Abstract: This invention is a robot control system based on a high level language implementing a spatial operator algebra. There are two high level languages included within the system. At the highest level, applications programs can be written in a robot-oriented applications language including broad operators such as MOVE and GRASP. The robot-oriented applications language statements are translated into statements in the spatial operator algebra language. Programming can also take place using the spatial operator algebra language. The statements in the spatial operator algebra language from either source are then translated into machine language statements for execution by a digital control computer. The system also includes the capability of executing the control code sequences in a simulation mode before actual execution to assure proper action at execution time. The robot's environment is checked as part of the process and dynamic reconfiguration is also possible.

Abstract: Payload customers for the Space Shuttle have recently expressed concerns about the possibility of their payloads at an adjacent pad being contaminated by plume effluents from a shuttle at an active pad as they await launch on an inactive pad. As part of a study to satisfy such concerns a ring of inexpensive dosimeters was deployed around the active pad at the inter-pad distance. However, following a launch, dosimeters cannot be read for several hours after the exposure. As a consequence factors such as different substrates, solvent systems, and possible volatilization of HCl from the badges were studied. This observation led to the length of stain (LOS) dosimeters of this invention. Commercial passive LOS dosimeters are sensitive only to the extent of being capable of sensing 2 ppm to 20 ppm if the exposure is 8 hours. To map and quantitate the HCl generated by Shuttle launches, and in the atmosphere within a radius of 1.

Abstract: A thermal barrier coating system consists of two layers of a zirconia-yttria ceramic. The first layer is applied by low pressure plasma spraying. The second layer is applied by conventional atmospheric pressure plasma spraying. This facilitates the attachment of a durable thermally insulating ceramic coating directly t the surface of a highly oxidation resistant NiAl-based intermetallic alloy after the alloy has been preoxidized to promote the formation of a desirable Al.sub.2 O.sub.3 scale.

Abstract: A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described in which the three inextensible limbs are attached via universal joints to the platform at non-collinear points. Each of the inextensible limbs is also attached via universal joints to a two-degree-of-freedom parallel driver such as a five-bar lineage, a pantograph, or a bidirectional linear stepper motor. The drivers move the lower ends of the limbs parallel to a fixed base and thereby provide manipulation of the platform. The actuators are mounted on the fixed base without using any power transmission devices such as gears or belts.

Abstract: A floating-gate MOS transistor is implemented for use as a nonvolatile analog storage element of a synaptic cell used to implement an array of processing synaptic cells based on a four-quadrant analog multiplier requiring both X and Y differential inputs, where one Y input is UV programmable. These nonvolatile synaptic cells are disclosed fully connected in a 32.times.32 synaptic cell array using standard VLSI CMOS technology.

Abstract: This invention is an adaptive neuron for use in neural network processors. The adaptive neuron participates in the supervised learning phase of operation on a coequal basis with the synapse matrix elements by adaptively changing its gain in a similar manner to the change of weights in the synapse io elements. In this manner, training time is decreased by as much as three orders of magnitude.

Abstract: A wave rotor system includes a wave rotor coupled to first and second end plates. Special ports are provided, one in each of the first and second end plates, to cancel expansion waves generated by the release of working fluid from the wave rotor. One of the expansion waves is reflected in the wave rotor from a reflecting portion, and provided to the special port in the second end plate. Fluid present at the special port in the second end plate has a stagnation pressure and mass flow which is substantially the same as that of the cells of the wave rotor communicating with such special port. This allows for cancellation of the expansion wave generated by the release of working fluid from the wave rotor. The special port in the second end plate has a first end corresponding substantially to the head of the expansion wave, and a second end corresponding substantially to the tail of the expansion wave.

Abstract: An antenna, which may be a search coil, connected to an active circuit which provides negative impedances, each of which is of the order of magnitude of the positive impedances which characterize this active antenna. In one embodiment, one coil terminal is connected to an amplifier which drives a voltage-controlled current source that, in turn, drives a feedback coil which is coupled to the original search coil. In another embodiment that additionally exhibits an advantageous signal-to-noise characteristic, both terminals of the search coil are connected to a differential amplifier that, in turn, provides the control voltage for a current source, which, as in the first embodiment, drives the feedback winding. The feedback coil is wound to provide positive feedback by additive superposition of both coil fields.The positive feedback provided by the feedback current lowers the antenna impedance which, in turn, increases the effective area of the antenna.

Abstract: A transient signal suppressor (10) for use in a controls system which is adapted to respond to a change in a physical parameter whenever it crosses a predetermined threshold value in a selected direction of increasing or decreasing values with respect to the threshold value and is sustained for a selected discrete time interval. The suppressor (10) includes a sensor transducer (12) for sensing the physical parameter and generating an electrical input signal whenever the sensed physical parameter crosses the threshold level in the selected direction. A manually operated switch (30A, 30B) is provided for adapting the suppressor to produce an output drive signal whenever the physical parameter crosses the threshold value in the selected direction of increasing or decreasing values.

