ALBERT

Description: The objectives of this program are as follows: modelling of guided waves in fiber-reinforced plates in terms of different modes; and analysis of scattering by transverse cracks using modal representation. A hybrid numerical method combining the finite element representation of a region around the crack with the modal representation in the exterior region will be used in this program. Modes will be obtained using the through-the-thickness discretization of the displacement field.

Description: Microgravity offers a unique environment for studying polymer diffusion and polymer polymerization reactions. The absence of convection currents, which are the major mode of mixing at the molecular level on Earth, are eliminated or reduced in the microgravity environment. More importantly, the prediction of unique copolymer composition development in microgravity allows controlled formation of new compositions of matter. The absence of mixing at the molecular level should produce unique short block copolymers available for the first time for comonomer compositions which normally lead to random or long block copolymer under good mixing. The investigation of fundamental polymer diffusion and polymer polymerization processes in microgravity is proposed. This effort will involve fundamental studies of monomer and polymer diffusion; their effects on initiation, propagation, and especially termination kinetics rate constant; and the accurate evaluation of copolymerization reactivity ratios in microgravity. The experimental design is presented for these studies along with an evaluation technique for in situ monitoring of polymer diffusion and polymerization kinetics.

Description: The analysis of light scattered from an ensemble of particles has long been a preferred method for characterizing their physical properties. Instrumentation to perform the measurements which forms the basis for such analysis is available in many forms based upon a variety of different experimental techniques. A system is presented which is singularly applicable for making many types of measurements in a microgravity environment. The commercial version of this device, the DAWN-F, has been used in many labs throughout the world to perform analyses of particular importance for both research and production. Light scattering theory is reviewed and the structure and function of the system is described.

Description: Avalanche photodiodes (APD) are excellent small area, solid state detectors for photon counting. Performance possibilities include: photon detection efficiency in excess of 50 percent; wavelength response from 400 to 1000 nm; count rate to 10 (exp 7) counts per sec; afterpulsing at negligible levels; timing resolution better than 1 ns. Unfortunately, these performance levels are not simultaneously available in a single detector amplifier configuration. By considering theoretical performance predictions and previous and new measurements of APD performance, the anticipated performance of a range of proposed APD-based photon counting modules is derived.

Description: Traditional optical systems for photon correlation spectroscopy and laser anemometry have relied upon physically large and fairly expensive lasers, bulk-optics such as lenses of a few inches diameter, large mechanical mounts and carefully selected, fragile and bulky photon counting photomultiplier detectors. In some cases, experimental fluid dynamics at a desired position in a flow, perhaps deep inside complex machinery, is physically impossible or very difficult. Similar problems exist with photon correlation spectroscopy, e.g., remote and heterodyne experiments. Various optical and electro optical components were investigated and characterized with the aim of replacing existing photon correlation laser spectroscopy and anemometry techniques in miniaturized form, and with significant cost reduction. Very recently, a range of miniature, modular light scattering systems were constructed from little solid state optical and electro optical components, and experimentally verified measurement performance comparable to standard lab photon correlation spectroscopy and laser anemometry equipment.

Description: Images from an airborne, scanning radiometer operating at a frequency of 98 GHz have been analyzed. The millimeter-wave images were obtained in 1985-1986 using the JPL millimeter-wave imaging sensor. The goal of this study was to enhance the information content of these images and make their interpretation easier. A visual-interpretative approach was used for information extraction from the images. This included application of nonlinear transform techniques for noise reduction and for color, contrast, and edge enhancement. Results of using the techniques on selected millimeter-wave images are discussed.

Description: This paper considers complex transcendental eigenvalue problems where one is interested in pairs of eigenvalues that are restricted to take real values only. Such eigenvalue problems arise in dynamic stability analysis of nonconservative physical systems, i.e., flutter analysis of aeroelastic systems. Some available solution methods are discussed and a new method is presented. Two computational approaches are described for analytical evaluation of the sensitivities of these eigenvalues when they are dependent on other parameters. The algorithms presented are illustrated through examples.

Description: The history of the Controlled Ecological Life Support System program, initiated by NASA in the late 1970s to explore the use of bioregenerative methods of life support, is reviewed. The project focused on examining the process involved in converting inorganic minerals and gases into life support materials using sunlight as the primary energy source. The research, planning, and technological development required by the CELSS program and conducted at NASA field centers, at various universities, and by commercial organizations are reviewed. Research activities at universities have focused upon exploring methods of reducing the size of the system, reducing system power requirements, understanding issues that are associated with its long-term stability, and identifying new technologies that might be useful in improving its efficiency. Research activities at Ames research center have focused on the use of common duckweed as a high biomass-producing plant, which is high in protein and on waste processing.

Description: The bioregenerative life support systems research at Johnson Space Center focuses on the use of lunar regolith as a plant growth medium. Current dissolution experiments are being conducted to ascertain the response of lunar regolith to various solvents and weathering environments. The transformation of lunar minerals into minerals such as zeolites which would be more conducive to plant growth is also investigated. A study is currently underway to examine the ability of zeolite/apatite mixtures to provide N, P, and K through dissolution and ion exchange. The development and characterization of simulated lunar regolith for preliminary experimentation are also discussed. The life support systems technology used on the Mercury, Gemini, Apollo, and Shuttle missions is reviewed and current research on regenerative life support systems technology for potential use in Space Station Freedom is discussed.

Description: The CELSS Breadboard Project is described, noting that it was initiated to study aspects of a CELSS for long-term space missions. Topics for extensive investigation included air and water regeneration, engineering control, and food production. The many options available for growing food crops in commercial plant growth chambers were investigated and the best of this information was translated to the Biomass Production Chamber (BPC). The chamber contains 20 sq m of crop growing area under 96 400 W HPS lamps; sixteen 0.25 sq m plant growth trays used on each of four growing shelves for a total of 64 trays; and one 256-L nutrient solution reservoir with the appropriate continuous-flow, thin-film plumbing for each shelf. A heating, ventilating, and air-conditioning system maintains atmospheric conditions and serves to distribute oxygen and carbon dioxide and maintain pressure at 12 mm of water. The control and monitoring subsystem, which uses a programmable logic controller, manages the BPC subsystems.

Description: Advantages and disadvantages of synthetic soils are discussed. It is pointed out that synthetic soils may provide the proper physical and chemical properties necessary to maximize plant growth, such as a toxic-free composition and cation exchange capacities. The importance of nutrient retention, aeration, moisture retention, and mechanical support as qualities for synthetic soils are stressed. Zeoponics, or the cultivation of plants in zeolite substrates that both contain essential plant-growth cations on their exchange sites and have minor amounts of mineral phases and/or anion-exchange resins that supply essential plant growth ions, is discussed. It is suggested that synthetic zeolites at lunar bases could provide adsorption media for separation of various gases, act as catalysts and as molecular sieves, and serve as cation exchangers in sewage-effluent treatment, radioactive-waste disposal, and pollution control. A flow chart of a potential zeoponics system illustrates this process.

Description: This paper investigates the efficiency of low- and high-atomic number materials used as protective shields against biologically effective radiation in doses equivalent to those expected in low-earth-orbit and interplanetary manned missions. Results are presented on calculations for single-material shields from polyethylene, water, Be, Al, Fe, and Ta and multilayer shelds made from the combinations of any two or any three of these materials, for both LEO and interplanetary conditions. It is shown that, whereas for protons and Galactic cosmic rays the ordering of shield materials has a negligible effect, for electrons and secondary bremsstrahlung, both the order and the composition are important parameters. It was found that low-atomic-number materials are most effective shields against protons and galactic cosmic rays, and are most effective in decreasing bremsstrahlung production, while high-atomic-number shields are the best attenuators of both primary electrons (if the dose is dominated by primary electrons) and secondary bremsstrahlung (if this is produced).

