satisfy the threshold condition for this wave packet to be the collapsing Langmuir wave packet formed as a result of nucleation processes even when δn(sub b) > δn(sub p), where δn(sub b) and δn(sub p) are the levels of background and ponderomotive-force-induced density fluctuations, respectively. Thus, these observations provide unambiguous evidence for the spatial collapse of Langmuir waves in the source region of a type III radio burst, and the observed spectral evidence for OTSI and the ponderomotive-force-induced density cavity strongly suggest that OTSI is mostly likely responsible for the collapse of the observed wave packet.

Radio↗
NASA NTRS1994

Ocean-ice interaction in the marginal ice zone using synthetic aperture radar imagery

Ocean-ice interaction processes in the marginal ice zone (MIZ) by wind, waves, and mesoscale features, such as up/downwelling and eddies are studied using Earth Remote-Sensing Satellite (ERS) 1 synthetic aperture radar (SAR) images and an ocean-ice interaction model. A sequence of seven SAR images of the MIZ in the Chukchi Sea with 3 or 6 days interval are investigated for ice edge advance/retreat. Simultaneous current measurements from the northeast Chukchi Sea, as well as the Barrow wind record, are used to interpret the MIZ dynamics. SAR spectra of waves in ice and ocean waves in the Bering and Chukchi Sea are compared for the study of wave propagation and dominant SAR imaging mechanism. By using the SAR-observed ice edge configuration and wind and wave field in the Chukchi Sea as inputs, a numerical simulation has been performed with the ocean-ice interaction model. After 3 days of wind and wave forcing the resulting ice edge configuration, eddy formation, and flow velocity field are shown to be consistent with SAR observations.

Liu, Antony K.↗
NASA NTRS2002

Wind Tunnel Measurements of Shuttle Orbiter Global Heating with Comparisons to Flight

An aerothermodynamic database of global heating images was acquired of the Shuttle Orbiter in the NASA Langley Research Center 20-Inch Mach 6 Air Tunnel. These results were obtained for comparison to the global infrared images of the Orbiter in flight from the infrared sensing aeroheating flight experiment (ISAFE). The most recent ISAFE results from STS-103, consisted of port side images, at hypersonic conditions, of the surface features that result from the strake vortex scrubbing along the side of the vehicle. The wind tunnel results were obtained with the phosphor thermography system, which also provides global information and thus is ideally suited for comparison to the global flight results. The aerothermodynamic database includes both windward and port side heating images of the Orbiter for a range of angles of attack (20 to 40 deg), freestream unit Reynolds number (1 x 10(exp 6))/ft to 8 x 10(exp 6)/ft, body flap deflections (0, 5, and 10 deg), speed brake deflections (0 and 45 deg), as well as with boundary layer trips for forced transition to turbulence heating results. Sample global wind tunnel heat transfer images were extrapolated to flight conditions for comparison to Orbiter flight data. A windward laminar case for an angle of attack of 40 deg was extrapolated to Mach 11.6 flight conditions for comparison to STS-2 flight thermocouple results. A portside wind tunnel image for an angle of attack of 25 deg was extrapolated for Mach 5 flight conditions for comparison to STS-103 global surface temperatures. The comparisons showed excellent qualitative agreement, however the extrapolated wind tunnel results over-predicted the flight surface temperatures on the order of 5% on the windward surface and slightly higher on the portside.

Berry, Scott A.↗
NASA NTRS2011

Multi-Scale Hydrometeorological Modeling, Land Data Assimilation and Parameter Estimation with the Land Information System

The Land Information System (LIS; http://lis.gsfc.nasa.gov) is a flexible land surface modeling framework that has been developed with the goal of integrating satellite-and ground-based observational data products and advanced land surface modeling techniques to produce optimal fields of land surface states and fluxes. As such, LIS represents a step towards the next generation land component of an integrated Earth system model. In recognition of LIS object-oriented software design, use and impact in the land surface and hydrometeorological modeling community, the LIS software was selected as a co-winner of NASA?s 2005 Software of the Year award.LIS facilitates the integration of observations from Earth-observing systems and predictions and forecasts from Earth System and Earth science models into the decision-making processes of partnering agency and national organizations. Due to its flexible software design, LIS can serve both as a Problem Solving Environment (PSE) for hydrologic research to enable accurate global water and energy cycle predictions, and as a Decision Support System (DSS) to generate useful information for application areas including disaster management, water resources management, agricultural management, numerical weather prediction, air quality and military mobility assessment. LIS has e volved from two earlier efforts -- North American Land Data Assimilation System (NLDAS) and Global Land Data Assimilation System (GLDAS) that focused primarily on improving numerical weather prediction skills by improving the characterization of the land surface conditions. Both of GLDAS and NLDAS now use specific configurations of the LIS software in their current implementations.In addition, LIS was recently transitioned into operations at the US Air Force Weather Agency (AFWA) to ultimately replace their Agricultural Meteorology (AGRMET) system, and is also used routinely by NOAA's National Centers for Environmental Prediction (NCEP)/Environmental Modeling Center (EMC) for their land data assimilation systems to support weather and climate modeling. LIS not only consolidates the capabilities of these two systems, but also enables a much larger variety of configurations with respect to horizontal spatial resolution, input datasets and choice of land surface model through "plugins". LIS has been coupled to the Weather Research and Forecasting (WRF) model to support studies of land-atmosphere coupling be enabling ensembles of land surface states to be tested against multiple representations of the atmospheric boundary layer. LIS has also been demonstrated for parameter estimation, who showed that the use of sequential remotely sensed soil moisture products can be used to derive soil hydraulic and texture properties given a sufficient dynamic range in the soil moisture retrievals and accurate precipitation inputs.LIS has also recently been demonstrated for multi-model data assimilation using an Ensemble Kalman Filter for sequential assimilation of soil moisture, snow, and temperature.Ongoing work has demonstrated the value of bias correction as part of the filter, and also that of joint calibration and assimilation.Examples and case studies demonstrating the capabilities and impacts of LIS for hydrometeorological modeling, assimilation and parameter estimation will be presented as advancements towards the next generation of integrated observation and modeling systems

