1,422 research outputs found
Low energy ion scattering
Low energy ion scattering (LEIS) is the study of the composition and structure of a surface by the detection of low energy ions with energies ranging from 100 eV to 10 keV elastically scattered off the surface. The extreme sensitivity to the outermost atomic layer makes it as a unique tool for surface analysis. In this paper, concepts of shadowing, blocking, and also polar and azimuthal scans have been described. Surface order and surface atom spacings are revealed by using these concepts and measuring the intensity of backscattered projectiles as a function of the incident and azimuthal angles
Robotic-Movement Payload Lifter and Manipulator
A payload lifter/manipulator module includes a rotatable joint supporting spreader arms angularly spaced with respect to one another. A rigid arm is fixedly coupled to the joint and extends out therefrom to a tip. A tension arm has a first end and a second end with the first end being fixedly coupled to the tip of the rigid arm. The tension arm incorporates pivots along the length thereof. Each pivot can be engaged by or disengaged from the outboard end of a spreader arm based on a position of the spreader arm. A hoist, positioned remotely with respect to the module and coupled to the second end of the tension arm, controls the position of the spreader arms to thereby control the position of the rigid arm's tip. Payload lifter/manipulator assemblies can be constructed with one or more of the modules
Application of a Novel Long-Reach Manipulator Concept to Asteroid Redirect Missions
A high priority mission currently being formulated by NASA is to capture all or part of an asteroid and return it to cis-lunar space for examination by an astronaut crew. Two major mission architectures are currently being considered: in the first (Mission Concept A), a spacecraft would rendezvous and capture an entire free flying asteroid (up to 14 meters in diameter), and in the second (Mission Concept B), a spacecraft would rendezvous with a large asteroid (which could include one of the Martian moons) and retrieve a boulder (up to 4 meters in diameter). A critical element of the mission is the system that will capture the asteroid or boulder material, enclose it and secure it for the return flight. This paper describes the design concepts, concept of operations, structural sizing and masses of capture systems that are based on a new and novel Tendon- Actuated Lightweight In-Space MANipulator (TALISMAN) general-purpose robotic system. Features of the TALISMAN system are described and the status of its technology development is summarized. TALISMAN-based asteroid material retrieval system concepts and concepts-of-operations are defined for each asteroid mission architecture. The TALISMAN-based capture systems are shown to dramatically increase operational versatility while reducing mission risk. Total masses of TALISMAN-based systems are presented, reinforcing the mission viability of using a manipulator-based approach for the asteroid redirect mission
Design and Field Test of a Mass Efficient Crane for Lunar Payload Handling and Inspection: The Lunar Surface Manipulation System
Devices for lifting, translating and precisely placing payloads are critical for efficient Earthbased construction operations. Both recent and past studies have demonstrated that devices with similar functionality will be needed to support lunar outpost operations. Lunar payloads include: a) prepackaged hardware and supplies which must be unloaded from landers and then accurately located at their operational site, b) sensor packages used for periodic inspection of landers, habitat surfaces, etc., and c) local materials such as regolith which require grading, excavation and placement. Although several designs have been developed for Earth based applications, these devices lack unique design characteristics necessary for transport to and use on the harsh lunar surface. These design characteristics include: a) composite components, b) compact packaging for launch, c) simple in-field reconfiguration and repair, and d) support for tele-operated or automated operations. Also, in contrast to Earth-based construction, where special purpose devices dominate a construction site, a lunar outpost will require versatile devices which provide operational benefit from initial construction through sustained operations. This paper will detail the design of a unique, high performance, versatile lifting device designed for operations on the lunar surface. The device is called the Lunar Surface Manipulation System to highlight the versatile nature of the device which supports conventional cable suspended crane operations as well as operations usually associated with a manipulator such as precise positioning where the payload is rigidly grappled by a tool attached to the tip of the device. A first generation test-bed to verify design methods and operational procedures is under development at the NASA Langley Research Center and recently completed field tests at Moses Lake Washington. The design relied on non-linear finite element analysis which is shown to correlate favorably with laboratory experiments. A key design objective, reviewed in this paper, is the device s simplicity, resulting from a focus on the minimum set of functions necessary to perform payload offload. Further development of the device has the potential for significant mass savings, with a high performance device incorporating composite elements estimated to have a mass less than 3% of the mass of the maximum lunar payload lifted at the tip. The paper will conclude with future plans for expanding the operational versatility of the device
A Modular, Reusable Latch and Decking System for Securing Payloads During Launch and Planetary Surface Transport