Description: NASA research on the functioning of biological systems in space and the resulting improvement in space suits and life-support systems is discussed. The centrifuge facility which will provide the major elements of a life science research facility for Spacelab and Space Station Freedom is described, and the Vestibular Research Facility for studying motion sickness in space is examined. The aluminum AX-5 space suit and the Controlled Ecological Life-Support System are described, and biomedical sensors for studying bone mass changes in space are discussed. Studies on the use of exercise to control tissue-fluid shifts in space are described.

Description: Delamination growth caused by local buckling of a delaminated group of plies was investigated. Delamination growth was assumed to be governed by the strain energy release rates, G(1), G(2) and G(3). The strain energy release rates were calculated using a geometrically nonlinear three-dimensional finite element analysis. The program is described and several checks of the analysis are discussed. Based on a limited parametric study, the following conclusions were reached: (1) the problem is definitely mixed mode (in some cases G(1) is larger than G(2), for other cases the opposite is true); (2) in general, there is a large gradient in the strain energy release rates along the delamination front; (3) the locations of maximum G(1) and G(2) depend on the delamination shape and the applied strain; (4) the mode 3 component was negligible for all cases considered; and (5) the analysis predicted that parts of the delamination would overlap. The results presented did not impose contact constraints to prevent overlapping. Further work is needed to determine the effects of allowing the overlapping.

Description: It is shown how a commercial time interval counter can be used to measure the relative stability of two signals that are offset in frequency and mixed down to a beat note of about 1 Hz. To avoid the dead-time problem, the counter is set up to read the time interval between each beat note upcrossing and the next pulse of a 10 Hz reference pulse train. The actual upcrossing times are recovered by a simple algorithm whose outputs can be used for computing residuals and Allan variance. A noise floor-test yielded a delta f-f Allan deviation of 1.3 times 10 to the minus 9th power/tau relative to the beat frequency.

Description: The propagation of elastic waves of the type induced by impact are studied for a special class of cylinders. In this class are thin finite cylinders, for which Mindlin's equations are appropriate, on which point masses are attached. An approximation is derived valid for frequencies below cutoff of the lowest shear mode. An eigenfunction expansion is used to compute the transient response of the coupled system.

Description: The method of boundary elements is adapted to the dynamics of elastic axisymmetric solids. Three scalar potentials are used, each satisfying the Helmholtz equation and each represented by its own source distribution. The sources are distributed over a surface enclosing the solid boundary. Stress or displacement conditions on the boundary are realized by third-order derivatives of the potentials. Discrete ring elements on the source enclosure combine their influences at discrete ring elements on the solid boundary.

Description: While the standard mode acceleration formulation in structural dynamics has often been interpreted to suggest that the reason for improved convergence obtainable is that the dynamic correction factor is divided by the modal frequencies-squared, an alternative formulation is presented which clearly indicates that the only difference between mode acceleration and mode displacement data recovery is the addition of a static correction term. Attention is given to the advantages in numerical implementation associated with this alternative, as well as to an illustrative example.

Description: A correction factor to the number density measured by the Forward Scattering Spectrometer Probe (FSSP) which compensates for dead time and coincidence errors was determined by calculating the probabilities of, and the average number of particles in, the six possible types of dead time and coincidence events. These probabilities and averages were calculated by means of a probabilistic model based on Poisson statistics. A Monte Carlo computer simulation of the FSSP operation was also carried out and the number density correction factor was compared with the Monte Carlo data. For an actual number density of 2000/cu cm, it was found that the measured number density was of the order of 300/cu cm.

Description: A key step in the application of formal automated design techniques to structures under transient loading is the calculation of sensitivities of response quantities to the design parameters. This paper considers response quantities to the design parameters. This paper considers structures with general forms of damping acted on by general transient loading and addresses issues of computational errors and computational efficiency. The equations of motion are reduced using the traditional basis of vibration modes and then integrated using a highly accurate, explicit integration technique. A critical point constraint formulation is used to place constraints on the magnitude of each response quantity as a function of time. Three different techniques for calculating sensitivities of the critical point constraints are presented. The first two are based on the straightforward application of the forward and central difference operators, respectively. The third is based on explicit differentiation of the equations of motion. Condition errors, finite difference truncation errors, and modal convergence errors for the three techniques are compared by applying them to a simple five-span-beam problem. Sensitivity results are presented for two different transient loading conditions and for both damped and undamped cases.

Description: A new and simple method of finite-element grid improvement is presented. The objective is to improve the accuracy of the analysis. The procedure is based on a minimization of the trace of the stiffness matrix. For a broad class of problems this minimization is seen to be equivalent to minimizing the potential energy. The method is illustrated with the classical tapered bar problem examined earlier by Prager and Masur. Identical results are obtained.

Description: Measurement of times of flight of sound waves can be used to determine temperatures in a gas. This paper describes a system, based on this principle, that is capable of giving the temperature profile in a nonisothermal gas volume, for example, prevalent in a large furnace. The apparatus is simple, rugged, accurate, and capable of being automated for process control applications. It is basically an acoustic waveguide where the outside temperature profile is transferred to a chosen gas contained inside the guide.

Description: The development of a unique noncontact temperature measurement device utilizing rotating analyzer ellipsometry is described. The technique circumvents the necessity of spectral emissivity estimation by direct measurement concomitant with radiance brightness. Simultaneous determinations of dielectric constants and refractive indices allow changes in the physical and chemical state of a heated surface to be monitored. The results of optical property measurements at 633 nm as functions of temperature between 1000 and 2500 K for eight transition metals including Hf, Ir, Mo, Nb, Pd, Pt, Ta, and V are presented together with preliminary results of oxidation studies on iridium.

Description: A design concept developed for a polarimeter on the vector magnetograph of the SAMEX satellite that would be very sensitive to solar vector magnetic fields is described. A description of the Poincare sphere is presented, along with the instrument scientific requirements, to provide an understanding of how the polarimeter design has been selected. It is shown that the design goal of a polarimetric sensitivity of 0.0001 can be achieved in the linear measurements using a hybrid analyzer. It is also noted that the systematic errors that produce linear crosstalk into the circular measurement will require the use of the redundant polarization measurements for in-flight calibrations and corrections of the data.

Description: Assuming a single-mode transverse displacement, a simple formula is derived for the transverse load-displacement relationship of a plate under in-plane compression. The formula is used to derive a simple analytical expression for the nonlinear dynamic response of postbuckled plates under sinusoidal or random excitation. The highly nonlinear motion of snap-through can be easily interpreted using the single-mode formula. Experimental results are obtained with buckled and cylindrical aluminum panels using discrete frequency and broadband excitation of mechanical and acoustic forces. Some important effects of the snap-through motion on the dynamic response of the postbuckled plates are described. Static tests were used to identify the deformation shape during snap-through.

Description: An experimental investigation of composite to composite bonded joints was undertaken to study the effect of bond thickness on debond growth rate under cyclic loading and critical strain energy release rate under static loading. Double cantilever beam specimens of graphite/epoxy adherends bonded with EC 3445 were tested under mode I loading. A different behavior of fracture and fatigue strength was observed with variation of bondline thickness.

Description: The present analysis method for hot-wire data in supersonic turbulence takes sound field effects into account and yields greater accuracy in its treatment of flow variable fluctuations than existing methods despite requiring only a moderately accurate estimate of static pressure fluctuations. The method demonstrates the way in which neglecting pressure fluctuations will affect hot-wire data analysis, as well as indicating the probable direction the errors will take.

Description: Displays of multifrequency passive microwave data from the Special Sensor Microwave/Imager (SSM/I) flying on the Defense Meteorological Satellite Program (DMSP) spacecraft are presented. Observed brightness temperatures at 85.5 GHz (vertical and horizontal polarizations) and 37 GHz (vertical polarization) are respectively used to 'drive' the red, green, and blue 'guns' of a color monitor. The resultant false-color images can be used to distinguish land from water, highlight precipitation processes and structure over both land and water, and detail variations in other surfaces such as deserts, snow cover, and sea ice. The observations at 85.5 GHz also add a previously unavailable frequency to the problem of rainfall estimation from space. Examples of mesoscale squall lines, tropical and extra-tropical storms, and larger-scale land and atmospheric features as 'viewed' by the SSM/I are shown.

