Tactile Robotic Topographical Mapping Without Force or Contact Sensors

A method of topographical mapping of a local solid surface within the range of motion of a robot arm is based on detection of contact between the surface and the end effector (the fixture or tool at the tip of the robot arm). The method was conceived to enable mapping of local terrain by an exploratory robot on a remote planet, without need to incorporate delicate contact switches, force sensors, a vision system, or other additional, costly hardware. The method could also be used on Earth for determining the size and shape of an unknown surface in the vicinity of a robot, perhaps in an unanticipated situation in which other means of mapping (e.g., stereoscopic imaging or laser scanning with triangulation) are not available. The method uses control software modified to utilize the inherent capability of the robotic control system to measure the joint positions, the rates of change of the joint positions, and the electrical current demanded by the robotic arm joint actuators. The system utilizes these coordinate data and the known robot-arm kinematics to compute the position and velocity of the end effector, move the end effector along a specified trajectory, place the end effector at a specified location, and measure the electrical currents in the joint actuators. Since the joint actuator current is approximately proportional to the actuator forces and torques, a sudden rise in joint current, combined with a slowing of the joint, is a possible indication of actuator stall and surface contact. Hence, even though the robotic arm is not equipped with contact sensors, it is possible to sense contact (albeit with reduced sensitivity) as the end effector becomes stalled against a surface that one seeks to measure

Constraining mass ratio and extinction in the FU Orionis binary system with infrared integral field spectroscopy

We report low resolution near infrared spectroscopic observations of the eruptive star FU Orionis using the Integral Field Spectrograph Project 1640 installed at the Palomar Hale telescope. This work focuses on elucidating the nature of the faint source, located 0.5" south of FU Ori, and identified in 2003 as FU Ori S. We first use our observations in conjunction with published data to demonstrate that the two stars are indeed physically associated and form a true binary pair. We then proceed to extract J and H band spectro-photometry using the damped LOCI algorithm, a reduction method tailored for high contrast science with IFS. This is the first communication reporting the high accuracy of this technique, pioneered by the Project 1640 team, on a faint astronomical source. We use our low resolution near infrared spectrum in conjunction with 10.2 micron interferometric data to constrain the infrared excess of FU Ori S. We then focus on estimating the bulk physical properties of FU Ori S. Our models lead to estimates of an object heavily reddened, A_V =8-12, with an effective temperature of ~ 4000-6500 K . Finally we put these results in the context of the FU Ori N-S system and argue that our analysis provides evidence that FU Ori S might be the more massive component of this binary syste

Mars Science Laboratory Drill

This drill (see Figure 1) is the primary sample acquisition element of the Mars Science Laboratory (MSL) that collects powdered samples from various types of rock (from clays to massive basalts) at depths up to 50 mm below the surface. A rotary-percussive sample acquisition device was developed with an emphasis on toughness and robustness to handle the harsh environment on Mars. It is the first rover-based sample acquisition device to be flight-qualified (see Figure 2). This drill features an autonomous tool change-out on a mobile robot, and novel voice-coil-based percussion. The drill comprises seven subelements. Starting at the end of the drill, there is a bit assembly that cuts the rock and collects the sample. Supporting the bit is a subassembly comprising a chuck mechanism to engage and release the new and worn bits, respectively, and a spindle mechanism to rotate the bit. Just aft of that is a percussion mechanism, which generates hammer blows to break the rock and create the dynamic environment used to flow the powdered sample. These components are mounted to a translation mechanism, which provides linear motion and senses weight-on-bit with a force sensor. There is a passive-contact sensor/stabilizer mechanism that secures the drill fs position on the rock surface, and flex harness management hardware to provide the power and signals to the translating components. The drill housing serves as the primary structure of the turret, to which the additional tools and instruments are attached. The drill bit assembly (DBA) is a passive device that is rotated and hammered in order to cut rock (i.e. science targets) and collect the cuttings (powder) in a sample chamber until ready for transfer to the CHIMRA (Collection and Handling for Interior Martian Rock Analysis). The DBA consists of a 5/8-in. (.1.6- cm) commercial hammer drill bit whose shank has been turned down and machined with deep flutes designed for aggressive cutting removal. Surrounding the shank of the bit is a thick-walled maraging steel collection tube allowing the powdered sample to be augured up the hole into the sample chamber. For robustness, the wall thickness of the DBA was maximized while still ensuring effective sample collection. There are four recesses in the bit tube that are used to retain the fresh bits in their bit box. The rotating bit is supported by a back-to-back duplex bearing pair within a housing that is connected to the outer DBA housing by two titanium diaphragms. The only bearings on the drill in the sample flow are protected by a spring-energized seal, and an integrated shield that diverts the ingested powdered sample from the moving interface. The DBA diaphragms provide radial constraint of the rotating bit and form the sample chambers. Between the diaphragms there is a sample exit tube from which the sample is transferred to the CHIMRA. To ensure that the entire collected sample is retained, no matter the orientation of the drill with respect to gravity during sampling, the pass-through from the forward to the aft chamber resides opposite to the exit tube