Efficient handling of payloads destined for a planetary surface, such as the moon or Mars, requires robust systems to secure the payloads during transport on the ground, in-space and on the planetary surface. In addition, mechanisms to release the payloads need to be reliable to ensure successful transfer from one vehicle to another. An efficient payload handling strategy must also consider the devices available to support payload handling. Cranes used for overhead lifting are common to all phases of payload handling on Earth. Similarly, both recent and past studies have demonstrated that devices with comparable functionality will be needed to support lunar outpost operations. A first generation test-bed of a new high performance device that provides the capabilities of both a crane and a robotic manipulator, the Lunar Surface Manipulation System (LSMS), has been designed, built and field tested and is available for use in evaluating a system to secure payloads to transportation vehicles. National Institute of Aerospace, Hampton Va 23662 A payload handling approach must address all phases of payload management including: ground transportation, launch, planetary transfer and installation in the final system. In addition, storage may be required during any phase of operations. Each of these phases requires the payload to be lifted and secured to a vehicle, transported, released and lifted in preparation for the next transportation or storage phase. A critical component of a successful payload handling approach is a latch and associated carrier system. The latch and carrier system should minimize requirements on the: payload, carrier support structure and payload handling devices as well as be able to accommodate a wide range of payload sizes. In addition, the latch should; be small and lightweight, support a method to apply preload, be reusable, integrate into a minimal set of hard-points and have manual interfaces to actuate the latch should a problem occur. A latching system which meets these requirements has been designed and fabricated and will be described in detail. This latching system works in conjunction with a payload handling device such as the LSMS, and the LSMS has been used to test first generation latch and carrier hardware. All tests have been successful during the first phase of operational evaluations. Plans for future tests of first generation latch and carrier hardware with the LSMS are also described
Aspects of a new class of braid matrices: roots of unity and hyperelliptic for triangularity, L-algebra,link-invariants, noncommutative spaces
Various properties of a class of braid matrices, presented before, are
studied considering vector representations for two
subclasses. For the matrices are nontrivial. Triangularity corresponds to polynomial equations for , the solutions ranging from
roots of unity to hyperelliptic functions. The algebras of operators are
studied. As a crucial feature one obtains central, group-like, homogenous
quadratic functions of constrained to equality among themselves by the
equations. They are studied in detail for and are proportional to
for the fundamental representation and hence for all iterated
coproducts. The implications are analysed through a detailed study of the
representation for N=3. The Turaev construction for link invariants
is adapted to our class. A skein relation is obtained. Noncommutative spaces
associated to our class of are constructed. The transfer matrix map is
implemented, with the N=3 case as example, for an iterated construction of
noncommutative coordinates starting from an dimensional commutative
base space. Further possibilities, such as multistate statistical models, are
indicated.Comment: 34 pages, pape
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Surfactant modulated interactions of hydrophobically modified ethoxylated urethane (HEUR) polymers with penetrable surfaces
Hypothesis
Adsorption of hydrophobically modified ethoxylated urethane polymers (HEURs) at the soft colloid interfaces of emulsion droplets will stabilise oil-in-water emulsions (a) via steric stabilisation induced by adsorption of the polymer at the droplet surfaces through the hydrophobic groups, and (b) via continuous phase viscosity enhancement through polymer self-association. Both of these mechanisms will be modulated by the presence of the surfactant, sodium dodecylsulfate (SDS).
Experiments
Dodecane-in-water emulsions stabilised by three HEUR polymers with different structural composition were examined in the absence and presence of SDS by NMR spectroscopy and small-angle neutron scattering (SANS). The effect of adsorption of the polymer to the dodecane droplet surfaces, and the conformation of the self-associating polymer in the aqueous solution were quantified.
Findings
All emulsions were stable for days-weeks. Diffusion data showed the formation of oil droplets of hundreds of nm in size in the presence of all three HEURs, here denoted C6-L-(EO100-L)9-C6, C10-L-(EO200-L)4-C10, and C18-L-(EO200-L)7-C18, where EOx represents a block of ethylene oxide of x monomers, L denotes the linker group, and Cn the length of the hydrophobic end-group. No significant changes in droplet size across this series of polymers was observed. Collectively, the results point to adsorption of the polymer to the droplet surfaces, which results in a small decrease in the effective polymer solution concentration, thereby driving to significant changes in the structure and dynamics of the system. Evident in the SANS data in particular, is a subtle balance between the characteristic features reflecting polymer self-association, and those associated with polymer structures commensurate with a larger length-scale, dependent on the system composition. Surprisingly, the polymer and polymer/SDS complex in the presence of oil show slightly greater diffusive rates relative to the analogous systems in the absence of the oil. Finally, the partitioning of the three polymers in phase-separated samples was studied by 1H NMR, and it was shown that the C18-L-(EO200-L)7-C18 exhibited a greater partitioning in the oil phase compared with C6-L-(EO100-L)9-C6 and C10-L-(EO200-L)4-C10, an observation that may be understood in terms of the structural composition of the HEURs. The SDS showed a positive correlation between its partitioning in the two layers with the polymer partitioning, evidence of a strong interaction between the surfactant and the polymer, consistent with the behaviour observed in the oil-free system
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