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The engineering details of the Robot Assisted MicroSurgery (RAMS) telerobotic system designed to assist microsurgeons improve the precision and dexterity with which they can position surgical instruments is described in this paper.
Gaseous contaminants such as oxygen, water vapor, nitrogen and hydrocarbons are often present in the processing environment in semiconductor device fabrication and in containerless materials processing. The contaminants arise as a result of outgassing from hot surfaces or they may be part of the impurities in commercial ultra-high purity gases. Among these gaseous contaminants, oxygen is the most reactive and, therefore, has the most adverse effects on the end product. There has been an intense effort at the Jet Propulsion Laboratory to develop different types of oxygen sorbents to reduce oxygen concentration in a microgravity processing environment to sub-ppb (parts-per-billion) levels. Higher concentrations can lead to rapid surface oxide formation, hence reducing the quality of semiconductor devices. If the concentration of oxygen in a processing chamber at 1000oC is in the ppb level, it will only take approximately 10 seconds for an oxide layer to form on the surface of a sample. The interaction of oxygen with the water surface can lead to the formation of localized defects in semi-conductor devices, hence decreasing the manufacturing yield. For example, efficient production of 64 Mb RAM chips requires contaminations below ppb levels. This paper describes a technique for measuring trace quantities of oxygen contaminants by recording the monoatomic negative ions, O-, using mass spectrometry. The O- formation from the e--O2 interaction utilizes the electron dissociative attachment method that is greatly enhanced at the resonant energy (6.8 eV). The device combines a small gridded electron ionizer with a compact mass spectrometer. The concentrations of oxygen have been measured using the method of standard additions by diluting O2 in N2. The lowest detection limit obtained was 1.2 kHz (O- count rate) at a concentration of 10-10, corresponding to 0.1 ppb.
Heavy ion testing of the Xilinx Virtex II was conducted on the configuration, block RAM and user flip flop cells to determine their static single-event upset susceptibility using LETs of 1.2 to 60 MeVcm^2/mg. A software program specifically designed to count errors in the FPGA was used to reveal L1/e, values (the LET at which the cross section is l/e times the saturation cross-section) and single-event functional-interrupt failures.
This study is part of a Materials International Space Station Experiment (MISSE) sequence to characterize the performance of prospective spacecraft materials when subjected to the synergistic effects of the space environment. Atomic oxygen (AO) is the most prevalent species in low earth orbit (LEO). In this environment AO is mainly responsible for the erosion of hydrocarbons and halocarbon polymers. The AO erosion rates of Kapton (DuPont) H are known and well documented. Hence, it is customary to compare the AO erosion yields of candidate materials to the commonly accepted standard of this polyimide. The purpose of this study was to provide characterization of AO degradation of SiO(x) protected Kapton H film, which was subject during MISSE 2 to undercutting erosion beneath microscopic defects in the protective film, and compare the degradation resulting from hyperthermal ram (approx.4.5 eV) LEO AO to the degradation resulting from exposure to thermal ground-based (approx.0.04 eV) AO.
NASA's X-38 program was an in-house technology demonstration program to develop a Crew Return Vehicle (CRV) for the International Space Station capable of returning seven crewmembers to Earth when the Space Shuttle was not present at the station. The program, managed out of NASA's Johnson Space Center, was started in 1995 and was cancelled in 2003. Eight flights with a prototype atmospheric vehicle were successfully flown at Edwards Air Force Base, demonstrating the feasibility of a parachute landing system for spacecraft. The intensive testing conducted by the program included testing of large ram-air parafoils. The flight test techniques, instrumentation, and simulation models developed during the parachute test program culminated in the successful demonstration of a guided parafoil system to land a 25,000 Ib spacecraft. The test program utilized parafoils of sizes ranging from 750 to 7500 p. The guidance, navigation, and control system (GN&C) consisted of winches, laser or radar altimeter, global positioning system (GPS), magnetic compass, barometric altimeter, flight computer, and modems for uplink commands and downlink data. The winches were used to steer the parafoil and to perform the dynamic flare maneuver for a soft landing. The laser or radar altimeter was used to initiate the flare. In the event of a GPS failure, the software navigated by dead reckoning using the compass and barometric altimeter data. The GN&C test beds included platforms dropped from cargo aircraft, atmospheric vehicles released from a 8-52, and a Buckeye powered parachute. This paper will describe the test program and significant results.
