Technology for robotic surface inspection in space

This paper presents on-going research in robotic inspection of space platforms. Three main areas of investigation are discussed: machine vision inspection techniques, an integrated sensor end-effector, and an orbital environment laboratory simulation. Machine vision inspection utilizes automatic comparison of new and reference images to detect on-orbit induced damage such as micrometeorite impacts. The cameras and lighting used for this inspection are housed in a multisensor end-effector, which also contains a suite of sensors for detection of temperature, gas leaks, proximity, and forces. To fully test all of these sensors, a realistic space platform mock-up has been created, complete with visual, temperature, and gas anomalies. Further, changing orbital lighting conditions are effectively mimicked by a robotic solar simulator. In the paper, each of these technology components will be discussed, and experimental results are provided

Remote surface inspection system

This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom (SSF). It describes the space environment and identifies the types of damage for which to search. This paper provides an overview of the Remote Surface Inspection System that was developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Specifically, the paper describes three technology areas: (1) manipulator control for sensor placement; (2) automated non-contact inspection to detect and classify flaws; and (3) an operator interface to command the system interactively and receive raw or processed sensor data. Initial findings for the automated and human visual inspection tests are reported

Solvated helical backbones: X-ray diffraction study of Boc-Ala-Leu-Aib-Ala-Leu-Aib-OMe &#183; H<SUB>2</SUB>O

A second example of insertion of a water molecule into the helical backbone of an apolar peptide is presented here and compared to a similar occurrence in a longer peptide with the same type of sequence of residues, i.e., Boc-Aib-(Ala-Leu-Aib)3-OMe. The backbone of the title compound assumes an approximate 310-helical form with three 4 &#8594; 1 hydrogen bonds. In the place of a fourth 4 &#8594;1 hydrogen bond, a water molecule is inserted between O(1) and N(4), and acts as a bridge by forming hydrogen bonds N(4) W(1) (2.95 &#197;) and W(1) O(1) (2.81&#197;). The water molecule participates in a third hydrogen bond with a neighboring peptide molecule, W(1) O(4) (2.91 &#197;). The insertion of the water molecule causes the apolar peptide to mimic an amphiphilic helix. Crystals grown from ethyl acetate/petroleum ether (reported here) or from methanol/water solution are in space group P212121 with a = 12.024(4) &#197;, b = 15.714(6) &#197;, c = 21.411(7) &#197;, Z = 4 and dcalc = 1.124 g/cm3 for C32H58N6O9 &#183; H2O. The overall agreement factor R is 6.3% for 2707 reflections observed with intensities &gt; 3&#963;(F) and the resolution is 0.90 &#197;

Simulating Operation of a Planetary Rover

Simulating Operation of a Planetary Rover Rover Analysis, Modeling, and Simulations (ROAMS) is a computer program that simulates the operation of a robotic vehicle (rover) engaged in exploration of a remote planet. ROAMS is a roverspecific extension of the DARTS and Dshell programs, described in prior NASA Tech Briefs articles, which afford capabilities for mathematical modeling of the dynamics of a spacecraft as a whole and of its instruments, actuators, and other subsystems. ROAMS incorporates mathematical models of kinematics and dynamics of rover mechanical subsystems, sensors, interactions with terrain, solar panels and batteries, and onboard navigation and locomotion-control software. ROAMS provides a modular simulation framework that can be used for analysis, design, development, testing, and operation of rovers. ROAMS can be used alone for system performance and trade studies. Alternatively, ROAMS can be used in an operator-in-the-loop or flight-software closed-loop environment. ROAMS can also be embedded within other software for use in analysis and development of algorithms, or for Monte Carlo studies, using a variety of terrain models, to generate performance statistics. Moreover, taking advantage of realtime features of the underlying DARTS/Dshell simulation software, ROAMS can also be used for real-time simulations

ANALYSIS OF FATTY ACIDS FROM OIL OF GREEN TEA (CAMELLIA SINENSIS L) BY GAS CHROMATOGRAPHY COUPLED WITH FLAME IONIZATION DETECTOR AND ITS ANTICANCER AND ANTIBACTERIAL ACTIVITY IN VITRO

