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At least 973 records · Page 54

The spectral classification of chromospherically active binary stars with composite spectra

This paper presents and analyzes blue and red-wavelength high-resolution spectra of twelve chromospherically active binary or triple systems with composite spectra. Spectral classifications for the individual stellar components are derived by means of the 'spectrum-synthesis' technique and are compared to stellar evolutionary models and observed masses and/or mass ratios. Also presented is a carefully selected set of MK reference stars of luminosity class III, IV, and V, and spectral type A9-K5, and v sin i less than 10 km/s, to cover the spectral range of the components of chromospherically active binary systems of the RS CVn-type. New values of v sin i are determined for some of the reference and program stars. Two spectroscopic binaries have been discovered.

Strassmeier, K. G.↗

Evaluation of HFC 245ca and HFC 236ea as foam blowing agents

Hydrochlorofluorocarbon (HCFC) 141b has been selected as the interim blowing agent for use in urethane insulations on NASA's Space Shuttle External Tank. Due to the expected limited commercial lifetime of this material, research efforts at the NASA Thermal Protection Systems Materials Research Laboratory at the Marshall Space Flight Center are now being devoted to the identification and development of alternatives with zero ozone depletion potential. Physical blowing agents identified to date have included hydrocarbons, fluorocarbons, hydrofluoroethers, and more predominantly, hydrofluorocarbons (HFCs). The majority of the HFC evaluations in industry have focused on the more readily available, low boiling candidates such as HFC 134a. Higher boiling HFC candidates that could be handled at ambient conditions and use current processing equipment would be more desirable. This paper will describe results from a research program of two such candidate HFC's performed as a cooperative effort between Martin Marietta Manned Space Systems, the U.S. Environmental Protection Agency, and Oak Ridge National Laboratories. The purpose of this effort was to perform a cursory evaluation of the developmental HFC's 245ca and 236ea as blowing agents in urethane based insulations. These two materials were selected from screening tests of 37 C2, C3, and C4 isomers based on physical properties, atmospheric lifetime, flammability, estimated toxicity, difficulty of synthesis, suitability for dual use as a refrigerant, and other factors. Solubility of the two materials in typical foam components was tested, pour foaming trials were performed, and preliminary data were gathered regarding foam insulation performance.

Sharpe, Jon↗

Potential Commercial Applications from Combustion and Fire Research in Space

The near-zero (microgravity) environment of orbiting spacecraft minimizes buoyant flows, greatly simplifying combustion processes and isolating important phenomena ordinarily concealed by the overwhelming gravity-driven forces and flows. Fundamental combustion understanding - the focus to date of the NASA microgravity-combustion program - has greatly benefited from analyses and experiments conducted in the microgravity environment. Because of the economic and commercial importance of combustion in practice, there is strong motivation to seek wider applications for the microgravity-combustion findings. This paper reviews selected technology developments to illustrate some emerging applications. Topics cover improved fire-safety technology in spacecraft and terrestrial systems, innovative combustor designs for aerospace and ground propulsion, applied sensors and controls for combustion processes, and self-sustaining synthesis techniques for advanced materials.

Friedman, Robert↗

Isomerization of 1-O-indol-3-ylacetyl-beta-D-glucose. Enzymatic hydrolysis of 1-O, 4-O, and 6-O-indol-3-ylacetyl-beta-D-glucose and the enzymatic synthesis of indole-3-acetyl glycerol by a hormone metabolizing complex

The first compound in the series of reactions leading to the ester conjugates of indole-3-acetic acid (IAA) in kernels of Zea mays sweet corn is the acyl alkyl acetal, 1-O-indol-3-ylacetyl-beta-D-glucose (1-O-IAGlu). The enzyme catalyzing the synthesis of this compound is UDP-glucose:indol-3-ylacetate glucosyl-transferase (IAGlu synthase). The IAA moiety of the high energy compound 1-O-IAGlu may be enzymatically transferred to myo-inositol or to glycerol or the 1-O-IAGlu may be enzymatically hydrolyzed. Alternatively, nonenzymatic acyl migration may occur to yield the 2-O, 4-O, and 6-O esters of IAA and glucose. The 4-O and 6-O esters may then be enzymatically hydrolyzed to yield free IAA and glucose. This work reports new enzymatic activities, the transfer of IAA from 1-O-IAGlu to glycerol, and the enzyme-catalyzed hydrolysis of 4-O and 6-O-IAGlu. Data is also presented on the rate of non-enzymatic acyl migration of IAA from the 1-O to the 4-O and 6-O positions of glucose. We also report that enzymes catalyzing the synthesis of 1-O-IAGlu and the hydrolysis of 1-O, 4-O, and 6-O-IAGlu fractionate as a hormone metabolizing complex. The association of synthetic and hydrolytic capabilities in enzymes which cofractionate may have physiological significance.