Description: A postdispersion system for astronomical observations with Fourier transform spectrometers in the thermal infrared has been developed which improves the sensitivity of radiation noise limited observations by reducing the spectral range incident on the detector. Special attention is given to the first-generation blocked impurity band detector. Planetary, solar, and stellar observations are reported.

Description: The measurement by a three-dimensional laser Doppler velocimeter of a turbulent flow has been numerically simulated. Errors associated with the probe volume geometry and the coincidence time window concept are revealed. One type of error occurs for high system data rates when multiple particles lead to system realizations. Another error occurs associated with a geometric bias discovered in the present study. This three-dimensional ldv geometric bias exists even for single-particle realizations and regardless of the system data rate. A technique for the elimination of the geometric bias is presented.

Description: A computer-controlled tunable diode laser spectrometer and spectral analysis software are described. The three-channel system records simultaneously the transmission of a subject gas, a temperature-stabilized etalon, and a calibration gas. The software routines are applied to diode laser spectra of HNO3 and NO2 to illustrate the procedures adopted for conversion of raw spectral data to useful transmission and harmonic spectra. Extraction of line positions, absorption intensities, collisional broadening coefficients, and gas concentrations from recorded spectra is also described.

Description: Optical interconnects are being considered for control signal distribution in phased array antennas. A packaged hybrid GaAs optical controller with a 1:16 demultiplexed output that is suitable for this application is described. The controller, which was fabricated using enhancement/depletion mode MESFET technology, operates at demultiplexer-limited input data rates up to 305 Mb/s and requires less than 200 microW optical input power.

Description: A technique has been developed to support the study of the effects of cosmic rays on integrated circuits. The system is designed to determine the particle distribution across the surface of an integrated circuit accurately while the circuit is bombarded by a particle beam. The system uses photomultiplier tubes, an octal discriminator, a computer-controlled NIM quad counter, and an IBM PC. It provides real-time operator feedback for fast beam tuning and monitors momentary fluctuations in the particle beam. The hardware, software, and system performance are described.

Description: A three-channel transportable radiometer that operates at 20.6, 31.65, and 90.0 GHz has been developed. The design of the radiometer is described and the results of various experimental applications of the radiometer are presented. The experiments include a comparison of brightness temperature measurements at various frequencies with the water vapor absorption models of Waters (1976) and Lieve (1989). Measurements of absorption ratios for cloud attenuation are given and the radiometer measurements are compared with oxygen absorption calculated using the Rasenkranz (1988) model.

Description: This paper describes a program of airborne radiometric imaging at 90 GHz and 140 GHz. Using high sensitivity (below 1 K) and high angular resolution (0.5-1.0 degree), high quality images have been made. The following measurements are discussed: cloud and fog penetration at 90 GHz, discrimination between agricultural and urban areas, discrimination between different vegetation types, detection of vehicles on roads, detection and classification of airports and airplanes, ship detection and quantitative oil spill sensing. The application of information enhancement techniques with automatic and real time application aspects is also described, and results of applied techniques for contrast and contour enhancement are shown.

Description: The feasibility of using a viscoplastic model developed by Robinson to perform a nonlinear structural analysis was investigated. The paper presents analytical solutions for three classical problems: (1) a pressurized thick-walled cylinder, (2) a thin rotating disk, and (3) a pressurized thick-walled sphere. The analytical expressions derived for the stress and the strain rates for these components are general in nature as they consider both the mechanical and thermal loadings to be time-dependent. A computer program VISTAN (VIscoplastic STructural ANalyzer) was developed to obtain the stress and strain distributions. The finite element solutions for these problems are also presented. The numerical results pertaining to isothermal loading conditions are provided. The results obtained demonstrate the feasibility of using the viscoplastic model developed by Robinson to perform nonlinear structural analyses.

Description: Mercuric iodide X-ray detectors have been undergoing tests in a prototype scanning electron microscope system being developed for unmanned space flight. The detector program addresses the issues of geometric configuration in the SEM, compact packaging that includes separate thermoelectric coolers for the detector and FET, X-ray transparent hermetic encapsulation and electrical contacts, and a clean vacuum environment.

Description: A combined experimental and analytical study of bearing and bypass loading on single-fastener specimens of a 16-ply, quasi-isotropic T300/5208 graphite/epoxy laminate with a centrally located hole is reported. The specimens were loaded in either tension or compression, and onset damage, ultimate strengths, and corresponding failure modes were determined. The tension data showed the expected linear interaction for combined bearing-bypass loading with damage developing in the net-section tension mode. However, the bearing-onset strengths showed an unexpected interaction of the bearing and compressive bypass loads in which the latter reduced the bearing-onset strength. A linear finite element analysis showed that bearing-bypass loading had a marked influence on the bolt-hole contact which in turn had a significant effect on local stresses.

Description: A finite element formulation is presented for determining the large-amplitude free and steady-state forced vibration response of arbitrarily laminated anisotropic composite rectangular thin plates. The nonlinear stiffness and harmonic force matrices of an arbitrarily laminated composite rectangular plate element are developed for nonlinear free and forced vibration analyses. The linearized updated-mode method with nonlinear time function approximation is employed for the solution of the system nonlinear eigenvalue equations. The amplitude-frequency relations for convergence with gridwork refinement, different boundary conditions, aspect ratios, lamination angles and number of plies are presented. The finite element results are compared with available approximate continuum solutions.

Description: The objectives are to present the derivation of the new virtual crack closure technique, evaluate the accuracy of the technique, and finally to present the results of a limited parametric study of laminates with a postbuckled delamination. Although the new virtual crack closure technique is general, only homogeneous, isotropic laminates were analyzed. This was to eliminate the variation of flexural stiffness with orientation, which occurs even for quasi-isotropic laminates. This made it easier to identify the effect of geometrical parameters on G. The new virtual crack closure technique is derived. Then the specimen configurations are described. Next, the stress analyses is discussed. Finally, the virtual crack closure technique is evaluated and then used to calculate the distribution of G along the delamination front of several laminates with a postbuckled delamination.

Description: A description of the finite element implementation of Robinson's unified viscoplastic model into the General Purpose Finite Element Program (MARC) is presented. To demonstrate its application, the implementation is applied to some uniaxial and multiaxial problems. A comparison of the results for the multiaxial problem of a thick internally pressurized cylinder, obtained using the finite element implementation and an analytical solution, is also presented. The excellent agreement obtained confirms the correct finite element implementation of Robinson's model.

Description: In the dynamic formulation of holonomic and nonholonomic systems based on D'Alembert-Lagrange equation, the forces of constraints are maintained in the dynamic equations by introducing auxiliary variables, called Lagrange multipliers. This approach introduces a set of generalized reaction forces associated with the system generalized coordinates. Different sets of variables can be used as generalized coordinates and accordingly, the generalized reactions associated with these generalized coordinates may not be the actual reaction forces at the joints. In rigid body dynamics, the generalized reaction forces and the actual reaction forces at the joints represent equipollent systems of forces since they produce the same total forces and moments at and about any point on the rigid body. This is not, however, the case in deformable body analyses wherein the generalized reaction forces depend on the system generalized reference and elastic coordinates. In this paper, a method for determining the actual reaction forces at the joints from the generalized reaction forces in deformable multibody systems is presented.

Description: The recent development of Scanning Tunneling Microscopy technology allows the application of electron tunneling to position detectors for the first time. The vacuum tunnel junction is one of the most sensitive position detection mechanisms available. It is also compact, simple, and requires little power. A prototype accelerometer based on electron tunneling, and other sensor applications of this promising new technology are described.

