Method and apparatus for positioning a robotic end effector

A robotic end effector and operation protocol for a reliable grasp of a target object irrespective of the target's contours is disclosed. A robotic hand includes a plurality of jointed fingers, one of which, like a thumb, is in opposed relation to the other. Each finger is comprised of at least two jointed sections, and provided with reflective proximity sensors, one on the inner surface of each finger section. Each proximity sensor comprises a transmitter of a beam of radiant energy and means for receiving reflections of the transmitted energy when reflected by a target object and for generating electrical signals responsive thereto. On the fingers opposed to the thumb, the proximity sensors on the outermost finger sections are aligned in an outer sensor array and the sensors on the intermediate finger sections and sensors on the innermost finger sections are similarly arranged to form an intermediate sensor array and an inner sensor array, respectively. The invention includes a computer system with software and/or circuitry for a protocol comprising the steps in sequence of: (1) approach axis alignment to maximize the number of outer layer sensors which detect the target; (2) non-contact contour following the target by the robot fingers to minimize target escape potential; and (3) closing to rigidize the target including dynamically re-adjusting the end effector finger alignment to compensate for target motion. A signal conditioning circuit and gain adjustment means are included to maintain the dynamic range of low power reflection signals

Smart hands for the EVA retriever

Dexterous, robotic hands are required for the extravehicular activity retriever (EVAR) system being developed by the NASA Johnson Space Center (JSC). These hands, as part of the EVAR system, must be able to grasp objects autonomously and securely which inadvertently separate from the Space Station. Development of the required hands was initiated in 1987. Outlined here are the hand development activities, including design considerations, progress to date, and future plans. Several types of dexterous hands that were evaluated, along with a proximity-sensing capability that was developed to initiate a reflexive, adaptive grasp, are described. The evaluations resulted in the design and fabrication of a 6-degree-of-freedom (DOF) hand that has two fingers and a thumb arranged in an anthropomorphic configuration. Finger joint force and position sensors are included in the design, as well as infrared proximity sensors which allow initiation of the grasp sequence when an object is detected within the grasp envelope

Graphene Transparent Conductive Electrodes for Next- Generation Microshutter Arrays

Graphene is a single atomic layer of graphite. It is optically transparent and has high electron mobility, and thus has great potential to make transparent conductive electrodes. This invention contributes towards the development of graphene transparent conductive electrodes for next-generation microshutter arrays. The original design for the electrodes of the next generation of microshutters uses indium-tin-oxide (ITO) as the electrode material. ITO is widely used in NASA flight missions. The optical transparency of ITO is limited, and the material is brittle. Also, ITO has been getting more expensive in recent years. The objective of the invention is to develop a graphene transparent conductive electrode that will replace ITO. An exfoliation procedure was developed to make graphene out of graphite crystals. In addition, large areas of single-layer graphene were produced using low-pressure chemical vapor deposition (LPCVD) with high optical transparency. A special graphene transport procedure was developed for transferring graphene from copper substrates to arbitrary substrates. The concept is to grow large-size graphene sheets using the LPCVD system through chemical reaction, transfer the graphene film to a substrate, dope graphene to reduce the sheet resistance, and pattern the film to the dimension of the electrodes in the microshutter array. Graphene transparent conductive electrodes are expected to have a transparency of 97.7%. This covers the electromagnetic spectrum from UV to IR. In comparison, ITO electrodes currently used in microshutter arrays have 85% transparency in mid-IR, and suffer from dramatic transparency drop at a wavelength of near-IR or shorter. Thus, graphene also has potential application as transparent conductive electrodes for Schottky photodiodes in the UV region

High connectivity among brown rockfish (Sebastes auriculatus) populations in Puget Sound: evidence from genetic parental identification, otolith microchemistry and oceanographic models