Non-NASA Center↗

Proceedings of the Second NASA Formal Methods Symposium

This publication contains the proceedings of the Second NASA Formal Methods Symposium sponsored by the National Aeronautics and Space Administration and held in Washington D.C. April 13-15, 2010. Topics covered include: Decision Engines for Software Analysis using Satisfiability Modulo Theories Solvers; Verification and Validation of Flight-Critical Systems; Formal Methods at Intel -- An Overview; Automatic Review of Abstract State Machines by Meta Property Verification; Hardware-independent Proofs of Numerical Programs; Slice-based Formal Specification Measures -- Mapping Coupling and Cohesion Measures to Formal Z; How Formal Methods Impels Discovery: A Short History of an Air Traffic Management Project; A Machine-Checked Proof of A State-Space Construction Algorithm; Automated Assume-Guarantee Reasoning for Omega-Regular Systems and Specifications; Modeling Regular Replacement for String Constraint Solving; Using Integer Clocks to Verify the Timing-Sync Sensor Network Protocol; Can Regulatory Bodies Expect Efficient Help from Formal Methods?; Synthesis of Greedy Algorithms Using Dominance Relations; A New Method for Incremental Testing of Finite State Machines; Verification of Faulty Message Passing Systems with Continuous State Space in PVS; Phase Two Feasibility Study for Software Safety Requirements Analysis Using Model Checking; A Prototype Embedding of Bluespec System Verilog in the PVS Theorem Prover; SimCheck: An Expressive Type System for Simulink; Coverage Metrics for Requirements-Based Testing: Evaluation of Effectiveness; Software Model Checking of ARINC-653 Flight Code with MCP; Evaluation of a Guideline by Formal Modelling of Cruise Control System in Event-B; Formal Verification of Large Software Systems; Symbolic Computation of Strongly Connected Components Using Saturation; Towards the Formal Verification of a Distributed Real-Time Automotive System; Slicing AADL Specifications for Model Checking; Model Checking with Edge-valued Decision Diagrams; and Data-flow based Model Analysis.

Munoz, Cesar↗

Synthesis and analysis of precise spaceborne laser ranging systems, volume 1

Measurement accuracy goals of 2 cm rms range estimation error and 0.003 cm/sec rms range rate estimation error, with no more than 1 cm (range) static bias error are requirements for laser measurement systems to be used in planned space-based earth physics investigations. Constraints and parameters were defined for links between a high altitude, transmit/receive satellite (HATRS), and one of three targets: a low altitude target satellite, passive (LATS), and active low altitude target, and a ground-based target, as well as with operations with a primary transmit/receive terminal intended to be carried as a shuttle payload, in conjunction with the Spacelab program.

Paddon, E. A.↗

Geostar – a ‘Shovel Ready’ Geostationary Microwave Sounder

A geostationary microwave sounder, capable of providing temperature, water vapor, clouds, precipitation, and wind in the presence of clouds, convection and precipitation, will add tremendously to our ability to observe dynamic atmospheric phenomena, such as hurricanes and severe storms, monsoonal moisture flow, atmospheric rivers, etc. Such a sensor is now feasible, enabled by technology that has been developed under NASA’s Instrument Incubator Program at the Jet Propulsion Laboratory. The Geostationary Synthetic Thinned Aperture Radiometer (GeoSTAR) is essentially an “AMSU in GEO”, i.e. it has similar capabilities as AMSU would have if it were operating on a geostationary satellite, but with similar spatial resolution. GEO orbits are almost 50 times higher than the LEO orbits that current AMSUs operate from, and the corresponding scaling of aperture size required to maintain spatial resolution has stymied the development of such a sensor for many decades. The aperture synthesis approach implemented with GeoSTAR finally overcomes that obstacle, and the large number of microwave receivers and associated electronics required is made possible with new technology that has now been developed. A low-cost mission operating as a hosted payload on a commercial communications satellite has been designed and is “shovel-ready”. The objectives of such a mission could be to advance our understanding and modeling of storm processes that control rapid or explosive intensification of hurricanes, mesoscale convective systems, and extratropical cyclones, or it could be to support operational weather forecasting and nowcasting. Retrieval of temperature and water vapor profiles is possible even in the presence of moderate precipitation, and with the ability to derive horizontal wind vectors by tracking water vapor features, a rich set of parameters measuring the thermodynamics, dynamics and convection and sampled every 15 minutes, will enable significant progress in storm science and forecasting.