Description: The Boundary Force Method (BFM), a form of indirect boundary element method, is used to analyze composite laminates with cracks. The BFM uses the orthotropic elasticity solution for a concentrated horizontal and vertical force and a moment applied at a point in a cracked, infinite sheet as the fundamental solution. The necessary stress functions for this fundamental solution were formulated using the complex variables theory of orthotropic elasticity. The current method is an improvement over a previous method using only forces and no moment. The improved method was verified by comparing it to accepted solutions for a finite-width, center-crack specimen subjected to uniaxial tension. Four graphite/epoxy laminates were used: (0 + or - 45/90)sub s, (0), (+ or - 45)sub s, and (+ or - 30)sub s. The BFM results agreed well with accepted solutions. Convergence studies showed that with the addition of the moment in the fundamental solution, the number of boundary elements required for a converged solution was significantly reduced. Parametric studies were done for two configurations for which no orthotropic solutions are currently available; a single edge crack and an inclined single edge crack.

Description: The operation and evaluation of a bioreactor designed for high intensity oxygen transfer in a microgravity environment is described. The reactor itself consists of a zero headspace liquid phase separated from the air supply by a long length of silicone rubber tubing through which the oxygen diffuses in and the carbon dioxide diffuses out. Mass transfer studies show that the oxygen is film diffusion controlled both externally and internally to the tubing and not by diffusion across the tube walls. Methods of upgrading the design to eliminate these resistances are proposed. Cell growth was obtained in the fermenter using Saccharomyces cerevisiae showing that this concept is capable of sustaining cell growth in the terrestrial simulation.

Description: A mixture of ammonium hydroxide with acetic acid and a slurry of human feces, urine, and wipes were used as CELSS model wastes to be wet-oxidized at temperatures from 250 to 500 C, i.e. below and above the critical point of water (374 C and 218 kg/sq cm or 21.4 MPa). The effects of oxidation temperature ( 250-500 C) and residence time (0-120 mn) on carbon and nitrogen and on metal corrosion from the reactor material were studied. Almost all of the organic matter in the model wastes was oxidized in the temperature range from 400 to 500 C, above the critical conditions for water. In contrast, only a small portion of the organic matter was oxidized at subcritical conditions. A substantial amount of nitrogen remained in solution in the form of ammonia at temperatures ranging from 350 to 450 C suggesting that, around 400 C, organic carbon is completely oxidized and most of the nitrogen is retained in solution. The Hastelloy C-276 alloy reactor corroded during subcritical and supercritical water oxidation.

Description: The production rate and solid content of waste streams found in a life support system for a space habitat (in which plants are grown for food) are discussed. Two recycling scenarios, derived from qualitative considerations as opposed to quantitative mass and energy balances, tradeoff studies, etc., are presented; they reflect differing emphases on and responses to the waste stream formation rates and their composition, as well as indicate the required products from waste treatment that are needed in a life support system. The data presented demonstrate the magnitude of the challenge to developing a life support system for a space habitat requiring a high degree of closure.

Description: Research and technology development issues centering on the recycling of materials within a bioregenerative life support system are reviewed. The importance of recovering waste materials for subsequent use is emphasized. Such material reclamation will substantially decrease the energy penalty paid for bioregenerative life support systems, and can potentially decrease the size of the system and its power demands by a significant amount. Reclamation of fixed nitrogen and the sugars in cellulosic materials is discussed.

Description: The photosynthesis and productivity of Lemna gibba is analyzed for CELSS based plant growth. Net photosynthesis of Lemna gibba is determined as a function of incident photosynthetic photon flux (PPF), with the light coming from above, below, or from both directions. Light from below is about 75 percent as effective as from above when the stand is sparse, but much less so with dense stands. High rates of photosynthesis are measured at 750 micromol / sq m per sec PPF and 1500 micromol/ mol CO2 at densities up to 660 g fresh weight (FW)/ sq m with young cultures. The analysis includes diagrams illustrating the net photosynthesis response to bilateral lighting of a sparse stand of low assimilate Lemna gibba; the effect of stand density on the net photosynthesis response to bilateral lighting of high assimilate Lemna gibba; the net photosynthesis response to ambient CO2 of sparse stands of Lemna gibba; and the time course of net photosynthesis and respiration per unit chamber and per unit dry weight of Lemna gibba.

Description: The fundamental relationship between the morphology of a composite laminate and the resulting free edge effects is explored and related to delamination failures. Cross-ply, angle-ply, and quasi-isotropic laminates are discussed in detail. It is shown that the local mismatch in elastic properties of adjacent layers and the global stacking sequence of a laminate both have a significant influence on the interlaminar stresses and delamination failures.

Description: New methods have been developed to implement position sensors based on electron tunneling. The electron tunneling methods enable position to be detected with sub-Angstrom resolution using a compact mechanical structure and simple electronic control elements. A prototype accelerometer is the first sensor based on these principles; it shows reliable operation with a noise-limited sensitivity and a bandwidth of approximately 3 kHz. Based on these results, it is expected that tunnel sensors optimized for many applications will enable an entirely new class of sensors to be developed.

Description: A method is developed for the optimal design of composite links based on dynamic performance criteria directly related to structural modal damping and dynamic stiffness. An integrated mechanics theory correlates structural composite damping to the parameters of basic composite material systems, laminate parameters, link shape, and modal deformations. The inclusion of modal properties allows the selective minimization of vibrations associated with specific modes. Ply angles and fiber volumes are tailored to obtain optimal combinations of damping and stiffness. Applications to simple composite links indicate wide margins for trade-offs and illustrate the importance of various design variables to the optimal design.

Description: Local buckling can cause large interlaminar stresses along the delamination front, which can lead to delamination growth. This paper examines several methods of calculating strain-energy release rates, which are often used to predict delamination growth. The thin-film plate analysis, which was least expensive, calculated the total strain-energy release rate G(T) quite accurately. However, the stress field along the delamination front is highly mixed-mode and has no fixed ratio of G(I) to G(II). Since plate analysis can only calculate G(T), it would not be useful for accurate predictions of delamination growth if mode mix is important.

Description: The Particle Measuring Systems (PMS) Forwared Scattering Spectrometer Probe (FSSP-100) which was flown on the ER-2 during the Airborne Antarctic Ozone Experiment for the measurement of particles in polar stratospheric clouds has been evaluated and calibrated. The sample volume of the probe per 10-s sampling period increases from 257 cu cm for 1-micron particles to 412 for 15-micron particles, but there is substantial uncertainty in this value. Limitations in the measurements from this instrument and possible corrections are discussed. The uncertainty in the total particle mass measured by the probe may be as large as + or - 100 percent. Recommendations are given for the processing of data from the FSSP used in this project.

Description: Over the years, NASA has been conducting the Advanced Earth-to-Orbit (AETO) Propulsion Technology Program to provide the knowledge, understanding, and design methodology that will allow the development of advanced Earth-to-orbit propulsion systems with high performance, extended service life, automated operations, and diagnostics for in-flight health monitoring. The objective of the Aerothermodynamic Loads Definition Study is to develop methods to more accurately predict the operating environment in AETO propulsion systems, such as the Space Shuttle Main Engine (SSME) powerhead. The approach taken consists of 2 parts: to modify, apply, and disseminate existing computational fluid dynamics tools in response to current needs and to develop new technology that will enable more accurate computation of the time averaged and unsteady aerothermodynamic loads in the SSME powerhead. The software tools are detailed. Significant progress was made in the area of turbomachinery, where there is an overlap between the AETO efforts and research in the aeronautical gas turbine field.

Description: The purpose of the Probabilistic Structural Analysis Method (PSAM) project is to develop structural analysis capabilities for the design analysis of advanced space propulsion system hardware. The boundary element method (BEM) is used as the basis of the Probabilistic Advanced Analysis Methods (PADAM) which is discussed. The probabilistic BEM code (PBEM) is used to obtain the structural response and sensitivity results to a set of random variables. As such, PBEM performs analogous to other structural analysis codes such as finite elements in the PSAM system. For linear problems, unlike the finite element method (FEM), the BEM governing equations are written at the boundary of the body only, thus, the method eliminates the need to model the volume of the body. However, for general body force problems, a direct condensation of the governing equations to the boundary of the body is not possible and therefore volume modeling is generally required.

