Abstract: A unique structure for constructing the emissive patch of a spaceborne radiative cooler is shown. The structure has very high emissivity for all angles up to a designed-in maximum angle and near zero emissivity for greater angles. The structure also allows the use of high emissivity, nonconducting paints while fully complying with the NASA Electrostatic Discharge Susceptibility requirements for spacecraft. To accomplish these tasks, two previous disadvantages of prior art methods are addressed; eliminating background thermal radiation sources and problems concerning the high emissivity paints used in association with the black body radiator. A reflector consisting of an array of parabolic concentrators is separated from a black body element by an electrically conductive spacer. The concentrators serve to limit the field of view while the conductive spacer eliminates the need to use a conductive paint on the emissive element.

Abstract: An eye safe, compact, solid state lidar for profiling atmospheric cloud and aerosol scattering is disclosed. The transmitter of the micro pulse lidar is a diode pumped .mu.J pulse energy, high repetition rate Nd:YLF laser. Eye safety is obtained through beam expansion. The receiver employs a photon counting solid state Geiger mode avalanche photodiode detector. Data acquisition is by a single card multichannel scaler. Daytime background induced quantum noise is controlled by a narrow receiver field-of-view and a narrow bandwidth temperature controlled interference filter. Dynamic range of the signal is limited by optical geometric signal compression. Signal simulations and initial atmospheric measurements indicate that micro pulse lidar systems are capable of detecting and profiling all significant cloud and aerosol scattering through the troposphere and into the stratosphere.

Abstract: A captured nut member is located within a tool interface assembly and being actuated by a spline screw member driven by a robot end effector. The nut member lowers and rises depending upon the directional rotation of the coupling assembly. The captured nut member further includes two winged segments which project outwardly in diametrically opposite directions so as to engage and disengage a clamping surface in the form of a chamfered notch respectively provided on the upper surface of a pair of parallel forwardly extending arm members of a bifurcated tool stowage holster which is adapted to hold and store a robotic tool including its end effector interface when not in use. A forward and backward motion of the robot end effector operates to insert and remove the tool from the holster.

Abstract: A phase discriminating capacitive sensor array system which provides multiple sensor elements which are maintained at a phase and amplitude based on a frequency reference provided by a single frequency stabilized oscillator. Sensor signals provided by the multiple sensor elements are controlled by multiple phase control units, which correspond to the multiple sensor elements, to adjust the sensor signals from the multiple sensor elements based on the frequency reference. The adjustment made to the sensor signals is indicated by output signals which indicate the proximity of the object. The output signals may also indicate the closing speed of the object based on the rate of change of the adjustment made, and the edges of the object based on a sudden decrease in the adjustment made.

Abstract: A method and apparatus for inserting and moving a sensing assembly with a mechanical positioning assembly to a desired remote location of a surface of a specimen under test and measuring angle and/or deflection by sensing the change in the impedance of at least one sensor coil located in a base plate which has a rotatable conductive plate pivotally mounted thereon so as to uncover the sensor coil(s) whose impedance changes as a function of deflection away from the center line of the base plate in response to the movement of the rotator plate when contacting the surface of the specimen under test. The apparatus includes the combination of a system controller, a sensing assembly, an eddy current impedance measuring apparatus, and a mechanical positioning assembly driven by the impedance measuring apparatus to position the sensing assembly at a desired location of the specimen.

Abstract: A device for the determination of residual stress in a material sample consisting of a sensor coil, adjacent the material sample, whose resistance varies according to the amount of stress within the material sample, a mechanical push-pull machine for imparting a gradually increasing compressional and tensional force on the material sample, and an impedance gain/phase analyzer and PC for sending an input signal to and receiving an input signal from the sensor coil. The PC will measure and record the change in resistance of the sensor coil and the corresponding amount of strain of the sample. The PC will then determine from the measurements of change of resistance and corresponding strain of the sample the point at which the resistance of the sensor coil is at a minimum and the corresponding value and type of strain of the sample at that minimum resistance point thereby enabling a calculation of the residual stress in the sample.

