Event-driven displays for manipulator control

The problem of constructing event-related information displays from multidimensional data generated by proximity, force-torque and tactile sensors integrated with the terminal device of a remotely controlled manipulator is considered. Event-driven displays are constructed by using appropriate algorithms acting on sensory data in real time. Event-driven information displays lessen the operator's workload and improve control performance. The paper describes and discusses several event-driven display examples that were implemented in the JPL teleoperator project, including a brief outline of the data handling system which drives the graphics display in real time. The paper concludes with a discussion of future plans to integrate event-driven displays with visual (TV) information

Displays for supervisory control of manipulators

The problem of displaying information generated by sensors attached to the terminal device of a remotely controlled manipulator is considered. The sensors under consideration are proximity, force-torque, tactile and slip-page sensors. The paper describes and evaluates several examples that have been implemented in the JPL teleoperator project using audio and graphic displays of information generated by four proximity sensors attached to a manipulator end effector. Design schemes are also discussed related to the display of information generated by a six-dimensional force-torque sensor, a multipoint proportional tactile sensor, and a directional slippage sensor. The paper concludes with a discussion of future integrated displays of visual (TV) and handbased sensor information

Ion implantation and low-temperature epitaxial regrowth of GaAs

Channeling and transmission electron microscopy have been used to investigate the parameters that govern the extent of damage in ion‐implanted GaAs and the crystal quality following capless furnace annealing at low temperature (∼400 °C). The implantation‐induced disorder showed a strong dependence on the implanted ion mass and on the substrate temperature during implantation. When the implantation produced a fully amorphous surface layer the main parameter governing the regrowth was the amorphous thickness. Formation of microtwins after annealing was observed when the initial amorphous layer was thicker than 400 Å. Also, the number of extended residual defects after annealing increased linearly with the initial amorphous thickness and extrapolation of that curve predicts good regrowth of very thin (<400 Å) GaAs amorphous layers produced by ion implantation. A model is presented to explain the observed features of the low‐temperature annealing of GaAs

A low noise, high thermal stability, 0.1 K test facility for the Planck HFI bolometers

We are developing a facility which will be used to characterize the bolometric detectors for Planck, an ESA mission to investigate the Cosmic Microwave Background. The bolometers operate at 0.1 K, employing neutron-transmutation doped (NTD) Ge thermistors with resistances of several megohms to achieve NEPs~1×10^(–17) W Hz^(–1/2). Characterization of the intrinsic noise of the bolometers at frequencies as low as 0.010 Hz dictates a test apparatus thermal stability of 40 nK Hz^(–1/2) to that frequency. This temperature stability is achieved via a multi-stage isolation and control geometry with high resolution thermometry implemented with NTD Ge thermistors, JFET source followers, and dedicated lock-in amplifiers. The test facility accommodates 24 channels of differential signal readout, for measurement of bolometer V(I) characteristics and intrinsic noise. The test facility also provides for modulated radiation in the submillimeter band incident on the bolometers, for measurement of the optical speed-of-response; this illumination can be reduced below detectable limits without interrupting cryogenic operation. A commercial Oxford Instruments dilution refrigerator provides the cryogenic environment for the test facility

Some recent results in aerospace vehicle trajectory optimization techniques

Algorithms and computation techniques for solving trajectory optimization problem

Epitaxial regrowth of thin amorphous GaAs layers

Channeling and transmission electron microscopy have been used to investigate the parameters that govern the crystal quality following capless funace annealing at low temperature (~ 400 °C) in ion-implanted GaAs. From the results obtained, we concluded that the crystal quality after annealing depends strongly on the thickness of the amorphous layer generated by ion implantation and the number of residual defects increases linearly with the thickness of the implanted layer. Single-crystal regrowth free of defects detectable by megaelectron volt He + channeling was achieved for a very thin amorphous layer (<~ 400 Å)

Potential Sinks for Geologic Storage of CO2 Generated in the Carolinas

This document summarizes a scoping study of the current state of knowledge of carbon storage options for our geographic area. The focus is on one aspect of carbon capture and storage—identification of deep saline aquifers in which carbon dioxide (CO2 ) generated in the Carolinas might be stored. The study does not address other aspects of CO2 storage projects, such as capture and compression of the gas, well construction and development, or injection. Transport of CO2 is touched upon in this study but has not been fully addressed. The information contained in this document is primarily from review of published geologic literature and unpublished data. No field data collection has been completed as part of this study. Further work will be necessary to increase confidence in the suitability of the potential CO2 storage sites identified in this report. This study does not address the regulatory, environmental, or public policy issues associated with carbon storage, which are under development at this time.Duke Energy, Progress Energy, Santee Cooper Power, South Carolina Electric and Gas, Electric Power Research Institute (EPRI), Southern States Energy Board (SSEB)Bureau of Economic Geolog

Potential sinks for geologic storage of carbon dioxide generated by power plants in North and South Carolina

Duke Energy Progress Energy Santee Cooper Power SCANA CorporationBureau of Economic Geolog