Description: A major research and technology program in Probabilistic Structural Analysis Methods (PSAM) is currently being sponsored by the NASA Lewis Research Center with Southwest Research Institute as the prime contractor. This program is motivated by the need to accurately predict structural response in an environment where the loadings, the material properties, and even the structure may be considered random. The heart of PSAM is a software package which combines advanced structural analysis codes with a fast probability integration (FPI) algorithm for the efficient calculation of stochastic structural response. The basic idea of PAAM is simple: make an approximate calculation of system response, including calculation of the associated probabilities, with minimal computation time and cost, based on a simplified representation of the geometry, loads, and material. The deterministic solution resulting should give a reasonable and realistic description of performance-limiting system responses, although some error will be inevitable. If the simple model has correctly captured the basic mechanics of the system, however, including the proper functional dependence of stress, frequency, etc. on design parameters, then the response sensitivities calculated may be of significantly higher accuracy.

Description: Two-dimensional optical strain measurements on high temperature test specimens are presented. This two-dimensional capability is implemented through a rotatable sensitive strain axis. Three components of surface strain can be measured automatically, from which the first and second principal strains are calculated. One- and two-dimensional strain measurements at temperatures beyond 750 C with a resolution of 15 microstrain are demonstrated. The system is based on a one-dimensional speckle shift technique. The speckle shift technique makes use of the linear relationship between surface strain and the differential shift of laser speckle patterns in the diffraction plane. Laser speckle is a phase effect that occurs when spatially coherent light interacts with an optically rough surface. Since speckle is generated by any diffusely reflecting surface, no specimen preparation is needed to obtain a good signal. Testing was done at room temperature on a flat specimen of Inconel 600 mounted in a fatigue testing machine. A load cell measured the stress on the specimen before and after acquiring the speckle data. Strain components were measured at 0 C (parallel to the load axis) and at plus or minus 45 C, and plots indicate the calculated values of the first and second principal strains. The measured values of Young's modulus and Poisson's ratio are in good agreement with handbook values. Good linearity of the principal strain moduli at high temperatures indicate precision and stability of the system. However, a systematic error in the high-temperature test setup introduced a scale factor in the slopes of the two-dimensional stress-strain curves. No high temperature effects, however, have been observed to degrade speckle correlation.

Description: The fusion of the probabilistic finite element method (PFEM) and reliability analysis for probabilistic fracture mechanics (PFM) is presented. A comprehensive method for determining the probability of fatigue failure for curved crack growth was developed. The criterion for failure or performance function is stated as: the fatigue life of a component must exceed the service life of the component; otherwise failure will occur. An enriched element that has the near-crack-tip singular strain field embedded in the element is used to formulate the equilibrium equation and solve for the stress intensity factors at the crack-tip. Performance and accuracy of the method is demonstrated on a classical mode 1 fatigue problem.

Description: The probabilistic structural analysis method (PSAM) was developed to analyze the effects of fluctuating loads, variable material properties, and uncertain analytical models especially for high performance structures such as the Space Shuttle Main Engine turbopump blades. Risk is calculated after expensive service experience. However, probabilistic structural analysis provides a rational alternative method to quantify uncertainties in the structural performance and durability. NESSUS (Numerical Evaluation of Stochastic Structures Under Stress) was developed as a probabilistic structural analysis computer code which integrates finite element methods and reliability algorithms, capable to predicting the probability distributions of structural response variables such as stress, displacement, natural frequencies, and buckling loads. This computer code is detailed.

Description: The Probabilistic Structural Analysis Methods (PSAM) project developed at the Southwest Research Institute integrates state-of-the-art structural analysis techniques with probability theory for the design and analysis of complex large-scale engineering structures. An advanced efficient software system (NESSUS) capable of performing complex probabilistic analysis has been developed. NESSUS contains a number of software components to perform probabilistic analysis of structures. These components include: an expert system, a probabilistic finite element code, a probabilistic boundary element code and a fast probability integrator. The NESSUS software system is shown. An expert system is included to capture and utilize PSAM knowledge and experience. NESSUS/EXPERT is an interactive menu-driven expert system that provides information to assist in the use of the probabilistic finite element code NESSUS/FEM and the fast probability integrator (FPI). The expert system menu structure is summarized. The NESSUS system contains a state-of-the-art nonlinear probabilistic finite element code, NESSUS/FEM, to determine the structural response and sensitivities. A broad range of analysis capabilities and an extensive element library is present.

Description: A recent study by Rocketdyne for NASA identified laser anemometry, using a compact optical head, as a feasible diagnostic instrument for the Space Shuttle Main Engine (SSME) Model Verification experiments. Physical Research, Inc. (PRI) is presently under contract from NASA Lewis to develop and deliver such a laser anemometer system. For this application, it is desired to place the laser at a remote distance from the engine, and use single mode polarization preserving fiber optics for the transmission of the laser light to and from the measurement head. Other requirements are given. Analytical and experimental tools are being used to develop the technologies required for the laser anemometer. These include finite element analysis of the optical head and vibration tests for various optical and mechanical components. Design of the optical head and the fiber optic connectors are driven by the temperature and vibration requirements for the measurement environment. Results of the finite element analysis and the vibration tests of the components are included. Conceptual design of the fiber optic launcher and the optical probe has also been complete. Detailed design of the probe as well as the fabrication and assembly of the components is in progress.

Description: Constitutive and life prediction models are developed and verified for materials typically used in hot gas path components of reusable space propulsion systems over the range of relevant operating environments. The efforts were centered on the development of crack initiation life prediction methods, while the efforts of a counterpart group were centered on the development of cyclic crack propagation life prediction methods. The complexion of the active tasks are presented. A significant new task started this year will incorporate the various material constitutive and life prediction models developed in this program into a comprehensive creep-fatigue damage analysis and life assessment computer code. The program will function as a postprocessor to general structural analysis programs (such as finite element or boundary element codes) using the output of such analyses (stress, strain, and temperature fields as functions of time) as the input to the damage analysis and life assessment code. The code will be designed to execute on engineering/scientific workstations and will feature a windowing, mouse-driven user interface. Current plans call for the code to be finished and made available for use in mid 1991.

Description: Several activities are performed related to the definition and creation of telerobotic systems. The effort and investment required to create architectures for these complex systems can be enormous; however, the magnitude of process can be reduced if structured design techniques are applied. A number of informal methodologies supporting certain aspects of the design process are available. More recently, prototypes of integrated tools supporting all phases of system design from requirements analysis to code generation and hardware layout have begun to appear. Activities related to system architecture of telerobots are described, including current activities which are designed to provide a methodology for the comparison and quantitative analysis of alternative system architectures.

Description: Two types of precedence relationship representations for mechanical assembly sequences are presented: precedence relationships between the establishment of one connection between two parts and the establishment of another connection, and precedence relationships between the establishment of one connection and states of the assembly process. Precedence relationship representations have the advantage of being very compact. The problem with these representations was how to guarantee their correctness and completeness. Two theorems are presented each of which leads to the generation of one type of precedence relationship representation guaranteeing its correctness and completeness for a class of assemblies.

Description: The analysis and development of a manipulator redundant in structure and sensor devices controlled by a distributed multiprocessor architecture are discussed. The goal has been the realization of a modular structure of the manipulator with evident aspects of flexibility and transportability. The distributed control structure, thanks to his modularity and flexibility could be integrated in the future into an operative structure aimed to space telerobotics. The architecture is applied to the 6 DOF manipulator Gilberto.