Abstract: A split rail gripper for robotic apparatus and including a pair of rails which are driven in mutually opposite directions by a rack and pinion gear mechanism. Each rail includes a set of rack gear teeth which engage respective pinion gears and where the top rail engaging one of the pinion gears is driven by a harmonic gear reduction drive and motor unit coupled to an drive screw. The other pinion gear is driven by the top pinion gear engaging a set of rack gear teeth included in the bottom rail. As the top rail is driven in or out, the upper pinion gear is rotated, causing the other pinion gear, in turn, to rotate in the opposite direction. This causes the bottom rail to move in an opposite linear direction relative to the top rail.

Abstract: A laser transmitting and receiving system includes doppler compensation for large doppler shifts in frequency caused by relative motion between a collocated transceiver and a target or relative motion between separated transmitters and receivers. The system includes a tunable laser, a dithered laser optical frequency standard, and a computer for calculating the estimated doppler shift at a given time using platform navigation and attitude control inputs as well as inputs relating to pointing data controlling the direction of transmission. The frequency standard and the computer output are employed to develop a doppler compensation signal which may be used to shift the frequency of the laser transmitter or shift the bandpass of a laser receiver filter. The doppler compensation is provided by a feedback loop which may include r.f. components, a timing trigger from the computer, or wavemeters.

Abstract: A retractable tool bit assembly for a tool such as an allen key. The assembly includes one or more spring loaded nestable or telescoping tubular sections together with a catch mechanism for capturing and holding the tool in its retracted position. The catch mechanism consists of a latch mechanism located in a base section and which engages a conically shaped tool head located at the inner end of the tool. The tool head adjoins an eccentric oval type neck portion which extends to a rear lip of the tool head. The latch mechanism releases when the ovular neck portion rotates about the catch members upon actuation of a rotary tool drive motor. When released, all the telescoping sections and the tool extends fully outward to a use position.

Abstract: In a robot having a gripper including a pair of fingers and a drive motor for driving the fingers toward and away from one another while the fingers remain parallel to each other, the fingers consist of finger pads, which interface with a handle on an object to be grasped, and a shank, which attaches the fingers to the robot gripper. The double-V finger has two orthogonal V-grooves forming in the center of the finger pads a recessed cruciform. The double-V finger is used with a handle on the object to be grasped which is the negative of the finger pads. The handle face consists of v-shaped pads capped with a rectangular cruciform. As the gripper is brought into place near the handle, the finger pads are lined up facing the handle pads. When the finger pad and the handle pad are in proper alignment, the rectangular ridges on the handle fall inside the rectangular grooves on the finger, and the grip is complete.

Abstract: A retractable tool bit assembly utilized in conenction with a robotic gripper type and end-effector. The apparatus includes one or more spring loaded nestable or telescoping tubular sections together with a catch mechanism for capturing and holding the tool, such as an allen key, in its retracted position. The innermost tubular section includes a threshold cap and engages and holds the tool. The catch mechanism consists of a slider type mechanism located adjacent a relatively larger outer base sction and includes means for engaging a conically or mushroom shaped rear end portion of the tool when the telescoping sections are moved to a retracted or parked position. The catch mechanism is released upon actuation of a rotary tool drive motor coupled to a circular mount and which holds the base section. When released all the telescoping sections including the tool extends fully outward to a use position.

Abstract: A mechanical coupling system wherein a spline screw system is used to connect two bodies, a work attachment mechanism and a work attachment fixture. A kinematic clamp first guides and mates the attachment mechanism to the attachment fixture. The kinematic clamp includes three round roller members equidistantly located around the periphery of the bodies and three correspondingly located V-shaped grooves located on the periphery of the other body. A motor driven spline screw in the attachment mechanism then engages a spline bolt head in the attachment fixture and includes a threaded shank upon which is mounted a translatable nut which is adapted to translate up and down the shank but not rotate. The nut carries one or more electrical connectors which travel upwardly during a connecting sequence and cams open a set of dust covers which operate to engage an opposing set of dust covers adjacent complementary type electrical connectors on the attachment mechanism.

Abstract: A compliant walker for humans having limited use of their legs and lower back includes an upright wheeled frame which at least partially surrounds an upright user wearing a partial body harness which is attached to the frame by means of cable compliant apparatus consisting of sets of cable segments and angle bracket members connected between opposite side members of the frame and adjacent side portions of the harness. The type of partial body harness utilized takes two forms, the first being a torso harness which encircles the waist or rib cage of the user, while the second type of harness is a hip harness which fits around the hips and buttocks. The frame itself lends itself to several embodiments, one of which completely surrounds the user, while the other consists of a frame open at the front end including a pair of upright side members which attach to the cable support apparatus and which is vertically adjustable to accommodate the user's height.