Peters-Lidard, Christa D.↗
DOE OSTI2023

Nanoscale Magnetic Domains in Polycrystalline Mn 3 Sn Films Imaged by a Scanning Single-Spin Magnetometer

Noncollinear antiferromagnets with novel magnetic orders, vanishingly small net magnetization, and exotic spin related properties hold enormous promise for developing next-generation, transformative spintronic applications. A major ongoing research focus of this community is to explore, control, and harness unconventional magnetic phases of this emergent material system to deliver state-of-the-art functionalities for modern microelectronics. Here we report direct imaging of magnetic domains of polycrystalline Mn 3 Sn films, a prototypical noncollinear antiferromagnet, using nitrogen-vacancy-based single-spin scanning microscopy. Nanoscale evolution of local stray field patterns of Mn 3 Sn samples are systematically investigated in response to external driving forces, revealing the characteristic “heterogeneous” magnetic switching behaviors in polycrystalline textured Mn 3 Sn films. Furthermore, our results contribute to a comprehensive understanding of inhomogeneous magnetic orders of noncollinear antiferromagnets, highlighting the potential of nitrogen-vacancy centers to study microscopic spin properties of a broad range of emergent condensed matter systems.

77 NANOSCIENCE AND NANOTECHNOLOGY↗
NASA NTRS2002

Check Out These Books

The book entitled "Fusion Leadership: Unlocking the Subtle Forces that Change People and Organizations Richard L. Daft and Robert H. Lengel (1998) Berett-Koehler Publishers, Inc." was Reviewed by Dr. Michelle Collins, NASA Headquarters. If you've already read books on leadership and organizational change by authors such as Moshe Rubinstein and Iris Firstenberg, Peter Senge, Tom Peters, and Steven Covey, and you were thinking of rereading them, you don't have to do that now. Just read this book instead. It's a fusion of many of their same concepts presented from a different view. The book does not explore any particular subject in depth. Rather the authors "skim" many subjects and concepts, interlacing them to develop the concept of "Fusion Leadership". The fundamental concept of treating people as people rather than machines is the main theme. "Fusion Leadership" is the process of fusing people together by nurturing six "subtle" forces: mindfulness, courage, vision, heart, communication, and integrity. To do so, hierarchy is diminished and responsibility both for oneself as well as for the team is emphasized. There are a number of organizations and managers that will find such a change threatening. The concepts behind such a management style are straightforward and the benefits are intuitive once you've reflected on them; however, the obvious benefits of the behavioral change proposed in Fusion Leadership can be completely lost in a fear-based system. The concept of caring about people in one's organization was the common thread in Chris Turner's book All Hat, No Cattle (see book review, ASK 5). Much is being written about the re-humanizing of the workplace, but the basis of it is so common sense that one wonders what's taking so long for the workplace to change? Whether you're in a position to change your organization or simply your project team, you'll find the concepts in fusion leadership equally applicable.

Collins, Michelle↗
NASA NTRS1988

Effects of surface perturbations on the asymmetric vortex flow over a slender body

An experimental investigation of the effects of surface perturbations on the asymmetric flow past a slender body has been conducted for laminar flow conditions. Beads with diameters ranging from 3/32 to 12/32 in. were attached near the apex of a cone/cylinder model having a base diameter of 3.5 in. and a cone semiapex angle of 9 deg at an angle of attack of 40 deg in an attempt to alter the sense of the asymmetric vortex flow pattern. Circumferential position as well as longitudinal location were varied to determine the most effective bead position. Whether or not the beads were effective in controlling the magnitude and direction of the vortex asymmetries was determined by 3 circumferential rows of pressure taps and by a helium-bubble flow visualization technique. The most effective circumferential position was found to be approximately 140 deg from the windward ray. While holding this circumferential position constant, the effect of bead size at three stations further along the body was also investigated. It was found that the size of the bead necessary to reverse the asymmetry increased more rapidly than the growth in cylinder radius. In general, these results indicate that discrete geometric imperfections on a body's surface can force asymmetry in a given direction if they are sufficiently large relative to the local radius.

