Abstract: The sensitivity model of a complex optical system obtained by linear ray tracing is used to compute a control gain matrix by imposing the mathematical condition for minimizing the total wavefront error at the optical system's exit pupil. The most recent deformations or error states of the controlled segments or optical surfaces of the system are then assembled as an error vector, and the error vector is transformed by the control gain matrix to produce the exact control variables which will minimize the total wavefront error at the exit pupil of the optical system. These exact control variables are then applied to the actuators controlling the various optical surfaces in the system, causing the immediate reduction in total wavefront error observed at the exit pupil of the optical system.

Abstract: An associative optical memory including an input SLM in the form of an edge enhanced LCLV and a pair of memory SLMs in the form of LCTVs forms a matrix array of an input image which is cross correlated with a matrix array of stored images. The correlation product is detected and non-linearly amplified to illuminate a replica of the stored image array to select the stored image correlating with the input image. The LCLV is edge enhanced by reducing the bias frequency and voltage and rotating its orientation. The edge enhancement and non-linearity of the photodetection improves the orthogonality of the stored images. The illumination of the replicate stored image provides a clean stored image, uncontaminated by the image comparison process.

Abstract: This invention is a novel high-speed neural network based processor for solving the "traveling salesman" and other global optimization problems. It comprises a novel hybrid architecture employing a binary synaptic array whose embodiment incorporates the fixed rules of the problem, such as the number of cities to be visited. The array is prompted by analog voltages representing variables such as distances. The processor incorporates two interconnected feedback networks, each of which solves part of the problem independently and simultaneously, yet which exchange information dynamically.

Abstract: Two classes of systems for force-reflecting control that enable high force-reflection gain are presented: position-error-based force reflection and low-pass-filtered force reflection, both combined with shared compliance control. In the position-error-based class, the position error between the commanded and the actual position of a compliantly controlled robot is used to provide force reflection. In the low-pass-filtered force reflection class, the low-pass-filtered output of the compliance control is used to provide force reflection. The increase in force reflection gain can be more than 10-fold as compared to a conventional high-bandwidth pure force reflection system, when high compliance values are used for the compliance control.

Abstract: An alkali metal filter having a layer of metallic bismuth deposited onto the alkali metal is provided. The metallic bismuth acts to stabilize the surface of the alkali metal to prevent substantial surface migration from occurring on the alkali metal, which may degrade optical characteristics of the filter. To this end, a layer of metallic bismuth is deposited by vapor deposition over the alkali metal to a depth of approximately 5 to 10 .ANG.. A complete alkali metal filter is described along with a method for fabricating the alkali metal filter.

Abstract: A process for fabricating a detector array in a layer of semiconductor material on one substrate and an integrated readout circuit in a layer of semiconductor material on a separate substrate in order to select semiconductor material for optimum performance of each structure, such as GaAs for the detector array and Si for the integrated readout circuit. The detector array layer is lifted off its substrate, laminated on the metallized surface of the integrated surface, etched with reticulating channels to the surface of the integrated circuit, and provided with interconnections between the detector array pixels and the integrated readout circuit through the channels. The adhesive material for the lamination is selected to be chemically stable to provide electrical and thermal insulation and to provide stress release between the two structures fabricated in semiconductor materials that may have different coefficients of thermal expansion.

Abstract: A telerobot system including an operator interface for developing and controlling complex tasks for execution on a remote robot manipulator by developing sequences of parameterized tasks primitives for execution and testing on a local simulator. The task sequences, and their parameterization, may be interactively modified by teleoperation and/or editing during sequence development and task execution. Adjustable time delays are provided for execution simulation including delays expected to occur between task command and execution at the remote robot manipulator.

