MODELING CHAIN PACKING IN COMPLEX PHASES OF SELF-ASSEMBLED BLOCK COPOLYMERS

Block copolymer (BCP) melts undergo microphase seperation and form ordered soft matter crystals with varying domain shapes and symmetries. We study the con- nection between diblock copolymer molecular designs and thermodynamic selection of ordered crystals by modeling features of variable sub-domain geometry filled with individual blocks within non-canonical sphere-like and network phases that together with layered, cylindrical and canonical spherical phases forms “natural forms” of self- assembled amphiphilic soft matter at large. First, we present a model to revise our understanding of optimal Frank-Kasper sphere-like morphologies by advancing the- ory to account for varying domain volumes. We then develop generic approaches to quantify local changes to domain thickness or packing frustration using medial sets and show its application to morphologies with arbitrary domain topologies and sym- metries in both theoretical models and experimental data. We further use medial sets as a proxy for terminal boundaries of blocks within different domains and revise thermodynamic models of BCP assembly in the strong segregation limit. Finally, we use this revised model to study effect of elastic stiffness asymmetry on relaxing packing frustration experienced by BCPs in tubular and matrix domains leading to equilibrium double gyroid network morphology in diblock copolymers

Vision technology/algorithms for space robotics applications

The thrust of automation and robotics for space applications has been proposed for increased productivity, improved reliability, increased flexibility, higher safety, and for the performance of automating time-consuming tasks, increasing productivity/performance of crew-accomplished tasks, and performing tasks beyond the capability of the crew. This paper provides a review of efforts currently in progress in the area of robotic vision. Both systems and algorithms are discussed. The evolution of future vision/sensing is projected to include the fusion of multisensors ranging from microwave to optical with multimode capability to include position, attitude, recognition, and motion parameters. The key feature of the overall system design will be small size and weight, fast signal processing, robust algorithms, and accurate parameter determination. These aspects of vision/sensing are also discussed