Empirical data on recruitment and dispersal patterns of marine species can provide a scientific basis for conserving biodiversity and improving fisheries via marine reserves. We examined patterns of larval dispersal in brown rockfish (Sebastes auriculatus) using genetic markers (microsatellites). Tissue samples from 1,837 fish were collected in 2004 to 2009 from 18 sites in the Puget Sound, Washington. Genetic parentage analysis using maximum-likelihood and exclusion approaches identified seven offspring that assigned to a parent, with one offspring assigned to both parents. All offspring recruited and settled at the main study site, Point Heyer; four offspring originated from parents resident at Point Heyer and three from other locations 8 km to 20 km away. Kinship and population genetic structure analyses provided little evidence to reject the null hypothesis of panmixia, suggesting that recruitment to Point Heyer is largely random and that brown rockfish may be highly connected via dispersal in the south Puget Sound. In contrast to previous rockfish studies, there was no evidence for high variance in reproductive success from comparisons of heterozygosity and relatedness among samples of adults and Point Heyer recruits. These results indicate that random recruitment and high levels of gene flow are the predominant processes shaping patterns of brown rockfish larval dispersal in Puget Sound

Effect of sulfate aerosol on tropospheric NOx and ozone budgets: Model simulations and TOPSE evidence

The distributions of NOx and O3 are analyzed during TOPSE (Tropospheric Ozone Production about the Spring Equinox). In this study these data are compared with the calculations of a global chemical/transport model (Model for OZone And Related chemical Tracers (MOZART)). Specifically, the effect that hydrolysis of N2O5 on sulfate aerosols has on tropospheric NOx and O3 budgets is studied. The results show that without this heterogeneous reaction, the model significantly overestimates NOx concentrations at high latitudes of the Northern Hemisphere (NH) in winter and spring in comparison to the observations during TOPSE; with this reaction, modeled NOx concentrations are close to the measured values. This comparison provides evidence that the hydrolysis of N2O5 on sulfate aerosol plays an important role in controlling the tropospheric NOx and O3 budgets. The calculated reduction of NOx attributed to this reaction is 80 to 90% in winter at high latitudes over North America. Because of the reduction of NOx, O3 concentrations are also decreased. The maximum O3reduction occurs in spring although the maximum NOx reduction occurs in winter when photochemical O3 production is relatively low. The uncertainties related to uptake coefficient and aerosol loading in the model is analyzed. The analysis indicates that the changes in NOxdue to these uncertainties are much smaller than the impact of hydrolysis of N2O5 on sulfate aerosol. The effect that hydrolysis of N2O5 on global NOx and O3 budgets are also assessed by the model. The results suggest that in the Northern Hemisphere, the average NOx budget decreases 50% due to this reaction in winter and 5% in summer. The average O3 budget is reduced by 8% in winter and 6% in summer. In the Southern Hemisphere (SH), the sulfate aerosol loading is significantly smaller than in the Northern Hemisphere. As a result, sulfate aerosol has little impact on NOx and O3 budgets of the Southern Hemisphere

Application of dexterous space robotics technology to myoelectric prostheses

Future space missions will require robots equipped with highly dexterous robotic hands to perform a variety of tasks. A major technical challenge in making this possible is an improvement in the way these dexterous robotic hands are remotely controlled or teleoperated. NASA is currently investigating the feasibility of using myoelectric signals to teleoperate a dexterous robotic hand. In theory, myoelectric control of robotic hands will require little or no mechanical parts and will greatly reduce the bulk and weight usually found in dexterous robotic hand control devices. An improvement in myoelectric control of multifinger hands will also benefit prosthetics users. Therefore, as an effort to transfer dexterous space robotics technology to prosthetics applications and to benefit from existing myoelectric technology, NASA is collaborating with the Limbs of Love Foundation, the Institute for Rehabilitation and Research, and Rice University in developing improved myoelectric control multifinger hands and prostheses. In this paper, we will address the objectives and approaches of this collaborative effort and discuss the technical issues associated with myoelectric control of multifinger hands. We will also report our current progress and discuss plans for future work