Abstract: The invention analyzes areas of conditions with an expert knowledge base of rules using plural separate nodes which fire respective rules of said knowledge base, each of said rules upon being fired altering certain of said conditions predicated upon existence of others of said conditions, the invention operating by constructing a P representation of all pairs of said rules which are input dependent or output dependent; constructing a C representation of all pairs of said rules which are communication dependent or input dependent; determining which of the rules are ready to fire by matching the predicate conditions of each rule with the conditions of said set; enabling said node means to simultaneously fire those of the rules ready to fire which are defined by said P representation as being free of input and output dependencies; and communicating from each node enabled by said enabling step the alteration of conditions by the corresponding rule to other nodes whose rules are defined by said C matrix means as b

Abstract: A directional microstrip antenna includes a driven patch surrounded by an isolated reflector and one or more coplanar directors, all separated from a groundplane on the order of 0.1 wavelength or less to provide endfire beam directivity without requiring power dividers or phase shifters. The antenna may be driven at a feed point a distance from the center of the driven patch in accordance with conventional microstrip antenna design practices for H-plane coupled or horizontally polarized signals. The feed point for E-plane coupled or vertically polarized signals is at a greater distance from the center than the first distance. This feed point is also used for one of the feed signals for circularly polarized signals. The phase shift between signals applied to feed points for circularly polarized signals must be greater than the conventionally required 90.degree. and depends upon the antenna configuration.

Abstract: An end-to-end microwave receiver system contained in a single miniature hybrid package mounted on a single heatsink, including an input end connected to a microwave receiver antenna and an output end which produces a digital count proportional to the amplitude of a signal of a selected microwave frequency band received at the antenna and corresponding to one of the water vapor absorption lines near frequencies of 20 GHz or 30 GHz. The hybrid package is on the order of several centimeters in length and a few centimeters in height and width. The package includes an L-shaped carrier having a base surface and a vertical wall extending up from the base surface and forming a corner therewith, external connection pins extending through the vertical wall. Modular blocks rest on the base surface against the vertical wall and support microwave monolithic integrated circuits on top surfaces thereof connected to the external connection pins.

Abstract: A Real-time Robotic Controller and Simulator (RRCS) with an MIMD-SIMD parallel architecture for interfacing with an external host computer provides a high degree of parallelism in computation for robotics control and simulation. A host processor receives instructions from, and transmits answers to, the external host computer. A plurality of SIMD microprocessors, each SIMD processor being an SIMD parallel processor, is capable of exploiting fine-grain parallelism and is able to operate asynchronously to form an MIMD architecture. Each SIMD processor comprises an SIMD architecture capable of performing two matrix-vector operations in parallel while fully exploiting parallelism in each operation. A system bus connects the host processor to the plurality of SIMD microprocessors and a common clock provides a continuous sequence of clock pulses.

Abstract: An improved AOTF-based imaging spectrometer that has ability to electronically set the bandpass wavelength of an AOTF to any desired value in its wide tuning range, provides significant observational flexibility. This allows observations to be tailored in real-time and enables the spectrometer to address a wide range of objectives and permits real-time modification of the observational parameters, such as in flight or in other situations in which only remote control is possible. Various improvements in optical architecture provide simplified magnification variability, improved image resolution and light throughput efficiency and reduced sensitivity to ambient light. A preferred embodiment employs a camera zoom lens as the input lens. A TeO.sub.2 AOTF and a relay lens are placed at selected distances behind the back focal plane of the input lens, respectively.

Abstract: A screening assay for detecting the presence of Pseudomonas bacteria in a test sample comprising isolating the bacteria present in the sample, extracting Azurin protein from the periplasm within the bacteria, reacting the extract with an enzymatically labelled, Azurin-specific antibody and a color-producing substrate specific for the enzyme which is capable of producing a color distinct from the color generated by Azurin and reading the results of the reaction of the sample with the antibody to determine whether the color has been produced whereby the presence of Pseudomonas bacteria in the sample is indicated.

Abstract: Repulsion forces arising from laser beams are provided to produce mild positioning forces on a sample in microgravity vacuum environments. The system of the preferred embodiment positions samples using a plurality of pulsed lasers providing opposing repulsion forces. The lasers are positioned around the periphery of a confinement area and expanded to create a confinement zone. The grouped laser configuration, in coordination with position sensing devices, creates a feedback servo whereby stable position control of a sample within microgravity environment can be achieved.