Lambrigtsen, Bjorn H↗

Prediction and Control of Atomic Ordering in Electrodeposited Binary Alloy Films: Direct Synthesis of L10 Magnetic Phases

Permanent magnet materials are essential components in renewable energy technology, underlying, electric vehicles, hybrids, wind turbines and more. Today commercial permanent magnets based on Nd-Fe-B exhibit an energy product of ~ 400 kJ/m 3 , capable to run wind turbines efficiently. Unfortunately, the supplies of rare-earth elements are centralized, and their availability may see volatility over time. This state of affairs stimulates the search for the search for rare-earth-free permanent magnetic materials. The L1 0 crystal structure underlines an important class of chemical ordered alloys that exhibit uniaxial magnetocrystalline anisotropy. This material has been considered an excellent candidate for rare-earth-free permanent magnets. In this program, a series of systematic experiments were performed and analysed in order to understand the effect of each. In order to synthesize L 10-Fe-Ni, one has to circumvent the sluggish kinetic and the limited driving force resulted from the low order-disorder temperature (~320°C) of the system. A strategy was found to trigger a martensitic transformation from the FCC phase to one of the non-cubic phases by high-strain methods. The body-centered tetragonal Fe-Ni obtained by this strategy was considered as a precursor of L10 Fe-Ni. The formation of BCT Fe-Ni via a displacive process was also implemented at the nanoscale by using tailored AuNi@FeNi core@shell.

36 MATERIALS SCIENCE↗

Synthesis and development of low cost, high temperature N-arylene polybenzimidazole foam material

Polymer (and foam) studies followed two basic routes: (1) formation of high molecular weight uncyclized polyamide followed by subsequent fusion and cyclodehydration to yield NABI (foam) and (2) polymer and foam formation by reaction of diphenyl esters (or anhydrides) with the tetramine. The latter route was found much more attractive since considerable versatility in both basic polymer structure and crosslinkability is achievable. Preliminary studies on BAB, phthalic anhydride (PA), and 3, 3 (prime), 4, 4(prime) benzo pheno netetracarboxylic acid dianhydride (BTDA) as crosslinked polymer precursors were conducted. Nonmelting rigid char forming foams with densities as low as 2.7 lb/cubic ft. were achieved. The program was successful in the preparation of a potentially low cost, low density, high char yield, high temperature foam material.

Harrison, E. S.↗

Systems Architecture for Fully Autonomous Space Missions

The NASA Goddard Space Flight Center is working to develop a revolutionary new system architecture concept in support of fully autonomous missions. As part of GSFC's contribution to the New Millenium Program (NMP) Space Technology 7 Autonomy and on-Board Processing (ST7-A) Concept Definition Study, the system incorporates the latest commercial Internet and software development ideas and extends them into NASA ground and space segment architectures. The unique challenges facing the exploration of remote and inaccessible locales and the need to incorporate corresponding autonomy technologies within reasonable cost necessitate the re-thinking of traditional mission architectures. A measure of the resiliency of this architecture in its application to a broad range of future autonomy missions will depend on its effectiveness in leveraging from commercial tools developed for the personal computer and Internet markets. Specialized test stations and supporting software come to past as spacecraft take advantage of the extensive tools and research investments of billion-dollar commercial ventures. The projected improvements of the Internet and supporting infrastructure go hand-in-hand with market pressures that provide continuity in research. By taking advantage of consumer-oriented methods and processes, space-flight missions will continue to leverage on investments tailored to provide better services at reduced cost. The application of ground and space segment architectures each based on Local Area Networks (LAN), the use of personal computer-based operating systems, and the execution of activities and operations through a Wide Area Network (Internet) enable a revolution in spacecraft mission formulation, implementation, and flight operations. Hardware and software design, development, integration, test, and flight operations are all tied-in closely to a common thread that enables the smooth transitioning between program phases. The application of commercial software development techniques lays the foundation for delivery of product-oriented flight software modules and models. Software can then be readily applied to support the on-board autonomy required for mission self-management. An on-board intelligent system, based on advanced scripting languages, facilitates the mission autonomy required to offload ground system resources, and enables the spacecraft to manage itself safely through an efficient and effective process of reactive planning, science data acquisition, synthesis, and transmission to the ground. Autonomous ground systems in turn coordinate and support schedule contact times with the spacecraft. Specific autonomy software modules on-board include mission and science planners, instrument and subsystem control, and fault tolerance response software, all residing within a distributed computing environment supported through the flight LAN. Autonomy also requires the minimization of human intervention between users on the ground and the spacecraft, and hence calls for the elimination of the traditional operations control center as a funnel for data manipulation. Basic goal-oriented commands are sent directly from the user to the spacecraft through a distributed internet-based payload operations "center". The ensuing architecture calls for the use of spacecraft as point extensions on the Internet. This paper will detail the system architecture implementation chosen to enable cost-effective autonomous missions with applicability to a broad range of conditions. It will define the structure needed for implementation of such missions, including software and hardware infrastructures. The overall architecture is then laid out as a common thread in the mission life cycle from formulation through implementation and flight operations.