Urban sprawls in tropical locations are rapidly accelerating and it is more evident in islands where a large percentage of the population resides along the coasts. This paper focuses on the analysis of the impacts of land use and land cover for urbanization in the tropical coastal city of San Juan, in the tropical island of Puerto Rico. A mesoscale numerical model, the Regional Atmospheric Modeling System (RAMS), is used to study specific characteristics and patterns of the urban heat island in the San Juan Metropolitan Area (SJMA), the most noticeable urban core of the Caribbean. The research present in this paper makes use of the observations obtained during the airborne San Juan Atlas Mission in two ways. First, surface and rawinsonde data are used to validate the atmospheric model yielding satisfactory results. Second, airborne remote sensing information is used to update the model's surface characteristics to obtain a detailed configuration of the SJMA in order to perform the LCLU changes impact analysis. This analysis showed that the presence of San Juan has an impact reflected in higher air temperatures over the area occupied by the city, with positive values of up to 2.5 C, for the simulations that have specified urban LCLU indexes in the bottom boundary. One interesting result of the impact analysis was the finding of a precipitation disturbance shown as a difference in total accumulated rainfall between simulation with the city and with a potential natural vegetation induced by the presence of the urban area. Model results indicate that the urban-induced cloud formation and precipitation development occur mainly downwind of the city, including the accumulated precipitation. This spatial pattern can be explained by the presence of a-larger urbanized area in the southwest sector of the city, and of the approaching northeasterly trade winds.
The set of spacecraft interactions with the space flight environment that have produced the largest impacts on the design, verification, and operation of the International Space Station (ISS) Program during the May 2000 to May 2007 time frame are the focus of this paper. In-flight data, flight crew observations, and the results of ground-based test and analysis directly supporting programmatic and operational decision-making are reported as are the analysis and simulation efforts that have led to new knowledge and capabilities supporting current and future space explorations programs. The specific spacecraft-environment interactions that have had the greatest impact on ISS Program activities during the first several years of flight are: 1) spacecraft charging, 2) micrometeoroids and orbital debris effects, 3) ionizing radiation (both total dose to materials and single event effects [SEE] on avionics), 4) hypergolic rocket engine plume impingement effects, 5) venting/dumping of liquids, 6) spacecraft contamination effects, 7) neutral atmosphere and atomic oxygen effects, 8) satellite drag effects, and 9) solar ultraviolet effects. Orbital inclination (51.6deg) and altitude (nominally between 350 km and 460 km) determine the set of natural environment factors affecting the performance and reliability of materials and systems on ISS. ISS operates in the F2 region of Earth s ionosphere in well-defined fluxes of atomic oxygen, other ionospheric plasma species, solar UV, VUV, and x-ray radiation as well as galactic cosmic rays, trapped radiation, and solar cosmic rays. The micrometeoroid and orbital debris environment is an important determinant of spacecraft design and operations in any orbital inclination. The induced environment results from ISS interactions with the natural environment as well as environmental factors produced by ISS itself and visiting vehicles. Examples include ram-wake effects, hypergolic thruster plume impingement, materials out-gassing, venting and dumping of fluids, and specific photovoltaic (PV) power system interactions with the ionospheric plasma. Vehicle size (L) and velocity (v), combined with the magnitude and direction of the geomagnetic field (B) produce operationally significant magnetic induction voltages (VxB.L) in ISS conducting structure during high latitude flight (>+/- 45deg) during each orbit. In addition, ISS is a large vehicle and produces a deep wake structure from which both ionospheric plasma and neutrals species are largely excluded. ISS must fly in a very limited number of approved flight attitudes, so that exposure of a particular material or system to environmental factors depends upon: 1) location on ISS, 2) ISS flight configuration, 3) ISS flight attitude, and 4) variation of solar exposure (Beta angle), and hence thermal environment, with time. Finally, an induced ionizing radiation environment is produced by trapped radiation and solar/cosmic ray interactions with the relatively massive ISS structural shielding.
Aircraft on approach in high-drag and high-lift configuration create unsteady flow structures which inherently generate noise. For devices such as flaps, spoilers and the undercarriage there is a strong correlation between overall noise and drag such that, in the quest for quieter aircraft, one challenge is to generate drag at low noise levels. This paper presents a rigorous aero-acoustic assessment of a novel drag concept. The idea is that a swirling exhaust flow can yield a steady, and thus relatively quiet, streamwise vortex which is supported by a radial pressure gradient responsible for pressure drag. Flows with swirl are naturally limited by instabilities such as vortex breakdown. The paper presents a first aero-acoustic assessment of ram pressure driven swirling exhaust flows and their associated instabilities. The technical approach combines an in-depth aerodynamic analysis, plausibility arguments to qualitatively describe the nature of acoustic sources, and detailed, quantitative acoustic measurements using a medium aperture directional microphone array in combination with a previously established Deconvolution Approach for Mapping of Acoustic Sources (DAMAS). A model scale engine nacelle with stationary swirl vanes was designed and tested in the NASA Langley Quiet Flow Facility at a full-scale approach Mach number of 0.17. The analysis shows that the acoustic signature is comprised of quadrupole-type turbulent mixing noise of the swirling core flow and scattering noise from vane boundary layers and turbulent eddies of the burst vortex structure near sharp edges. The exposed edges are the nacelle and pylon trailing edge and the centerbody supporting the vanes. For the highest stable swirl angle setting a nacelle area based drag coefficient of 0.8 was achieved with a full-scale Overall Sound Pressure Level (OASPL) of about 40dBA at the ICAO approach certification point.
