Abstract: An apparatus providing for simultaneous measurement of the wind upstream and downstream of a wind turbine uses either a single LIDAR beam split into two beams, each focused upstream or downstream of the windmill, or a multiple beam LIDAR with a first beam source aimed toward the upstream direction of the wind and a second beam source aimed at the downstream direction after the wind has passed through the wind turbine. The apparatus may also use LIDAR to measure wind direction and speed by making measurements along slightly different lines of sight, or by pointing the LIDAR in different directions. Two lines of sight allow measuring wind direction in the plane defined by the two lines of sight. Three non-coplanar lines of sight provide the information necessary to determine a full 3-dimensional wind velocity vector. Further, LIDAR may also be used to measure wind speed by estimating the wind velocity using inputs from both aerosol and molecular components.

Abstract: An apparatus providing for simultaneous measurement of the wind upstream and downstream of a wind turbine uses either a single LIDAR beam split into two beams, each focused upstream or downstream of the windmill, or a multiple beam LIDAR with a first beam source aimed toward the upstream direction of the wind and a second beam source aimed at the downstream direction after the wind has passed through the wind turbine. The apparatus may also use LIDAR to measure wind direction and speed by making measurements along slightly different lines of sight, or by pointing the LIDAR in different directions. Two lines of sight allow measuring wind direction in the plane defined by the two lines of sight. Three non-coplanar lines of sight provide the information necessary to determine a full 3-dimensional wind velocity vector. Further, LIDAR may also be used to measure wind speed by estimating the wind velocity using inputs from both aerosol and molecular components.

Abstract: One of first and second beams (28) of corresponding first and second light (13) are projected into an atmosphere (20) and at least one physical property of the atmosphere (20) is detected from the interference pattern (47) generated from the resulting scattered light (30). The first and second beams (20) are selected responsive to either a detected signal-to-noise ratio (SNR) or a detected aerosol-to-molecular ratio (AMR). The wavelength (740) of the first light (13) provides for either molecular or aerosol scattering, whereas the wavelength (738) of the second light (13) provides for primarily only aerosol scattering. In accordance with a second aspect, scattered light (30) from one or more beams (28) of substantially monochromatic light (13) projected into the atmosphere (20) and received from a plurality of interaction regions (17) or measurement volumes (52) provides for determining wind power (P*) within a region of the atmosphere (20).

Abstract: A magnitude and direction, or a measure responsive thereto, of a velocity (V) of a first portion (17) of an atmosphere (20) are determined from at least first and second portions of scattered light (30) generated along a common beam of light (28) within the first portion (17) of the atmosphere (20) and received along linearly independent directions at locations that are relatively remote with respect to one another, at least one of which is relatively remote from a source (11) of the beam of light (28).

Abstract: One of first and second beams (28) of corresponding first and second light (13) are projected into an atmosphere (20) and at least one physical property of the atmosphere (20) is detected from the interference pattern (47) generated from the resulting scattered light (30). The first and second beams (20) are selected responsive to either a detected signal-to-noise ratio (SNR) or a detected aerosol-to-molecular ratio (AMR). The wavelength (740) of the first light (13) provides for either molecular or aerosol scattering, whereas the wavelength (738) of the second light (13) provides for primarily only aerosol scattering. In accordance with a second aspect, scattered light (30) from one or more beams (28) of substantially monochromatic light (13) projected into the atmosphere (20) and received from a plurality of interaction regions (17) or measurement volumes (52) provides for determining wind power (P*) within a region of the atmosphere (20).

Abstract: For each capture mechanism of a plurality of three capture mechanisms, a necked coupling element received by a corresponding socket slides therealong and engages a corresponding latch lever biased in an open position and rotates the latch lever to a closed position as the necked coupling element is slid within the socket towards a bottom thereof. A latch locked biased against the latch lever engages a notch in the latch lever when the latch lever is closed so as to latch the latch lever in the closed position and thereby capture the necked coupling element within the socket. The latch lever is unlatched by releasing the latch lock from engagement with the latch. Different latch levers incorporate different shaped surfaces that engage different corresponding necked coupling elements captured thereby so as to provide for respectively constraining in one, two and three degrees-of-freedom, respectively.

Abstract: For each capture mechanism of a plurality of three capture mechanisms, a necked coupling element received by a corresponding socket slides therealong and engages a corresponding latch lever biased in an open position and rotates the latch lever to a closed position as the necked coupling element is slid within the socket towards a bottom thereof. A latch locked biased against the latch lever engages a notch in the latch lever when the latch lever is closed so as to latch the latch lever in the closed position and thereby capture the necked coupling element within the socket. The latch lever is unlatched by releasing the latch lock from engagement with the latch. Different latch levers incorporate different shaped surfaces that engage different corresponding necked coupling elements captured thereby so as to provide for respectively constraining in one, two and three degrees-of-freedom, respectively.

Abstract: A capture mechanism provides for receiving a necked coupling element within a socket, providing for the necked coupling element to slide therewith, biasing a latch lever in an open position so as to provide for receiving the necked coupling element within the socket adjacent to the latch lever, rotating the latch lever with the necked coupling element from the open position to a closed position as the necked coupling element is slid within the socket towards a bottom of the socket, biasing a latch lock against the latch lever, engaging the latch lock with the latch lever when the latch lever is in the closed position so as to provide for latching the latch lever in the closed position and capturing the necked coupling element within the socket, and providing for unlatching the latch lever by releasing the latch lock from engagement with the latch lever.

Abstract: First and second portions of a docking system are releasably connected with one another using at least one latch mechanism that can be reusably released either from the first portion of the docking system or from the second portion of the docking system.