Description: The control of a multifingered hand slave in order to accurately exert arbitrary forces and impart small movements to a grasped object is, at present, a knotty problem in teleoperation. Although a number of articulated robotic hands have been proposed in the recent past for dexterous manipulation in autonomous robots, the possible use of such hands as slaves in teleoperated manipulation is hindered by the present lack of sensors in those hands, and (even if those sensors were available) by the inherent difficulty of transmitting to the master operator the complex sensations elicited by such sensors at the slave level. An analysis of different problems related to sensor-based telemanipulation is presented. The general sensory systems requirements for dexterous slave manipulators are pointed out and the description of a practical sensory system set-up for the developed robotic system is presented. The problem of feeding back to the human master operator stimuli that can be interpreted by his central nervous system as originated during real dexterous manipulation is then considered. Finally, some preliminary work aimed at developing an instrumented glove designed purposely for commanding the master operation and incorporating Kevlar tendons and tension sensors, is discussed.

Description: Reflected-force feedback is an important aspect of teleoperations. The objective is to determine the ability of the human operator to respond to that force. Telerobotics operation is simulated by computer control of a motor-driven device with capabilities for programmable force feedback and force measurement. A computer-controlled motor drive is developed that provides forces against the fingers as well as (angular) position control. A load cell moves in a circular arc as it is pushed by a finger and measures reaction forces on the finger. The force exerted by the finger on the load cell and the angular position are digitized and recorded as a function of time by the computer. Flexure forces of the index, long and ring fingers of the human hand in opposition to the motor driven load cell are investigated. Results of the following experiments are presented: (1) Exertion of maximum finger force as a function of angle; (2) Exertion of target finger force against a computer controlled force; and (3) Test of the ability to move to a target force against a force that is a function of position. Averaged over ten individuals, the maximum force that could be exerted by the index or long finger is about 50 Newtons, while that of the ring finger is about 40 Newtons. From the tests of the ability of a subject to exert a target force, it was concluded that reflected-force feedback can be achieved with the direct kinesthetic perception of force without the use of tactile or visual clues.

Description: After a brief tutorial on the NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) functional architecture, the approach to its implementation is shown. First, interfaces must be defined which are capable of supporting the known algorithms. This is illustrated by considering the interfaces required for the SERVO level of the NASREM functional architecture. After interface definition, the specific computer architecture for the implementation must be determined. This choice is obviously technology dependent. An example illustrating one possible mapping of the NASREM functional architecture to a particular set of computers which implements it is shown. The result of choosing the NASREM functional architecture is that it provides a technology independent paradigm which can be mapped into a technology dependent implementation capable of evolving with technology in the laboratory and in space.

Description: Much of the technology planned for use in NASA's Flight Telerobotic Servicer (FTS) and the Demonstration Test Flight (DTF) is relatively new and untested. To provide the answers needed to design safe, reliable, and fully functional robotics for flight, NASA/GSFC is developing a robotics technology testbed for research of issues such as zero-g robot control, dual arm teleoperation, simulations, and hierarchical control using a high level programming language. The testbed will be used to investigate these high risk technologies required for the FTS and DTF projects. The robotics technology testbed is centered around the dual arm teleoperation of a pair of 7 degree-of-freedom (DOF) manipulators, each with their own 6-DOF mini-master hand controllers. Several levels of safety are implemented using the control processor, a separate watchdog computer, and other low level features. High speed input/output ports allow the control processor to interface to a simulation workstation: all or part of the testbed hardware can be used in real time dynamic simulation of the testbed operations, allowing a quick and safe means for testing new control strategies. The NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) hierarchical control scheme, is being used as the reference standard for system design. All software developed for the testbed, excluding some of simulation workstation software, is being developed in Ada. The testbed is being developed in phases. The first phase, which is nearing completion, and highlights future developments is described.

Description: A study was conducted to develop a preliminary definition of the Flight Telerobotic Servicer (FTS) that could be used to understand the operational concepts and scenarios for the FTS. Called the Tinman, this design concept was also used to begin the process of establishing resources and interfaces for the FTS on Space Station Freedom, the National Space Transportation System shuttle orbiter, and the Orbital Maneuvering vehicle. Starting with an analysis of the requirements and task capabilities as stated in the Phase B study requirements document, the study identified eight major design drivers for the FTS. Each of these design drivers and their impacts on the Tinman design concept are described. Next, the planning that is currently underway for providing resources for the FTS on Space Station Freedom is discussed, including up to 2000 W of peak power, up to four color video channels, and command and data rates up to 500 kbps between the telerobot and the control station. Finally, an example is presented to show how the Tinman design concept was used to analyze task scenarios and explore the operational capabilities of the FTS. A structured methodology using a standard terminology consistent with the NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) was developed for this analysis.

Description: Key to an efficient accomplishment of space station servicing operations is the development of a scenario where the presence of man in space is well integrated with the capability of teleoperated and automatic robot system outside the stations. Results focusing on mission requirements, trajectory sequences, propulsion subsystem features, and manipulative kit characteristics relevant to proximity servicing during a Man Tended Free Flyers Robotic Mission (MTFF-RM) are illustrated.

Description: An integration of 3-D vision systems with robot manipulators will allow robots to operate in a poorly structured environment by visually locating targets and obstacles. However, by using computer vision for objects acquisition makes the problem of overall system calibration even more difficult. Indeed, in a CAD based manipulation a control architecture has to find an accurate mapping between the 3-D Euclidean work space and a robot configuration space (joint angles). If a stereo vision is involved, then one needs to map a pair of 2-D video images directly into the robot configuration space. Neural Network approach aside, a common solution to this problem is to calibrate vision and manipulator independently, and then tie them via common mapping into the task space. In other words, both vision and robot refer to some common Absolute Euclidean Coordinate Frame via their individual mappings. This approach has two major difficulties. First a vision system has to be calibrated over the total work space. And second, the absolute frame, which is usually quite arbitrary, has to be the same with a high degree of precision for both robot and vision subsystem calibrations. The use of computer vision to allow robust fine motion manipulation in a poorly structured world which is currently in progress is described along with the preliminary results and encountered problems.

Description: Telerobotics studies remote control of distant robots by a human operator using supervisory or direct control. Even if the robot manipulators has vision or other senses, problems arise involving control, communications, and delay. The communication delays that may be expected with telerobots working in space stations while being controlled from an Earth lab have led to a number of experiments attempting to circumvent the problem. This delay in communication is a main motivating factor in moving from well understood instantaneous hands-on manual control to less well understood supervisory control; the ultimate step would be the realization of a fully autonomous robot. The 3-D model control plays a crucial role in resolving many conflicting image processing problems that are inherent in resolving in the bottom-up approach of most current machine vision processes. The 3-D model control approach is also capable of providing the necessary visual feedback information for both the control algorithms and for the human operator.

Description: An adaptive control algorithm is proposed for a class of nonlinear systems, such as robotic manipulators, which is capable of improving its performance in repetitive motions. When the task is repeated, the error between the desired trajectory and that of the system is guaranteed to decrease. The design is based on the combination of a direct adaptive control and a learning process. This method does not require any knowledge of the dynamic parameters of the system.

Description: The Flight Telerobotic Servicer (FTS) program will require an ability to develop, in a cost effective manner, many simulation models for design, analysis, performance evaluation, and crew training. Computational speed and the degree of modeling fidelity associated with each simulation must be commensurate with problem objectives. To demonstrate evolving state-of-the-art general purpose multibody modeling capabilities, to validate these by laboratory testing, and to expose their modeling shortcomings, two focus problems at the opposite ends of the simulation spectrum are defined: (1) Coarse Acquisition Control Dynamics. Create a real time man-in-the-control-loop simulator. Provide animated graphical display of robot arm dynamics and tactile feedback sufficient for cueing the operator. Interface simulator software with human operated tactile feedback controller; i.e., the Kraft mini-master. (2) Fine, Precision Mode Control Dynamics. Create a high speed, high fidelity simulation model for the design, analysis, and performance evaluation of autonomous 7 degree-of-freedom (DOF) trajectory control algorithms. This model must contain detail dynamic models for all significant dynamics elements within the robot arm, such as joint drive mechanisms.