Moskovitz, Cary A.↗
NASA NTRS1994

Nonlinear evolution of the coronal magnetic field under reconnective relaxation

Recently, Vekstein et al. (Vekstein, Priest, & Steele 1993) have developed a model for coronal heating in which the corona responds to photospheric footpoint motions by small-scale reconnection events that bring about a relaxed state while conserving magnetic helicity but not field-line connectivity. Vekstein et al. consider a partially open field configuration in which magnetic helicity is ejected to infinity on open field lines but retained in the closed-field region. Under this scheme, they describe the evolution of an initially potential field, in response to helicity injection, in the linear regime. The present work uses numerical calculations to extend the model of Vekstein et al. into the fully nonlinear regime. The results show a rise and bulging of the field lines of the closed-field region with increasing magnetic helicity, to a point where further solutions are impossible. We interpret these solution-sequence endpoints as indicating a possible loss of equilibrium, in the sense that a relaxed equilibrium state may no longer be available to the corona when sufficient helicity has been injected. The rise and bulging behavior is reminiscent of what is observed in a helmet streamer just before the start of a coronal mass ejection (CME), and so our model suggests that a catastrophic loss of magnetic equilibrium might be the initiation mechanism for CMEs. We also find that some choices of boundary conditions can result in qualitative changes in the magnetic topology, with the appearance of magnetic islands. Whether or not this behavior occurs depends on the relative strengths of the fields in the closed- and open-field regions; in particular, island formation is most likely when the open field (which is potential) is strong and thus acts to confine the force-free closed field. Finally, we show that the energy released through reconnective relaxation can be a substantial fraction of the magnetic energy injected into the corona through footpoint motions and may be sufficient for heating the corona above active regions.

Wolfson, R.↗
NASA NTRS2000

The Dynamics of a Semi-Arid Region in Response to Climate and Water - Use Policy

The objectives of this project were to determine the response of semi-arid ecosystems to the combined forcings of climate variability and anthropogenic stress. Arid and semi-arid systems encompass close to 40% of the worlds land surface. The ecology of these regions are principally limited by water, and as the water resources wax and wane, so should the health and vigor of the ecosystems. Water, however, is a necessary and critical resource for humans living in these same regions. Thus for many and and semi-arid regions the natural systems and human systems are in direct competition for a limited resource. Increasing competition through development of and and semi-arid regions, export of water resources, as well as potential persistent changes in weather patterns are likely to lead to fundamental changes in carrying capacity, resilience, and ecology of these regions. A detailed understanding of these systems respond to forcing on a regional and local scale is required in order to better prepare for and manage future changes in the availability of water. In the Owens Valley CA, decadal changes in rainfall and increased use of groundwater resources by Los Angles (which derives 60-70% of its water from this region) have resulted in a large-scale experiment on the impacts of these changes in semi-arid ecosystems. This project works directly with the Inyo County Water Department (local water authority) and the Los Angles Department of Water and Power (regional demand on water resources) to understand changes, their causes, and impacts. Very detailed records have been kept for a number of selected sites in the valley which provide essential ground truth. These results are then scaled up through remote sensed data to regions scale to assess large scale patterns and link them to the fundamental decisions regarding the water resources of this region. A fundamental goal is to understand how resilient the native ecosystems are to large changes in water resources. Are they are on a spring (remove and return resources, do the systems return to the original state) or a vector (when water returns have the systems fundamentally changed).

Mustard, John F.↗
NASA NTRS2000

Tactile Sensing for Dexterous Robotic Hands

Robotic systems will be used as precursors to human exploration to explore the solar system and expand our knowledge of planetary surfaces. Robotic systems will also be used to build habitats and infrastructure required for human presence in space and on other planetary surfaces . Such robots will require a high level of intelligence and automation. The ability to flexibly manipulate their physical environment is one characteristic that makes humans so effective at these building and exploring tasks . The development of a generic autonomous grasp ing capability will greatly enhance the efficiency and ability of robotics to build, maintain and explore. To tele-operate a robot over vast distances of space, with long communication delays, has proven to be troublesome. Having an autonomous grasping capability that can react in real-time to disturbances or adapt to generic objects, without operator intervention, will reduce the probability of mishandled tools and samples and reduce the number of re-grasp attempts due to dropping. One aspect that separates humans from machines is a rich sensor set. We have the ability to feel objects and respond to forces and textures. The development of touch or tactile sensors for use on a robot that emulates human skin and nerves is the basis for this discussion. We will discuss the use of new piezo-electric and resistive materials that have emerged on the market with the intention of developing a touch sensitive sensor. With viable tacti le sensors we will be one step closer to developing an autonomous grasping capability.

Martin, Toby B.↗