Orbiting Rainbows: Optical Manipulation of Aerosols and the Beginnings of Future Space Construction

Our objective is to investigate the conditions to manipulate and maintain the shape of an orbiting cloud of dust-like matter so that it can function as an ultra-lightweight surface with useful and adaptable electromagnetic characteristics, for instance, in the optical, RF, or microwave bands. Inspired by the light scattering and focusing properties of distributed optical assemblies in Nature, such as rainbows and aerosols, and by recent laboratory successes in optical trapping and manipulation, we propose a unique combination of space optics and autonomous robotic system technology, to enable a new vision of space system architecture with applications to ultra-lightweight space optics and, ultimately, in-situ space system fabrication. Typically, the cost of an optical system is driven by the size and mass of the primary aperture. The ideal system is a cloud of spatially disordered dust-like objects that can be optically manipulated: it is highly reconfigurable, fault-tolerant, and allows very large aperture sizes at low cost. See Figure 1 for a scenario of application of this concept. The solution that we propose is to construct an optical system in space in which the nonlinear optical properties of a cloud of micron-sized particles are shaped into a specific surface by light pressure, allowing it to form a very large and lightweight aperture of an optical system, hence reducing overall mass and cost. Other potential advantages offered by the cloud properties as optical system involve possible combination of properties (combined transmit/receive), variable focal length, combined refractive and reflective lens designs, and hyper-spectral imaging. A cloud of highly reflective particles of micron-size acting coherently in a specific electromagnetic band, just like an aerosol in suspension in the atmosphere, would reflect the Sun's light much like a rainbow. The only difference with an atmospheric or industrial aerosol is the absence of the supporting fluid medium. This new concept is based on recent understandings in the physics of optical manipulation of small particles in the laboratory and the engineering of distributed ensembles of spacecraft clouds to shape an orbiting cloud of micron-sized objects. In the same way that optical tweezers have revolutionized micro- and nano-manipulation of objects, our breakthrough concept will enable new large scale NASA mission applications and develop new technology in the areas of Astrophysical Imaging Systems and Remote Sensing because the cloud can operate as an adaptive optical imaging sensor. While achieving the feasibility of constructing one single aperture out of the cloud is the main topic of this work, it is clear that multiple orbiting aerosol lenses could also combine their power to synthesize a much larger aperture in space to enable challenging goals such as exoplanet detection. Furthermore, this effort could establish feasibility of key issues related to material properties, remote manipulation, and autonomy characteristics of cloud in orbit. There are several types of endeavors (science missions) that could be enabled by this type of approach, i.e. it can enable new astrophysical imaging systems, exoplanet search, large apertures allow for unprecedented high resolution to discern continents and important features of other planets, hyperspectral imaging, adaptive systems, spectroscopy imaging through limb, and stable optical systems from Lagrange-points. Future micro-miniaturization might hold promise of a further extension of our dust aperture concept to other more exciting smart dust concepts with other associated capabilities

NIAC Phase II Orbiting Rainbows: Future Space Imaging with Granular Systems

Inspired by the light scattering and focusing properties of distributed optical assemblies in Nature, such as rainbows and aerosols, and by recent laboratory successes in optical trapping and manipulation, we propose a unique combination of space optics and autonomous robotic system technology, to enable a new vision of space system architecture with applications to ultra-lightweight space optics and, ultimately, in-situ space system fabrication. Typically, the cost of an optical system is driven by the size and mass of the primary aperture. The ideal system is a cloud of spatially disordered dust-like objects that can be optically manipulated: it is highly reconfigurable, fault-tolerant, and allows very large aperture sizes at low cost. This new concept is based on recent understandings in the physics of optical manipulation of small particles in the laboratory and the engineering of distributed ensembles of spacecraft swarms to shape an orbiting cloud of micron-sized objects. In the same way that optical tweezers have revolutionized micro- and nano-manipulation of objects, our breakthrough concept will enable new large scale NASA mission applications and develop new technology in the areas of Astrophysical Imaging Systems and Remote Sensing because the cloud can operate as an adaptive optical imaging sensor. While achieving the feasibility of constructing one single aperture out of the cloud is the main topic of this work, it is clear that multiple orbiting aerosol lenses could also combine their power to synthesize a much larger aperture in space to enable challenging goals such as exo-planet detection. Furthermore, this effort could establish feasibility of key issues related to material properties, remote manipulation, and autonomy characteristics of cloud in orbit. There are several types of endeavors (science missions) that could be enabled by this type of approach, i.e. it can enable new astrophysical imaging systems, exo-planet search, large apertures allow for unprecedented high resolution to discern continents and important features of other planets, hyperspectral imaging, adaptive systems, spectroscopy imaging through limb, and stable optical systems from Lagrange-points. Furthermore, future micro-miniaturization might hold promise of a further extension of our dust aperture concept to other more exciting smart dust concepts with other associated capabilities. Our objective in Phase II was to experimentally and numerically investigate how to optically manipulate and maintain the shape of an orbiting cloud of dust-like matter so that it can function as an adaptable ultra-lightweight surface. Our solution is based on the aperture being an engineered granular medium, instead of a conventional monolithic aperture. This allows building of apertures at a reduced cost, enables extremely fault-tolerant apertures that cannot otherwise be made, and directly enables classes of missions for exoplanet detection based on Fourier spectroscopy with tight angular resolution and innovative radar systems for remote sensing. In this task, we have examined the advanced feasibility of a crosscutting concept that contributes new technological approaches for space imaging systems, autonomous systems, and space applications of optical manipulation. The proposed investigation has matured the concept that we started in Phase I to TRL 3, identifying technology gaps and candidate system architectures for the space-borne cloud as an aperture