Quantum-Well Infrared Photodetector (QWIP) Focal Plane Assembly

A paper describes the Thermal Infrared Sensor (TIRS), a QWIP-based instrument intended to supplement the Operational Land Imager (OLI) for the Landsat Data Continuity Mission (LDCM). The TIRS instrument is a far-infrared imager operating in the pushbroom mode with two IR channels: 10.8 and 12 microns. The focal plane will contain three 640x512 QWIP arrays mounted on a silicon substrate. The silicon substrate is a custom-fabricated carrier board with a single layer of aluminum interconnects. The general fabrication process starts with a 4-in. (approx.10-cm) diameter silicon wafer. The wafer is oxidized, a single substrate contact is etched, and aluminum is deposited, patterned, and alloyed. This technology development is aimed at incorporating three large-format infrared detecting arrays based on GaAs QWIP technology onto a common focal plane with precision alignment of all three arrays. This focal plane must survive the rigors of flight qualification and operate at a temperature of 43 K (-230 C) for five years while orbiting the Earth. The challenges presented include ensuring thermal compatibility among all the components, designing and building a compact, somewhat modular system and ensuring alignment to very tight levels. The multi-array focal plane integrated onto a single silicon substrate is a new application of both QWIP array development and silicon wafer scale integration. The Invar-based assembly has been tested to ensure thermal reliability

Characterization of a Carbon Nanotube Field Emission Electron Gun for the VAPoR Miniaturized Pyrolysis-Time-of-Flight Mass Spectrometer

We are developing the VAPoR (Volatile Analysis by Pyrolysis of Regolith) instrument towards studying soil composition, volatiles, and trapped noble gases in the polar regions of the Moon. VAPOR will ingest a soil sample and conduct analysis by pyrolysis and time-of-flight mass spectrometry (ToF-MS). Here, we describe miniaturization efforts within this development, including a carbon nanotube (CNT) field emission electron gun that is under consideration for use as the electron impact ionization source for the ToF-MS

Observational constraints on the chemistry of isoprene nitrates over the eastern United States

The formation of organic nitrates during the oxidation of the biogenic hydrocarbon isoprene can strongly affect boundary layer concentrations of ozone and nitrogen oxides (NOx = NO + NO2). We constrain uncertainties in the chemistry of these isoprene nitrates using chemical transport model simulations in conjunction with observations over the eastern United States from the International Consortium for Atmospheric Research on Transport and Transformation (ICARTT) field campaign during summer 2004. The model best captures the observed boundary layer concentrations of organic nitrates and their correlation with ozone using a 4% yield of isoprene nitrate production from the reaction of isoprene hydroxyperoxy radicals with NO, a recycling of 40% NOx when isoprene nitrates react with OH and ozone, and a fast dry deposition rate of isoprene nitrates. Simulated boundary layer concentrations are only weakly sensitive to the rate of photochemical loss of the isoprene nitrates. An 8% yield of isoprene nitrates degrades agreement with the observations somewhat, but concentrations are still within 50% of observations and thus cannot be ruled out by this study. Our results indicate that complete recycling of NOx from the reactions of isoprene nitrates and slow rates of isoprene nitrate deposition are incompatible with the observations. We find that ∼50% of the isoprene nitrate production in the model occurs via reactions of isoprene (or its oxidation products) with the NO3 radical, but note that the isoprene nitrate yield from this pathway is highly uncertain. Using recent estimates of rapid reaction rates with ozone, 20–24% of isoprene nitrates are lost via this pathway, implying that ozonolysis is an important loss process for isoprene nitrates. Isoprene nitrates are shown to have a major impact on the nitrogen oxide (NOx = NO + NO2) budget in the summertime U.S. continental boundary layer, consuming 15–19% of the emitted NOx, of which 4–6% is recycled back to NOx and the remainder is exported as isoprene nitrates (2–3%) or deposited (8–10%). Our constraints on reaction rates, branching ratios, and deposition rates need to be confirmed through further laboratory and field measurements. The model systematically underestimates free tropospheric concentrations of organic nitrates, indicating a need for future investigation of the processes controlling the observed distribution