Electric Field Conjugation with the Project 1640 coronagraph

The Project 1640 instrument on the 200-inch Hale telescope at Palomar Observatory is a coronagraphic instrument with an integral field spectrograph at the back end, designed to find young, self-luminous planets around nearby stars. To reach the necessary contrast for this, the PALM-3000 adaptive optics system corrects for fast atmospheric speckles, while CAL, a phase-shifting interferometer in a Mach-Zehnder configuration, measures the quasistatic components of the complex electric field in the pupil plane following the coronagraphic stop. Two additional sensors measure and control low-order modes. These field measurements may then be combined with a system model and data taken separately using a white-light source internal to the AO system to correct for both phase and amplitude aberrations. Here, we discuss and demonstrate the procedure to maintain a half-plane dark hole in the image plane while the spectrograph is taking data, including initial on-sky performance.Comment: 9 pages, 7 figures, in Proceedings of SPIE, 8864-19 (2013

Project 1640: the world's first ExAO coronagraphic hyperspectral imager for comparative planetary science

Project 1640, a high-contrast spectral-imaging effort involving a coordinated set of instrumentation and software, built at AMNH, JPL, Cambridge and Caltech, has been commissioned and is fully operational. This novel suite of instrumentation includes a 3388+241-actuator adaptive optics system, an optimized apodized pupil Lyot coronagraph, an integral field spectrograph, and an interferometric calibration wave front sensor. Project 1640 is the first of its kind of instrumentation, designed to image and characterize planetary systems around nearby stars, employing a variety of techniques to break the speckle-noise barrier. It is operational roughly one year before any similar project, with the goal of reaching a contrast of 10^(-7) at 1 arcsecond separation. We describe the instrument, highlight recent results, and document on-sky performance at the start of a 3-year, 99-night survey at the Palomar 5-m Hale telescope

High-resolution Infrared Imaging and Spectroscopy of the Z Canis Majoris System during Quiescence and Outburst

We present adaptive optics photometry and spectra in the JHKL bands along with high spectral resolution K-band spectroscopy for each component of the Z Canis Majoris system. Our high angular resolution photometry of this very young (≾1 Myr) binary, comprised of an FU Ori object and a Herbig Ae/Be star, was gathered shortly after the 2008 outburst while our high-resolution spectroscopy was gathered during a quiescent phase. Our photometry conclusively determines that the outburst was due solely to the embedded Herbig Ae/Be member, supporting results from earlier works, and that the optically visible FU Ori component decreased slightly (~30%) in luminosity during the same period, consistent with previous works on the variability of FU Ori type systems. Further, our high-resolution K-band spectra definitively demonstrate that the 2.294 μm CO absorption feature seen in composite spectra of the system is due solely to the FU Ori component, while a prominent CO emission feature at the same wavelength, long suspected to be associated with the innermost regions of a circumstellar accretion disk, can be assigned to the Herbig Ae/Be member. These findings clarify previous analyses of the origin of the CO emission in this complex system

Project 1640: the world's first ExAO coronagraphic hyperspectral imager for comparative planetary science

Project 1640, a high-contrast spectral-imaging effort involving a coordinated set of instrumentation and software, built at AMNH, JPL, Cambridge and Caltech, has been commissioned and is fully operational. This novel suite of instrumentation includes a 3388+241-actuator adaptive optics system, an optimized apodized pupil Lyot coronagraph, an integral field spectrograph, and an interferometric calibration wave front sensor. Project 1640 is the first of its kind of instrumentation, designed to image and characterize planetary systems around nearby stars, employing a variety of techniques to break the speckle-noise barrier. It is operational roughly one year before any similar project, with the goal of reaching a contrast of 10^(-7) at 1 arcsecond separation. We describe the instrument, highlight recent results, and document on-sky performance at the start of a 3-year, 99-night survey at the Palomar 5-m Hale telescope

The Habitable Exoplanet Observatory (HabEx) Mission Concept Study Final Report

The Habitable Exoplanet Observatory, or HabEx, has been designed to be the Great Observatory of the 2030s. For the first time in human history, technologies have matured sufficiently to enable an affordable space-based telescope mission capable of discovering and characterizing Earthlike planets orbiting nearby bright sunlike stars in order to search for signs of habitability and biosignatures. Such a mission can also be equipped with instrumentation that will enable broad and exciting general astrophysics and planetary science not possible from current or planned facilities. HabEx is a space telescope with unique imaging and multi-object spectroscopic capabilities at wavelengths ranging from ultraviolet (UV) to near-IR. These capabilities allow for a broad suite of compelling science that cuts across the entire NASA astrophysics portfolio. HabEx has three primary science goals: (1) Seek out nearby worlds and explore their habitability; (2) Map out nearby planetary systems and understand the diversity of the worlds they contain; (3) Enable new explorations of astrophysical systems from our own solar system to external galaxies by extending our reach in the UV through near-IR. This Great Observatory science will be selected through a competed GO program, and will account for about 50% of the HabEx primary mission. The preferred HabEx architecture is a 4m, monolithic, off-axis telescope that is diffraction-limited at 0.4 microns and is in an L2 orbit. HabEx employs two starlight suppression systems: a coronagraph and a starshade, each with their own dedicated instrument