Esper, Jamie↗

Software for Simulating Remote Sensing Systems

The Application Research Toolbox (ART) is a collection of computer programs that implement algorithms and mathematical models for simulating remote sensing systems. The ART is intended to be especially useful for performing design-tradeoff studies and statistical analyses to support the rational development of design requirements for multispectral imaging systems. Among other things, the ART affords a capability to synthesize coarser-spatial-resolution image-data sets from finer-spatial-resolution data sets and multispectral-image-data products from hyperspectral-image-data products. The ART also provides for synthesis of image-degradation effects, including point-spread functions, misregistration of spectral images, and noise. The ART can utilize real or synthetic data sets, along with sensor specifications, to create simulated data sets. In one example of a typical application, simulated data pertaining to an existing multispectral sensor system are used to verify the data collected by the system in operation. In the case of a proposed sensor system, the simulated data can be used to conduct trade studies and statistical analyses to ensure that the sensor system will satisfy the requirements of potential scientific, academic, and commercial user communities.

Zanoni, Vicki↗

Software for Simulating Remote Sensing Systems

The Application Research Toolbox (ART) is a collection of computer programs that implement algorithms and mathematical models for simulating remote sensing systems. The ART is intended to be especially useful for performing design-tradeoff studies and statistical analyses to support the rational development of design requirements for multispectral imaging systems. Among other things, the ART affords a capability to synthesize coarser-spatial-resolution image-data sets from finer-spatial-resolution data sets and multispectral-image-data products from hyperspectral-image-data products. The ART also provides for synthesis of image-degradation effects, including point-spread functions, misregistration of spectral images, and noise. The ART can utilize real or synthetic data sets, along with sensor specifications, to create simulated data sets. In one example of a typical application, simulated data pertaining to an existing multispectral sensor system are used to verify the data collected by the system in operation. In the case of a proposed sensor system, the simulated data can be used to conduct trade studies and statistical analyses to ensure that the sensor system will satisfy the requirements of potential scientific, academic, and commercial user communities.

Vicki Zanoni↗

Dictating Nanoparticle Assembly via Systems-Level Control of Molecular Multivalency

Nanoparticle assembly can be controlled by multivalent binding interactions between surface ligands, indicating that more precise control over these interactions is important to design complex nanoscale architectures. It has been well-established in natural materials that the arrangement of different molecular species in three dimensions can affect the ability of individual supramolecular units to coordinate their binding, thereby regulating the strength and specificity of their collective molecular interactions. However, in artificial systems, limited examples exist that quantitatively demonstrate how changes in nanoscale geometry can be used to rationally modulate the thermodynamics of individual molecular binding interactions. As a result, the use of nanoscale design features to regulate molecular bonding remains an underutilized design handle to control nanomaterials synthesis. Here in this paper we demonstrate a polymer-coated nanoparticle material where supramolecular bonding and nanoscale structure are used in conjunction to dictate the thermodynamics of their multivalent interactions, resulting in emergent bundling of supramolecular binding groups that would not be expected on the basis of the molecular structures alone. Additionally, we show that these emergent phenomena can controllably alter the superlattice symmetry by using the mesoscale particle arrangement to alter the thermodynamics of the supramolecular bonding behavior. The ability to rationally program molecular multivalency via a systems-level approach therefore provides a major step forward in the assembly of complex artificial structures, with implications for future designs of both nanoparticle- and supramolecular-based materials.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Autonomous sputter synthesis of thin film nitrides with composition controlled by Bayesian optimization of optical plasma emission