Description: The Flight Telerobotic Servicer (FTS) is being developed by the Goddard Space Flight Center (GSFC) for performing a variety of assembly, servicing, inspection and maintenance tasks on the Space Station. The Project Office at GSFC has tasked the Engineering Directorate to assemble a robotics research and development program which will support the FTS project. The activities center around support for the Development Test Flight (DTF) on the Space Shuttle and investigations of operational problems associated with the FTS on Space Station Freedom. For the DTF, areas such as control algorithms, safety systems, and end-effectors will be developed. For FTS operations, the emphasis will be to develop a dual-arm bi-lateral force-reflecting teleoperator and use it as an FTS Operational Simulator (FTSOS). The simulator will be used to investigate operational techniques, camera configurations, operator interfacing, orbital replacement unit (ORU) designs, end-effector designs, and training techniques. After a series of test activities, reports will be generated for input to the DTF and FTS designs.

Description: The definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed.

Description: The manipulator design discussed here results from the examination of some of the reasons why redundancy is necessary in general purpose manipulation systems. A spherical joint design actuated in-parallel, having the many advantages of parallel actuation, is described. In addition, the benefits of using redundant actuators are discussed and illustrated in the design by the elimination of loci of singularities from the usable workspace with the addition of only one actuator. Finally, what is known by the authors about space robotics requirements is summarized and the relevance of the proposed design matched against these requirements. The design problems outlined here are viewed as much from the mechanical engineering aspect as from concerns arising from the control and the programming of manipulators.

Description: The presence of redundant degrees of freedom in a manipulator structure leads to a physical phenomenon known as a self-motion, which is a continuous motion of the manipulator joints that leaves the end-effector motionless. In the first part of the paper, a global manifold mapping reformulation of manipulator kinematics is reviewed, and the inverse kinematic solution for redundant manipulators is developed in terms of self-motion manifolds. Global characterizations of the self-motion manifolds in terms of their number, geometry, homotopy class, and null space are reviewed using examples. Much previous work in redundant manipulator control has been concerned with the redundancy resolution problem, in which methods are developed to determine, or resolve, the motion of the joints in order to achieve end-effector trajectory control while optimizing additional objective functions. Redundancy resolution problems can be equivalently posed as the control of self-motions. Alternatives for redundancy resolution are briefly discussed.

Description: The U.S. Bureau of Mines is approaching the problems of accidents and efficiency in the mining industry through the application of automation and robotics to mining systems. This technology can increase safety by removing workers from hazardous areas of the mines or from performing hazardous tasks. The short-term goal of the Automation and Robotics program is to develop technology that can be implemented in the form of an autonomous mining machine using current continuous mining machine equipment. In the longer term, the goal is to conduct research that will lead to new intelligent mining systems that capitalize on the capabilities of robotics. The Bureau of Mines Automation and Robotics program has been structured to produce the technology required for the short- and long-term goals. The short-term goal of application of automation and robotics to an existing mining machine, resulting in autonomous operation, is expected to be accomplished within five years. Key technology elements required for an autonomous continuous mining machine are well underway and include machine navigation systems, coal-rock interface detectors, machine condition monitoring, and intelligent computer systems. The Bureau of Mines program is described, including status of key technology elements for an autonomous continuous mining machine, the program schedule, and future work. Although the program is directed toward underground mining, much of the technology being developed may have applications for space systems or mining on the Moon or other planets.

Description: The approach for arriving at design guidelines for assembly by robots in outerspace is illustrated. The use of robots in a zero gravity environment necessitates that extra factors over and above normal design guidelines be taken into account. Besides, many of the guidelines for assembly by robots on earth do not apply in space. However, considering the axioms for normal design and assembly as one set, guidelines for design and robotic assembly as another, and guidelines for design and assembly in space as the third set, unions and intersections of these sets can generate guidelines for two or more of these conditions taken together - say design and manual assembly in space. Therein lies the potential to develop expert systems in the future, which would use an exhaustive database and similar guidelines to arrive at those required by a superposition of these conditions.

Description: Most robotic systems today are designed one at a time, at a high cost of time and money. This wasteful approach has been necessary because the industry has not established a foundation for the continued evolution of intelligent machines. The next generation of robots will have to be generic, versatile machines capable of absorbing new technology rapidly and economically. This approach is demonstrated in the success of the personal computer, which can be upgraded or expanded with new software and hardware at virtually every level. Modularity is perceived as a major opportunity to reduce the 6 to 7 year design cycle time now required for new robotic manipulators, greatly increasing the breadth and speed of diffusion of robotic systems in manufacturing. Modularity and its crucial role in the next generation of intelligent machines are the focus of interest. The main advantages that modularity provides are examined; types of modules needed to create a generic robot are discussed. Structural modules designed by the robotics group at the University of Texas at Austin are examined to demonstrate the advantages of modular design.

Description: An experimental study was conducted to determine the effects of various forms of visual and force feedback on human performance for several telemanipulation tasks. Experiments were conducted with varying frame rates and subtended visual angles, with and without force feedback.

Description: Data describing the microsurgeon's hand dynamics was recorded and analyzed in order to provide an accurate model for the telemicrosurgery application of the Bimanual Telemicro-operation Test Bed. The model, in turn, will guide the development of algorithms for the control of robotic systems in bimanual telemicro-operation tasks. Measurements were made at the hand-tool interface and include position, acceleration and force between the tool-finger interface. Position information was captured using an orthogonal pulsed magnetic field positioning system resulting in measurements in all six degrees-of-freedom (DOF). Acceleration data at the hands was obtained using accelerometers positioned in a triaxial arrangement on the back of the hand allowing measurements in all three cartesian-coordinate axes. Force data was obtained by using miniature load cells positioned between the tool and the finger and included those forces experienced perpendicular to the tool shaft and those transferred from the tool-tissue site. Position data will provide a minimum/maximum reference frame for the robotic system's work space or envelope. Acceleration data will define the response times needed by the robotic system in order to emulate and subsequently outperform the human operator's tool movements. The force measurements will aid in designing a force-reflective, force-scaling system as well as defining the range of forces the robotic system will encounter. All analog data was acquired by a 16-channel analog-to-digital conversion system residing in a IBM PC/AT-compatible computer at the Center's laboratory. The same system was also used to analyze and present the data.

Description: A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

Description: A frequent complaint in the computer oriented trade journals is that current hardware technology is progressing so quickly that software developers cannot keep up. A example of this phenomenon can be seen in the field of microcomputer graphics. To exploit the advantages of new mechanisms of information storage and retrieval, new approaches must be made towards incorporating existing programs as well as developing entirely new applications. A particular area of need is the correlation of discrete image elements to textural information. The interactive digital video (IDV) interface embodies a new concept in software design which addresses these needs. The IDV interface is a patented device and language independent process for identifying image features on a digital video display and which allows a number of different processes to be keyed to that identification. Its capabilities include the correlation of discrete image elements to relevant text information and the correlation of these image features to other images as well as to program control mechanisms. Sophisticated interrelationships can be set up between images, text, and program control mechanisms.

Description: Medical illustration is a field of visual communication with a long history. Traditional medical illustrations are static, 2-D, printed images; highly realistic depictions of the gross morphology of anatomical structures. Today medicine requires the visualization of structures and processes that have never before been seen. Complex 3-D spatial relationships require interpretation from 2-D diagnostic imagery. Pictures that move in real time have become clinical and research tools for physicians. Medical illustrators are involved with the development of interactive visual displays for three different, but not discrete, functions: as educational materials, as clinical and research tools, and as data bases of standard imagery used to produce visuals. The production of interactive displays in the medical arts is examined.