Abstract: A robot-friendly coupling device for an Orbital Replacement Unit (ORU). The invention will provide a coupling that is detached and attached remotely by a robot. The design of the coupling must allow for slight misalignments, over torque protection, and precision placement. This is accomplished by using of a triangular interface having three components. A base plate assembly is located on an attachment surface, such as a satellite. The base plate assembly has a cup member, a slotted member, and a post member. The ORU that the robot attaches to the base plate assembly has an ORU plate assembly with two cone members and a post member which mate to the base plate assembly. As the two plates approach one another, one cone member of the ORU plate assembly only has to be placed accurately enough to fall into the cup member of the base plate assembly. The cup forces alignment until a second cone falls into a slotted member which provides final alignment. A single bolt is used to attach the two plates.

Abstract: A capacitive proximity sensing element, backed by a reflector driven at the same voltage as and in phase with the sensor, is used to reflect the field lines away from a grounded robot arm towards an intruding object, thus dramatically increasing the sensor's range and sensitivity.

Abstract: A device for holding reading materials for use by readers without arm mobility adapted to hold the reading materials in position for reading with the pages displayed to enable turning by use of a rubber tipped stick held in the mouth having a pair of rectangular frames for holding and positioning the reading material opened in reading posture with the pages displayed at a substantially unobstructed sighting position for reading with the pair of rectangular frames connected to one another by a hinge so the angle between the frames may be varied thereby varying the inclination of the reading materials.

Abstract: A robot serviced space facility includes multiple modules which are identical in physical structure, but selectively differing in function and purpose. Each module includes multiple like attachment points which are identically placed on each module so as to permit interconnection with immediately adjacent modules. Connection is made through like outwardly extending flange assemblies having identical male and female configurations for interconnecting to and locking to a complementary side of another flange. Multiple rows of interconnected modules permit force, fluid, data and power transfer to be accomplished by redundant circuit paths. Redundant modules of critical subsystems are included. Redundancy of modules and of interconnections results in a space complex with any module being removable upon demand, either for module replacement or facility reconfiguration, without eliminating any vital functions of the complex.

Abstract: A plurality of identical modules are serially connected together with each module including a base plate and a top plate interconnected by a universal joint assembly so that the top plate is adapted to pivotally nutate around the base plate to describe a cone in space. An array of twenty-four electromagnets, sequentially energized in sets of three, are arranged in a ring around the periphery of the base plate. Selective energization of the eight sets of electromagnets causes the rim of the top plate to be magnetically attracted to the energized electromagnets. The tilt of the top pivot plate is detected and controlled over a range of 360.degree., thus permitting a series string of modules to assume any desired elongated configuration.

Abstract: A device capable of accurate temperature measurement down to 0.01.degree. K. of an object whose temperature is to be measured consisting of a heat sink wafer a first conducting pad bonded near one end of the heat sink wafer and a second conducting pad bonded near the other end of the heat sink wafer, an oblong doped semiconductor crystal such as germanium, the oblong doped semiconductor crystal has a third conducting pad bonded on its top surface and a fourth conducting pad bonded on its bottom surface with the oblong doped semiconductor crystal bonded to the heat sink wafer by having the fourth conducting pad bonded to the first conducting pad, a wire bonded between the second and third conducting pads, and current and voltage applying wires bonded to the first and second conducting pads whereby the change in resistance of the oblong doped semiconductor crystal indicates the temperature of an object whose temperature is to be measured.

Abstract: A device for removing foreign objects from anatomic organs such as the ear canal or throat having a housing shaped like a flashlight, an electrical power source such as a battery or AC power from a wall socket, and a tip extending from the housing, the tip having at least one wire loop made from a shape-memory-effect alloy such as Nitinol switchably connected to the electrical power source such that when electric current flows through the wire loop the wire loop heats up and returns to a previously programmed shape such as a curet or tweezers so as to facilitate removal of the foreign object.