Optical Force/Tactile Sensors for Robotic Applications

Nowadays, robotic systems use tactile sensing as a key enabling technology to implement complex tasks. For example, manipulation and grasping problems strongly depend on the physical and geometrical characteristics of the objects; in fact, objects may be deformable or change their shape when in contact with the robot or the environment. For this reason, often, robots end effectors are equipped with sensorized fingers which can estimate the objects' features, forces, and contact locations. This is useful in a safe and efficient physical Human-Robot Interaction (pHRI) to perform cooperation and co-manipulation tasks while limiting damage from accidental impacts

Haptics Rendering and Applications

There has been significant progress in haptic technologies but the incorporation of haptics into virtual environments is still in its infancy. A wide range of the new society's human activities including communication, education, art, entertainment, commerce and science would forever change if we learned how to capture, manipulate and reproduce haptic sensory stimuli that are nearly indistinguishable from reality. For the field to move forward, many commercial and technological barriers need to be overcome. By rendering how objects feel through haptic technology, we communicate information that might reflect a desire to speak a physically- based language that has never been explored before. Due to constant improvement in haptics technology and increasing levels of research into and development of haptics-related algorithms, protocols and devices, there is a belief that haptics technology has a promising future

Sensory Communication

Contains table of contents for Section 2, an introduction and reports on twelve research projects.National Institutes of Health Grant 5 R01 DC00117National Institutes of Health Contract 2 P01 DC00361National Institutes of Health Grant 5 R01 DC00126National Institutes of Health Grant R01-DC00270U.S. Air Force - Office of Scientific Research Contract AFOSR-90-0200National Institutes of Health Grant R29-DC00625U.S. Navy - Office of Naval Research Grant N00014-88-K-0604U.S. Navy - Office of Naval Research Grant N00014-91-J-1454U.S. Navy - Office of Naval Research Grant N00014-92-J-1814U.S. Navy - Naval Training Systems Center Contract N61339-93-M-1213U.S. Navy - Naval Training Systems Center Contract N61339-93-C-0055U.S. Navy - Naval Training Systems Center Contract N61339-93-C-0083U.S. Navy - Office of Naval Research Grant N00014-92-J-4005U.S. Navy - Office of Naval Research Grant N00014-93-1-119

Sensory Communication

Contains table of contents for Section 2, an introduction, reports on ten research projects and a list of publications.National Institutes of Health Grant 5 R01 DC00117National Institutes of Health Grant 5 R01 DC00270National Institutes of Health Grant 5 P01 DC00361National Institutes of Health Grant 2 R01 DC00100National Institutes of Health Grant 7 R29 DC00428National Institutes of Health Grant 2 R01 DC00126U.S. Air Force - Office of Scientific Research Grant AFOSR 90-0200U.S. Navy - Office of Naval Research Grant N00014-90-J-1935National Institutes of Health Grant 5 R29 DC00625U.S. Navy - Office of Naval Research Grant N00014-91-J-145

A survey of haptics in serious gaming

Serious gaming often requires high level of realism for training and learning purposes. Haptic technology has been proved to be useful in many applications with an additional perception modality complementary to the audio and the vision. It provides novel user experience to enhance the immersion of virtual reality with a physical control-layer. This survey focuses on the haptic technology and its applications in serious gaming. Several categories of related applications are listed and discussed in details, primarily on haptics acts as cognitive aux and main component in serious games design. We categorize haptic devices into tactile, force feedback and hybrid ones to suit different haptic interfaces, followed by description of common haptic gadgets in gaming. Haptic modeling methods, in particular, available SDKs or libraries either for commercial or academic usage, are summarized. We also analyze the existing research difficulties and technology bottleneck with haptics and foresee the future research directions

Sensory Communication

Contains table of contents for Section 2 and reports on five research projects.National Institutes of Health Contract 2 R01 DC00117National Institutes of Health Contract 1 R01 DC02032National Institutes of Health Contract 2 P01 DC00361National Institutes of Health Contract N01 DC22402National Institutes of Health Grant R01-DC001001National Institutes of Health Grant R01-DC00270National Institutes of Health Grant 5 R01 DC00126National Institutes of Health Grant R29-DC00625U.S. Navy - Office of Naval Research Grant N00014-88-K-0604U.S. Navy - Office of Naval Research Grant N00014-91-J-1454U.S. Navy - Office of Naval Research Grant N00014-92-J-1814U.S. Navy - Naval Air Warfare Center Training Systems Division Contract N61339-94-C-0087U.S. Navy - Naval Air Warfare Center Training System Division Contract N61339-93-C-0055U.S. Navy - Office of Naval Research Grant N00014-93-1-1198National Aeronautics and Space Administration/Ames Research Center Grant NCC 2-77

Sensory Communication

Contains table of contents on Section 2, an introduction, reports on eleven research projects and a list of publications.National Institutes of Health Grant 5 R01 DC00117National Institutes of Health Grant 5 R01 DC00270National Institutes of Health Contract 2 P01 DC00361National Institutes of Health Grant 5 R01 DC00100National Institutes of Health Contract 7 R29 DC00428National Institutes of Health Grant 2 R01 DC00126U.S. Air Force - Office of Scientific Research Grant AFOSR 90-0200U.S. Navy - Office of Naval Research Grant N00014-90-J-1935National Institutes of Health Grant 5 R29 DC00625U.S. Navy - Office of Naval Research Grant N00014-91-J-1454U.S. Navy - Office of Naval Research Grant N00014-92-J-181