Autonomous experimentation has emerged as an efficient approach to accelerate the pace of material discovery. Although instruments for autonomous synthesis have become popular in molecular and polymer science, solution processing of hybrid materials, and nanoparticles, examples of autonomous tools for physical vapor deposition are scarce yet important for the semiconductor industry. Here, we report the design and implementation of an autonomous workflow for sputter deposition of thin films with controlled composition, leveraging a highly automated sputtering reactor custom-controlled by Python, optical emission spectroscopy (OES), and a Bayesian optimization algorithm. We modeled film composition, measured by x-ray fluorescence, as a linear function of plasma emission lines monitored during co-sputtering from elemental Zn and Ti targets in an N 2 and Ar atmosphere. A Bayesian control algorithm, informed by OES, navigates the space of sputtering power to fabricate films with user-defined compositions by minimizing the absolute error between desired and measured optical emission signals. We validated our approach by autonomously fabricating Zn x Ti 1-x N y films that deviate from the targeted cation composition by a relative ±3.5%, even for 15 nm thin films, demonstrating that the proposed approach can reliably synthesize thin films with a specific composition and minimal human interference. Moreover, the proposed method can be extended to more difficult synthesis experiments where plasma intensity lines depend non-linearly on pressure, or the elemental sticking coefficients strongly depend on the substrate temperature.

36 MATERIALS SCIENCE↗

Comparative induction of nitrate reductase by nitrate and nitrite in barley leaves

The comparative induction of nitrate reductase (NR) by ambient NO3- and NO2- as a function of influx, reduction (as NR was induced) and accumulation in detached leaves of 8-day-old barley (Hordeum vulgare L.) seedlings was determined. The dynamic interaction of NO3- influx, reduction and accumulation on NR induction was shown. The activity of NR, as it was induced, influenced its further induction by affecting the internal concentration of NO3-. As the ambient concentration of NO3- increased, the relative influences imposed by influx and reduction on NO3- accumulation changed with influx becoming a more predominant regulant. Significant levels of NO3- accumulated in NO2(-)-fed leaves. When the leaves were supplied cycloheximide or tungstate along with NO2-, about 60% more NO3- accumulated in the leaves than in the absence of the inhibitors. In NO3(-)-supplied leaves NR induction was observed at an ambient concentration of as low as 0.02 mM. No NR induction occurred in leaves supplied with NO2- until the ambient NO2- concentration was 0.5 mM. In fact, NR induction from NO2- solutions was not seen until NO3- was detected in the leaves. The amount of NO3- accumulating in NO2(-)-fed leaves induced similar levels of NR as did equivalent amounts of NO3- accumulating from NO3(-)-fed leaves. In all cases the internal concentration of NO3-, but not NO2-, was highly correlated with the amount of NR induced. The evidence indicated that NO3- was a more likely inducer of NR than was NO2-.

NASA Program CELSS↗

Organic synthesis in experimental impact shocks

Laboratory simulations of shocks created with a high-energy laser demonstrate that the efficacy of organic production depends on the molecular, not just the elemental composition of the shocked gas. In a methane-rich mixture that simulates a low-temperature equilibrium mixture of cometary material, hydrogen cyanide and acetylene were produced with yields of 5 x 10(17) molecules per joule. Repeated shocking of the methane-rich mixture produced amine groups, suggesting the possible synthesis of amino acids. No organic molecules were produced in a carbon dioxide-rich mixture, which is at odds with thermodynamic equilibrium approaches to shock chemistry and has implications for the modeling of shock-produced organic molecules on early Earth.

NASA Discipline Exobiology↗

Organic and Organometallic Chemistry at the Single-Molecule, -Particle, and -Molecular-Catalyst-Turnover Level by Fluorescence Microscopy