Description: One of the most remarkable perceptual properties of common experience is that the perceived shapes of known objects are constant despite movements about them which transform their projections on the retina. This perceptual ability is one aspect of shape constancy (Thouless, 1931; Metzger, 1953; Borresen and Lichte, 1962). It requires that the viewer be able to sense and discount his or her relative position and orientation with respect to a viewed object. This discounting of relative position may be derived directly from the ranging information provided from stereopsis, from motion parallax, from vestibularly sensed rotation and translation, or from corollary information associated with voluntary movement. It is argued that: (1) errors in exocentric judgements of the azimuth of a target generated on an electronic perspective display are not viewpoint-independent, but are influenced by the specific geometry of their perspective projection; (2) elimination of binocular conflict by replacing electronic displays with actual scenes eliminates a previously reported equidistance tendency in azimuth error, but the viewpoint dependence remains; (3) the pattern of exocentrically judged azimuth error in real scenes viewed with a viewing direction depressed 22 deg and rotated + or - 22 deg with respect to a reference direction could not be explained by overestimation of the depression angle, i.e., a slant overestimation.

Description: Pictorial displays whose primary purpose is to convey accurate information about the 3-D spatial layout of an environment are discussed. How and how well, pictures can convey such information is discussed. It is suggested that picture perception is not best approached as a unitary, indivisible process. Rather, it is a complex process depending on multiple, partially redundant, interacting sources of visual information for both the real surface of the picture and the virtual space beyond. Each picture must be assessed for the particular information that it makes available. This will determine how accurately the virtual space represented by the picture is seen, as well as how it is distorted when seen from the wrong viewpoint.

Description: Systematic errors in perception and memory present a challenge to theories of perception and memory and to applied psychologists interested in overcoming them as well. A number of systematic errors in memory for maps and graphs are reviewed, and they are accounted for by an analysis of the perceptual processing presumed to occur in comprehension of maps and graphs. Visual stimuli, like verbal stimuli, are organized in comprehension and memory. For visual stimuli, the organization is a consequence of perceptual processing, which is bottom-up or data-driven in its earlier stages, but top-down and affected by conceptual knowledge later on. Segregation of figure from ground is an early process, and figure recognition later; for both, symmetry is a rapidly detected and ecologically valid cue. Once isolated, figures are organized relative to one another and relative to a frame of reference. Both perceptual (e.g., salience) and conceptual factors (e.g., significance) seem likely to affect selection of a reference frame. Consistent with the analysis, subjects perceived and remembered curves in graphs and rivers in maps as more symmetric than they actually were. Symmetry, useful for detecting and recognizing figures, distorts map and graph figures alike. Top-down processes also seem to operate in that calling attention to the symmetry vs. asymmetry of a slightly asymmetric curve yielded memory errors in the direction of the description. Conceptual frame of reference effects were demonstrated in memory for lines embedded in graphs. In earlier work, the orientation of map figures was distorted in memory toward horizontal or vertical. In recent work, graph lines, but not map lines, were remembered as closer to an imaginary 45 deg line than they had been. Reference frames are determined by both perceptual and conceptual factors, leading to selection of the canonical axes as a reference frame in maps, but selection of the imaginary 45 deg as a reference frame in graphs.

Description: The status of motion as a minimal information source for perceiving the environmental properties of surface segregation, three-dimensional (3-D) form, displacement, and dynamics is discussed. The selection of these particular properties was motivated by a desire to present research on perceiving properties that span the range of dimensional complexity.

Description: The classical notion of how things are seen is that perception is passive, that the eyes are windows, and in floods reality. Physiological work of the 19th century cast doubt on this view that perception is passive acceptance of reality. Perception is not at the present time a popular topic for philosophers. This must be partly because scientific accounts of perception have now gone a long way away from appearances. They depend on physiological and psycho-physical experiments which require technical investigation and do not fall within traditional concepts of philosophy. Theories of visual perception are examined, both from a physical and psycho-physical standpoint.

Description: Recent development in video technology, such as the liquid crystal displays and shutters, have made it feasible to incorporate stereoscopic depth into the 3-D representations on 2-D displays. However, depth has already been vividly portrayed in video displays without stereopsis using the classical artists' depth cues described by Helmholtz (1866) and the dynamic depth cues described in detail by Ittleson (1952). Successful static depth cues include overlap, size, linear perspective, texture gradients, and shading. Effective dynamic cues include looming (Regan and Beverly, 1979) and motion parallax (Rogers and Graham, 1982). Stereoscopic depth is superior to the monocular distance cues under certain circumstances. It is most useful at portraying depth intervals as small as 5 to 10 arc secs. For this reason it is extremely useful in user-video interactions such as telepresence. Objects can be manipulated in 3-D space, for example, while a person who controls the operations views a virtual image of the manipulated object on a remote 2-D video display. Stereopsis also provides structure and form information in camouflaged surfaces such as tree foliage. Motion parallax also reveals form; however, without other monocular cues such as overlap, motion parallax can yield an ambiguous perception. For example, a turning sphere, portrayed as solid by parallax can appear to rotate either leftward or rightward. However, only one direction of rotation is perceived when stereo-depth is included. If the scene is static, then stereopsis is the principal cue for revealing the camouflaged surface structure. Finally, dynamic stereopsis provides information about the direction of motion in depth (Regan and Beverly, 1979). Clearly there are many spatial constraints, including spatial frequency content, retinal eccentricity, exposure duration, target spacing, and disparity gradient, which - when properly adjusted - can greatly enhance stereodepth in video displays.

Description: Observers frequently underestimate the in-depth slant of rectangles under reduction conditions. This also occurs for slanted rectangles depicted on a flat display medium. Perrone (1982) provides a model for judged slant based upon properties of the 2-D trapezoidal projection of the rectangle. Two important parameters of this model are the angle of convergence of the sides of the trapezoid and the projected length of the trapezoid. This model was tested using a range of stimulus rectangles and found that the model failed to predict some of the major trends in the data. However, when the projected width of the base of the trapezoid projection was used in the model, instead of the projected length, excellent agreement between the theoretical and obtained slant judgements resulted. The good fit between the experimental data and the new model predictions indicates that perceived slant estimates are highly correlated with specifiable features in the stimulus display.

Description: Limited cue, open-loop tasks in which a human observer indicates distances or relations among distances are discussed. By open-loop tasks, it is meant tasks in which the observer gets no feedback as to the accuracy of the responses. What happens when cues are added and when the loop is closed are considered. The implications of this research for the effectiveness of visual displays is discussed. Errors in visual distance tasks do not necessarily mean that the percept is in error. The error could arise in transformations that intervene between the percept and the response. It is argued that the percept is in error. It is also argued that there exist post-perceptual transformations that may contribute to the error or be modified by feedback to correct for the error.

Description: Experiences raise a number of concerns for future spatial-display developers. While the promise of spatial displays is great, the cost of their development will be correspondingly large. The knowledge and skills which must be coordinated to ensure successful results is unprecedent. From the viewpoint of the designer, basic knowledge of how human beings perceive and process complex displays appears fragmented and largely unquantified. Methodologies for display development require prototyping and testing with subject pilots for even small changes. Useful characterizations of the range of differences between individual users is nonexistent or at best poorly understood. The nature, significance, and frequency of interpretation errors associated with complex integrated displays is unexplored and undocumented territory. Graphic displays have intuitive appeal and can achieve face validity much more readily than earlier symbolic displays. The risk of misleading the pilot is correspondingly greater. Thus while some in the research community are developing the tools and techniques necessary for effective spatial-display development, potential users must be educated about the issues so that informed choices can be made. The scope of the task facing all is great. The task is challenging and the potential for meaningful contributions at all levels is high indeed.

Description: In each of two studies, subjects were exposed to a continuously changing prismatic displacement with a mean value of 19 prism diopters (variable displacement) and to a fixed 19-diopter displacement (fixed displacement). In Experiment 1, significant adaptation (post-pre shifts in hand-eye coordination) was found for fixed, but not for variable, displacement. Experiment 2 demonstrated that adaptation was obtained for variable displacement, but it was very fragile and is lost if the measures of adaptation are preceded by even a very brief exposure of the hand to normal or near-normal vision. Contrary to the results of some previous studies, an increase in within-S dispersion was not found of target pointing responses as a result of exposure to variable displacement.