Abstract: A system is described for determining motion of an object that is acoustically positioned in a standing wave field in a chamber. Sonic energy in the chamber is sensed, and variation in the amplitude of the sonic energy is detected, which is caused by linear motion, rotational motion, or drop shape oscillation of the object. Apparatus for detecting object motion can include a microphone (24) coupled to the chamber and a low pass filter (40) connected to the output of the microphone, which passes only frequencies below the frequency of sound produced by a transducer (18) that maintains the acoustic standing wave field. Knowledge about object motion can be useful by itself, can be useful to determine surface tension, viscosity, and other information about the object, and can be useful to determine the pressure and other characteristics of the acoustic field.

Abstract: In the field of viscoelastic dampers, a new strut design comprises a viscoelastic material sandwiched between multiple layers, some of which layers bear and dampen load force. In one embodiment, the layers are composite plies of opposing orientation. In another embodiment, the strut utilizes a viscoelastic layer sandwiched between V-shaped composite plies. In a third embodiment, a viscoelastic layer is sandwiched between sine-shaped plies. Strut strength is equal to or greater than conventional aluminum struts due to the unique high interlaminar shear ply design.

Abstract: An integrated, optoelectronic, variable thresholding neuron implemented monolithically in a GaAs integrated circuit and exhibiting high differential optical gain and low power consumption. Two alternative embodiments each comprise an LED monolithically integrated with a detector and two transistors. One of the transistors is responsive to a bias voltage applied to its gate for varying the threshold of the neuron. One embodiment is implemented as an LED monolithically integrated with a double heterojunction bipolar phototransistor (detector) and two metal semiconductor field-effect transistors (MESFET's) on a single GaAs substrate and another embodiment is implemented as an LED monolithically integrated with three MESFET's (one of which is an optical FET detector) on a single GaAs substrate. The first noted embodiment exhibits a differential optical gain of 6 and an optical switching energy of 10 pJ. The second embodiment has a differential optical gain of 80 and an optical switching energy or 38 pJ.

Abstract: A fault-tolerant random access memory for use in fault-tolerant computers. It comprises a plurality of memory chips each comprising a plurality of on-line testable and correctable memory cells disposed in rows and columns for holding individually addressable binary bits and provision for error detection incorporated into each memory cell for outputting an error signal whenever a transient error occurs therein. Each of the memory cells comprises a pair memory sub-cells for simultaneously receiving and holding a common binary data bit written to the memory cell and the error detection provision comprises comparator logic for continuously sensing and comparing the contents of the memory sub-cells to one another and for outputting the error signal whenever the contents do not match. In accordance with one feature of the invention, the memory systematically searches for an error in response to an error signal and corrects the error found by the search.

Abstract: A neural network processor for solving first-order competitive assignment problems consists of a matrix of N.times.M processing units, each of which corresponds to the pairing of a first number of elements of {R.sub.i } with a second number of elements {C.sub.j }, wherein limits of the first number are programmed in row control superneurons, and limits of the second number are programmed in column superneurons as MIN and MAX values. The cost (weight) W.sub.ij of the pairings is programmed separately into each PU. For each row and column of PUs, a dedicated constraint superneuron insures that the number of active neurons within the associated row or column fall within a specified range. Annealing is provided by gradually increasing the PU gain for each row and column or increasing positive feedback to each PU, the latter being effective to increase hysteresis of each PU or by combining both of these techniques.

Abstract: A universal input device for interfacing a human operator with a slave machine such as a robot or the like includes a plurality of serially connected mechanical links extending from a base. A handgrip is connected to the mechanical links distal from the base such that a human operator may grasp the handgrip and control the position thereof relative to the base through the mechanical links. A plurality of rotary joints is arranged to connect the mechanical links together to provide at least three translational degrees of freedom and at least three rotational degrees of freedom of motion of the handgrip relative to the base. A cable and pulley assembly for each joint is connected to a corresponding motor for transmitting forces from the slave machine to the handgrip to provide kinesthetic feedback to the operator and for producing control signals that may be transmitted from the handgrip to the slave machine.