A ballute decelerator inflated by ram air was tested in free flight to determine the inflation, drag, and stability characteristics. The decelerator had a 40-inch (101.6-cm) envelope equatorial diameter and a 10-percent burble fence. It was towed 13.5 feet (4.12 m) aft of a cone-cylinder-flare payload with a maximum diameter of 18.21 inches (46.25 cm). The decelerator was deployed at an altitude of 115,000 feet (35.1 km) at a velocity of 4400 ft/sec (1342 m/sec) and inflated at a Mach number of 4.2 and a freestream dynamic pressure of 163 lb/ft(exp 2) (7.8 kN/m(exp 2)).
Deployment characteristics and steady-state performance data were obtained over the Mach number range from 2.2 to 4.4 and at angles of attack from 0 degrees to l0 degrees. All attached inflatable decelerator (AID) models deployed successfully and exhibited flutter-free performance after deployment. Shock loads commonly associated with inflation of parachutes during deployment were not experienced. Force and moment data and ram-air pressure data were obtained throughout the Mach number range and at angles of attack from 0 degrees to l0 degrees. The high drag coefficient of 1.14 was in good agreement with the value predicted by the theory used in the design and indicated other AID shapes may be designed on a rational basis with a high degree of confidence.
A ram-air-inflated, towed ballute decelerator having a maximum frontal diameter of 18 feet (5.49 meters) was deployed during free flight at a Mach number of 3.15 and a dynamic pressure of 38.5 lb/ft(exp 2) (1843.4 newtons/m(exp 2)). Deployment and extraction of the test ballute were normal but inflation stopped about 1 second after mortar firing and produced an average plateau drag force of 1500 pounds (6.7 kN) for about 1 second. Approximately 30 percent of expected total frontal area was obtained.
Urban sprawl in tropical locations is rapidly accelerating and it is more evident in islands where a large percentage of the population resides along the coasts. This paper focuses on the analysis of the impacts of land use and land cover for urbanization in the tropical coastal city of San Juan, in the Caribbean island of Puerto Rico. A mesoscale numerical model, the Regional Atmospheric Modeling System (RAMS), is used to study the impacts of land use for urbanization in the environment including specific characteristics of the urban heat island in the San Juan Metropolitan Area (SJMA), one of the most noticeable urban cores of the Caribbean. The research also makes use of the observations obtained during the airborne San Juan Atlas Mission. Surface and rawinsonde data from the mission are used to validate the atmospheric model yielding satisfactory results. Airborne high resolution remote sensing data are used to update the model's surface characteristics in order to obtain a more accurate and detailed configuration of the SJMA and perform a climate impact analysis based on land cover/land use (LCLU) changes. The impact analysis showed that the presence of the urban landscape of San Juan has an impact reflected in higher air temperatures over the area occupied by the city, with positive values of up to 2.5 C, for the simulations that have specified urban LCLU indexes in the model's bottom boundary. One interesting result of the impact analysis was the finding of a precipitation disturbance shown as a difference in total accumulated rainfall between the present urban landscape and with a potential natural vegetation, apparently induced by the presence of the urban area. Results indicate that the urban enhanced cloud formation and precipitation development occur mainly downwind of the city, including the accumulated precipitation. This spatial pattern can be explained by the presence of a larger urbanized area in the southwest sector of the city, and of the approaching northeasterly trade winds. No significant impacts were found in the sea breeze patterns of the city.
This viewgraph presentation gives an overview of the Consultative Committee for Space Data Systems (CCSDS) Asynchronous Message Service (AMS). The topics include: 1) Key Features; 2) A single AMS continuum; 3) The AMS Protocol Suite; 4) A multi-continuum venture; 5) Constraining transmissions; 6) Security; 7) Fault Tolerance; 8) Performance of Reference Implementation; 9) AMS vs Multicast (1); 10) AMS vs Multicast (2); 11) RAMS testing exercise; and 12) Results.