Mechanistic studies have historically played a key role in the discovery and optimization of reactions in organic and organometallic chemistry. However, even apparently simple organic and organometallic transformations may have surprisingly complicated multistep mechanisms, increasing the difficulty of extracting this mechanistic information. The resulting reaction intermediates often constitute a small fraction of the total reaction mixture, for example, creating a long-term analytical challenge of detection. This challenge is particularly pronounced in cases where the positions of intermediates on the reaction energy surface mean that they do not “build up” to the quantities needed for observation by traditional ensemble analytical tools. Thus, their existence and single-step elementary reactivity cannot be studied directly. New approaches for obtaining this otherwise-missing mechanistic information are therefore needed. Single-turnover, single-molecule, single-particle, and other subensemble fluorescence microscopy techniques are ideally suited for this role because of their sensitivity and spatiotemporal resolution. Inspired by the robust development of single-molecule fluorescence microscopy tools for studying enzyme catalysis, our laboratory has developed analogous fluorescence microscopy techniques to overcome mechanistic challenges in synthetic chemistry, with sensitivity as high as the single-complex, single-turnover, and single-molecule level. These techniques free the experimenter from the previous restriction that intermediates must “build up” to quantities needed for detection by ensemble analytical tools and are suited to systems where synchronization through flash photolysis or stopped flow would be inconvenient or inaccessible. In this process, the techniques transform certain previously “unobservable” intermediates and their elementary single-step reactivities into “observable” ones through sensitive and selective spectral handles. Our program has focused on imaging reactions in small-molecule, organic, and polymer synthetic chemistry with an accent on the reactivity of molecular transition metal complexes and catalysts. Our laboratory initiated studies in this area in 2008 with the imaging of individual palladium complexes that were tagged with spectator fluorophores. To enable imaging, we started with fluorophore selection and development, overcame challenges with imaging in organic solvents, and developed strategies compatible with air-sensitive chemistry and concentrations of reagents generally used in small-molecule synthesis. These studies grew to include characterization of previously unknown organometallic intermediates in the synthesis of organozinc reagents and the direct study of their elementary-step reactivity. The ability to directly observe this behavior generated predictive power for selecting salts that accelerated organozinc reagent formation in synthesis, including salts that had not yet been reported synthetically. In 2017 we also developed the first single-turnover imaging of molecular (chemo)catalysts, which through the technique’s spatiotemporal resolution revealed abruptly time-variable polymerization kinetics wherein molecular ruthenium ring-opening metathesis polymerization (ROMP) catalysts changed rates independently from other catalysts less than 1 μm away. Individual catalytic turnovers, each corresponding to one single-chain-elongation reaction arising from insertion of single ROMP or enyne monomers at individual Grubbs II molecular ruthenium catalysts, were spatiotemporally resolved as green flashes in growing polymers. In this work, we discuss the development of this technique from idea to application, including challenges overcome and strategies created to image synthetic organic and organometallic molecular chemistry at the highest levels of detection sensitivity. We also describe challenges not yet solved and provide an outlook for this growing field at the intersection of microscopy and synthetic/molecular chemistry.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

VERDEX: A virtual environment demonstrator for remote driving applications

One of the key areas of the National Advanced Robotics Centre's enabling technologies research program is that of the human system interface, phase 1 of which started in July 1989 and is currently addressing the potential of virtual environments to permit intuitive and natural interactions between a human operator and a remote robotic vehicle. The aim of the first 12 months of this program (to September, 1990) is to develop a virtual human-interface demonstrator for use later as a test bed for human factors experimentation. This presentation will describe the current state of development of the test bed, and will outline some human factors issues and problems for more general discussion. In brief, the virtual telepresence system for remote driving has been designed to take the following form. The human operator will be provided with a helmet-mounted stereo display assembly, facilities for speech recognition and synthesis (using the Marconi Macrospeak system), and a VPL DataGlove Model 2 unit. The vehicle to be used for the purposes of remote driving is a Cybermotion Navmaster K2A system, which will be equipped with a stereo camera and microphone pair, mounted on a motorized high-speed pan-and-tilt head incorporating a closed-loop laser ranging sensor for camera convergence control (currently under contractual development). It will be possible to relay information to and from the vehicle and sensory system via an umbilical or RF link. The aim is to develop an interactive audio-visual display system capable of presenting combined stereo TV pictures and virtual graphics windows, the latter featuring control representations appropriate for vehicle driving and interaction using a graphical 'hand,' slaved to the flex and tracking sensors of the DataGlove and an additional helmet-mounted Polhemus IsoTrack sensor. Developments planned for the virtual environment test bed include transfer of operator control between remote driving and remote manipulation, dexterous end effector integration, virtual force and tactile sensing (also the focus of a current ARRL contract, initially employing a 14-pneumatic bladder glove attachment), and sensor-driven world modeling for total virtual environment generation and operator-assistance in remote scene interrogation.

Stone, Robert J.↗