Abstract: A magnitude and direction, or a measure responsive thereto, of a velocity (V) of a first portion (17) of an atmosphere (20) are determined from at least first and second portions of scattered light (30) generated along a common beam of light (28) within the first portion (17) of the atmosphere (20) and received along linearly independent directions at locations that are relatively remote with respect to one another, at least one of which is relatively remote from a source (11) of the beam of light (28).

Abstract: A convex forward surface of a forward-biased probe head of a first portion of a docking system engages a central concave conical surface of a second portion of the docking system. A first linear actuator moves a flexible docking cable assembly relative to a support structure through bores therein and through the probe head. An aftward retraction of the docking cable assembly causes a linearly-actuated cam element thereof to rotate a rotary cam follower pivoted from the support structure, which engages an aft edge portion of the probe head, forcing the probe head forward. A plurality of distal coupling elements operatively coupled to the support structure around a central axis thereof engage with and become releasably captured by a corresponding socket and associated capture mechanism of a mating second portion of the docking system, and rigidized when the probe head is forced against the central concave conical surface.

Abstract: An end effector operatively coupled to an extendable tensile element extended from a first vehicle engages a primary receptacle of a second vehicle. The first and second vehicles are drawn together by retracting the extendable tensile element into the first vehicle until contact therebetween, after which roll axes of the first and second vehicles become substantially aligned responsive to a further retraction of the extendable tensile element into the first vehicle and a resulting tension in the extendable tensile element. At least one alignment post of at least one of the first and second vehicles engages with at least one surface of at least one corresponding secondary receptacle so as to at least substantially align the first and second vehicles in roll responsive to the tension in the extendable tensile element.

Abstract: An end effector operatively coupled to an extendable tensile element extended from a first vehicle engages a primary receptacle of a second vehicle. The first and second vehicles are drawn together by retracting the extendable tensile element into the first vehicle until contact therebetween, after which roll axes of the first and second vehicles become substantially aligned responsive to a further retraction of the extendable tensile element into the first vehicle and a resulting tension in the extendable tensile element. At least one alignment post of at least one of the first and second vehicles engages with at least one surface of at least one corresponding secondary receptacle so as to at least substantially align the first and second vehicles in roll responsive to the tension in the extendable tensile element.

Abstract: A convex forward surface of a forward-biased probe head of a first portion of a docking system engages a central concave conical surface of a second portion of the docking system. A first linear actuator moves a flexible docking cable assembly relative to a support structure through bores therein and through the probe head. An aftward retraction of the docking cable assembly causes a linearly-actuated cam element thereof to rotate a rotary cam follower pivoted from the support structure, which engages an aft edge portion of the probe head, forcing the probe head forward. A plurality of distal coupling elements operatively coupled to the support structure around a central axis thereof engage with and become releasably captured by a corresponding socket and associated capture mechanism of a mating second portion of the docking system, and rigidized when the probe head is forced against the central concave conical surface.

Abstract: First and second portions of a docking system are releasably connected with one another using at least one latch mechanism that can be reusably released either from the first portion of the docking system or from the second portion of the docking system.

Abstract: A convex forward surface of a forward-biased probe head of a first portion of a docking system engages a central concave conical surface of a second portion of the docking system. A first linear actuator moves a flexible docking cable assembly relative to a support structure through bores therein and through the probe head. An aftward retraction of the docking cable assembly causes a linearly-actuated cam element thereof to rotate a rotary cam follower pivoted from the support structure, which engages an aft edge portion of the probe head, forcing the probe head forward. A plurality of distal coupling elements operatively coupled to the support structure around a central axis thereof engage with and become releasably captured by a corresponding socket and associated capture mechanism of a mating second portion of the docking system, and rigidized when the probe head is forced against the central concave conical surface.

Abstract: An automatically aligned docking system, comprises a multi-point kinematic rigidization system that provides precise, repeatable rotational alignment at the spacecraft-docking interface without over-constraining the interface.

Abstract: First and second releasably connectable portions of a docking system are moved together. A relatively central concave element of the second portion of the docking system contacts a corresponding relatively central mating convex element of the first portion of the docking system. A plurality of relatively distal coupling elements rigidly connected to one of the first and second portions of the docking system are inserted into a corresponding plurality of relatively distal sockets of the other of the first and second portions of the docking system. The plurality of relatively distal coupling elements are captured with a corresponding plurality of relatively distal latch mechanisms associated with the plurality of relatively distal sockets responsive to inserting the plurality of relatively distal coupling elements into the corresponding plurality of relatively distal sockets.

Abstract: A convex forward surface of a forward-biased probe head of a first portion of a docking system engages a central concave conical surface of a second portion of the docking system. A first linear actuator moves a flexible docking cable assembly relative to a support structure through bores therein and through the probe head. An aftward retraction of the docking cable assembly causes a linearly-actuated cam element thereof to rotate a rotary cam follower pivoted from the support structure, which engages an aft edge portion of the probe head, forcing the probe head forward. A plurality of distal coupling elements operatively coupled to the support structure around a central axis thereof engage with and become releasably captured by a corresponding socket and associated capture mechanism of a mating second portion of the docking system, and rigidized when the probe head is forced against the central concave conical surface.

Abstract: First and second releasably connectable portions of a docking system are moved together. A relatively central concave element of the second portion of the docking system contacts a corresponding relatively central mating convex element of the first portion of the docking system. A plurality of relatively distal coupling elements rigidly connected to one of the first and second portions of the docking system are inserted into a corresponding plurality of relatively distal sockets of the other of the first and second portions of the docking system. The plurality of relatively distal coupling elements are captured with a corresponding plurality of relatively distal latch mechanisms associated with the plurality of relatively distal sockets responsive to inserting the plurality of relatively distal coupling elements into the corresponding plurality of relatively distal sockets.