Urban sprawl in tropical locations is rapidly accelerating and it is more evident in islands where a large percentage of the population resides along the coasts. This paper focuses on the analysis of the impacts of land use and land cover for urbanization in the tropical coastal city of San Juan, in the Caribbean island of Puerto Rico. A mesoscale numerical model, the Regional Atmospheric Modeling System (RAMS), is used to study the impacts of land use for urbanization in the environment including specific characteristics of the urban heat island in the San Juan Metropolitan Area (SJMA), one of the most noticeable urban cores of the Caribbean. The research also makes use of the observations obtained during the airborne San Juan Atlas Mission. Surface and raw insonde data from the mission are used to validate the atmospheric model yielding satisfactory results. Airborne high resolution remote sensing data are used to update the model's surface characteristics in order to obtain a more accurate and detailed configuration of the SJMA and perform a climate impact analysis based on land cover/land use (LCLU) changes. The impact analysis showed that the presence of the urban landscape of San Juan has an impact reflected in higher air temperatures over the area occupied by the city, with positive values of up to 2.5 degrees C, for the simulations that have specified urban LCLU indexes in the model's bottom boundary. One interesting result of the impact analysis was the finding of a precipitation disturbance shown as a difference in total accumulated rainfall between the present urban landscape and with a potential natural vegetation, apparently induced by the presence of the urban area. Results indicate that the urban-enhanced cloud formation and precipitation development occur mainly downwind of the city, including the accumulated precipitation. This spatial pattern can be explained by the presence of a larger urbanized area in the southwest sector of the city, and of the approaching northeasterly trade winds.
A neuroprocessor architecture employs a combination of bit-serial and serial-parallel techniques for implementing the neurons of the neuroprocessor. The neuroprocessor architecture includes a neural module containing a pool of neurons, a global controller, a sigmoid activation ROM look-up-table, a plurality of neuron state registers, and a synaptic weight RAM. The neuroprocessor reduces the number of neurons required to perform the task by time multiplexing groups of neurons from a fixed pool of neurons to achieve the successive hidden layers of a recurrent network topology.
A foveal image sensor integrated circuit comprising a plurality of CMOS active pixel sensors arranged both within and about a central fovea region of the chip. The pixels in the central fovea region have a smaller size than the pixels arranged in peripheral rings about the central region. A new photocharge normalization scheme and associated circuitry normalizes the output signals from the different size pixels in the array. The pixels are assembled into a multi-resolution rectilinear foveal image sensor chip using a novel access scheme to reduce the number of analog RAM cells needed. Localized spatial resolution declines monotonically with offset from the imager's optical axis, analogous to biological foveal vision.
Both modeling techniques and a variety of measurements and observations were used to characterize the environmental conditions experienced by the specimens flown on the MISSE-3 (Materials International Space Station Experiment) and MISSE-4 space flight experiments. On August 3, 2006, astronauts Jeff Williams and Thomas Reiter attached MISSE-3 and -4 to the Quest airlock on ISS, where these experiments were exposed to atomic oxygen (AO), ultraviolet (UV) radiation, particulate radiation, thermal cycling, meteoroid/space debris impact, and the induced environment of an active space station. They had been flown to ISS during the July 2006 STS-121 mission. The two suitcases were oriented so that one side faced the ram direction and one side remained shielded from the atomic oxygen. On August 18,2007, astronauts Clay Anderson and Dave Williams retrieved MISSE-3 and-4 and returned them to Earth at the end of the STS-118 mission. Quantitative values are provided when possible for selected environmental factors. A meteoroid/debris impact survey was performed prior to de-integration at Langley Research Center. AO fluences were calculated based on mass loss and thickness loss of thin polymeric films of known AO reactivity. Radiation was measured with thermoluminescent detectors. Visual inspections under ambient and "black-light" at NASA LaRC, together with optical measurements on selected specimens, were the basis for the initial contamination level assessment.
The complex interplanetary structures during 7 to 8 Nov 2004 are analyzed to identify their properties as well as resultant geomagnetic effects and the solar origins. Three fast forward shocks, three directional discontinuities and two reverse waves were detected and analyzed in detail. The three fast forward shocks 'pump' up the interplanetary magnetic field from a value of approx.4 nT to ~44 nT. However, the fields after the shocks were northward, and magnetic storms did not result. The three ram pressure increases were associated with major sudden impulses (SI + s) at Earth. A magnetic cloud followed the third forward shock and the southward Bz associated with the latter was responsible for the superstorm. Two reverse waves were detected, one at the edge and one near the center of the magnetic cloud (MC). It is suspected that these 'waves' were once reverse shocks which were becoming evanescent when they propagated into the low plasma beta MC. The second reverse wave caused a decrease in the southward component of the IMF and initiated the storm recovery phase. It is determined that flares located at large longitudinal distances from the subsolar point were the most likely causes of the first two shocks without associated magnetic clouds. It is thus unlikely that the shocks were 'blast waves' or that magnetic reconnection eroded away the two associated MCs. This interplanetary/solar event is an example of the extremely complex magnetic storms which can occur in the post-solar maximum phase.