Objective: Tea is a widely consumed beverage worldwide. The effect of green tea is mainly due to its high polyphenols-(-) epigallocatechin-3-gallate (EGCG) content in the culture of cancer cell and bacterial cells. The present work was carried out to investigate the efficacy of green tea oil (GTO) against cancer cells and bacterial cells. Methods: In this study green tea oil was prepared from green tea for different experiment and determination of fatty acids profile from green tea oil. In the present study, peripheral blood lymphocyte (PBL) was chosen as human peripheral blood lymphocytes and blood cancer MCF-7 cells were chosen as human cancer cells. To fulfill our aims and also to evaluate the activity of this phytomedicine against normal lymphocytes and cancer cells the cell samples were divided into 26 experimental groups in the following ways. Each Petri dish contains 2 X 105 cells. Results: GTO shows a potent anticancer agent but nontoxic to normal cells. The GTO decreases the reduced glutathione (GSH) level and increase the oxidized glutathione (GSSG) level significantly (P&lt;0.05) in MCF-7 cells. But in lymphocytes the GSH level and GSSG level were almost the same with the control group but doxorubicin (DOX) significantly decreased the GSH and increase the GSSG level. Green tea oil treatment causes generation of reactive oxygen species (ROS) in MCF-7 cells revealed by DCFH2DA staining. Agar diffusion test shows the GTO is effective against multi-drug resistant bacteria. Conclusion: This phytomedicine has a potent anticancer activity without damaging the normal lymphocytes. So, this drug can be used for further treatment of anticancer and antibacterial

AutoGNC Testbed

A simulation testbed architecture was developed and implemented for the integration, test, and development of a TRL-6 flight software set called Auto- GNC. The AutoGNC software will combine the TRL-9 Deep Impact AutoNAV flight software suite, the TRL-9 Virtual Machine Language (VML) executive, and the TRL-3 G-REX guidance, estimation, and control algorithms. The Auto- GNC testbed was architected to provide software interface connections among the AutoNAV and VML flight code written in C, the G-REX algorithms in MATLAB and C, stand-alone image rendering algorithms in C, and other Fortran algorithms, such as the OBIRON landmark tracking suite. The testbed architecture incorporates software components for propagating a high-fidelity truth model of the environment and the spacecraft dynamics, along with the flight software components for onboard guidance, navigation, and control (GN&C). The interface allows for the rapid integration and testing of new algorithms prior to development of the C code for implementation in flight software. This testbed is designed to test autonomous spacecraft proximity operations around small celestial bodies, moons, or other spacecraft. The software is baselined for upcoming comet and asteroid sample return missions. This architecture and testbed will provide a direct improvement upon the onboard flight software utilized for missions such as Deep Impact, Stardust, and Deep Space 1

Optically active gossypol as a circular dichroism probe of interactions with serum albumins

The (+)-enantiomer of the polyphenolic binaphthyl gossypol, has been shown to be a useful CD probe of interactions with human and bovine serum albumin. (+)-Gossypol binds to albumin with same affinity as recemic (±)-gossypol, as shown by fluorescence quenching, and also displaces bilirubin from its albumin binding site. The CD characteristics of bound gossypol are different in the case of the two proteins

Mars Science Helicopter Conceptual Design

Robotic planetary aerial vehicles increase the range of terrain that can be examined, compared to traditional landers and rovers, and have more near-surface capability than orbiters. Aerial mobility is a promising possibility for planetary exploration as it reduces the challenges that difficult obstacles pose to ground vehicles. The first use of a rotorcraft for a planetary mission will be in 2021, when the Mars Helicopter technology demonstrator will be deployed from the Mars 2020 rover. The Jet Propulsion Laboratory and NASA Ames Research Center are exploring possibilities for a Mars Science Helicopter, a second-generation Mars rotorcraft with the capability of conducting science investigations independently of a lander or rover (although this type of vehicle could also be used assist rovers or landers in future missions). This report describes the conceptual design of Mars Science Helicopters. The design process began with coaxial-helicopter and hexacopter configurations, with a payload in the range of two to three kilograms and an overall vehicle mass of approximately twenty kilograms. Initial estimates of weight and performance were based on the capabilities of the Mars Helicopter. Rotorcraft designs for Mars are constrained by the dimensions of the aeroshell for the trip to the planet, requiring attention to the aircraft packaging in order to maximize the rotor dimensions and hence overall performance potential. Aerodynamic performance optimization was conducted, particularly through airfoils designed specifically for the low Reynolds number and high Mach number inherent in operation on Mars. The final designs show a substantial capability for science operations on Mars: a 31 kg hexacopter that fits within a 2.5 m diameter aeroshell could carry a 5 kg payload for 10 min of hover time or over a range of 5 km