Abstract: The invention fulfills new goals for redundancy resolution based on manipulator dynamics and end-effector characteristics. These goals are accomplished by employing the recently developed configuration control approach. Redundancy resolution is achieved by controlling the joint inertia matrix or the end-effector mass matrix that affect the inertial torques, or by reducing the joint torques due to gravity loading and payload. The manipulator mechanical-advantage and velocity-ratio are also used as performance measures to be improved by proper utilization of redundancy. Furthermore, end-effector compliance, sensitivity, and impulsive force at impact are introduced as redundancy resolution criteria. The new goals for redundancy resolution allow a more efficient utilization of the redundant joints based on the desired task requirements.

Abstract: An ambient temperature, high density, rechargeable lithium battery includes a Li.sub.x Mg.sub.2 Si anode which intercalates lithium to form a single crystalline phase when x is up to 1.0 and an amorphous phase when x is from 1 to 2.0. The electrode has good reversibility and mechanical strength after cycling.

Abstract: Service equipment for use in hostile environments includes a detachable service unit secured to a stationary service unit. The detachable service unit includes a housing with an exterior plate, a power control interface for connection to an exterior power source, locating pins located in said exterior plate, an electrical connector in the exterior plate electrically coupled to said power control interface, and a pair of clamping receptacles formed in the exterior plate and located on adjacent opposite edges of the exterior plate. The stationary unit includes an electrical connector for connection to the electrical connector of the detachable service unit, a clamping apparatus for clamping and unclamping the detachable service unit from the stationary unit, a base clamp assembly for mounting the clamping apparatus onto the stationary unit, and locating pin holes for receiving the locating pins and aligning the detachable service unit onto the stationary unit.

Abstract: A portable a hand-grip device having a base member overlaid by a flexible pad having its opposite ends releasably secured to the base. The pad includes an adhesive-covered surface which may be attached to a flat surface. A plurality of closely-spaced elongated rigid members are arranged side-by-side across the back of the flexible sheet to reinforce the flexible pad. The ends of these reinforcing members project beyond the opposite sides of the base and flexible pad. A selectively-operable mechanism on the base member releasably captures the outer ends of the reinforcing members and secures them when the pad member is attached to a flat surface and provides a load path between a handle on the base and the flexible pad. The selectively-operable mechanism is further arranged to selectively release the reinforcing members so that the device may be progressively peeled away from a wall surface.

Abstract: A device for testing fasteners such as nuts and bolts is described which consists of a fixed base plate having a number of threaded and unthreaded holes of varying size for receiving the fasteners to be tested, a torque marking paper taped on top the fixed base plate for marking torque-angle indicia, a torque wrench for applying torque to the fasteners being tested, and an indicator for showing the torque applied to the fastener. These elements provide a low-cost, non-destructive device for verifying the strength of bolts and nuts.

Abstract: Graphite fluoride is produced from graphitized carbon. A bromine iodine mixture reacts with graphitized carbon to produce iodine intercalated graphitized carbon that is then exposed to fluorine.

Abstract: The present invention is directed to a method and apparatus for improving the flow range in centrifugal pumps and compressors. Bleed holes are introduced into a volute tongue of a centrifugal pump or compressor thereby providing a double acting means of boundary layer control at the volute tongue.

Abstract: NiAl is preheated to a temperature between 1530.degree. C. and 1638.degree. C. causing some of the aluminum to evaporate along the faying surfaces thereby forming a glazed layer of nickel rich self-generated filler metal. The glazed faying surfaces are placed in contact, heated to 1530.degree. C. to 1570.degree. C., and pressed together to form a fusion weld.

Abstract: A fiber-reinforced composite composed of a B.sub.a O--Al.sub.2 O.sub.3 --2SiO.sub.2 (BAS) glass ceramic matrix is reinforced with CVD silicon carbide continuous fibers. A slurry of BAS glass powders is prepared and celsian seeds are added during ball melting. The slurry is cast into tapes which are cut to the proper size.Continuous CVD-SiC fibers are formed into mats of the desired size. The matrix tapes and the fiber mats are alternately stacked in the proper orientation. This tape-mat stack is warm pressed to produce a "green" composite.The "green" composite is then heated to an elevated temperature to burn out organic constituents. The remaining interim material is then hot pressed to form a silicon carbide fiber-reinforced celsian (BAS) glass-ceramic matrix composite which may be machined to size.

Abstract: A saddle clamp assembly includes a hollow cylindrical body centered about a longitudinal axis and being diametrically split into semicircular top and bottom sections each having a pair of radially outwardly projecting connection flanges at their opposite ends. A pair of bolts are captively retained on the top section flanges and are threadable into nuts captively retained on the bottom section flanges. A base member is anchored to a central underside portion of the bottom clamp body section and has a pair of connection tabs positioned beneath the bottom clamp body section connection flanges on opposite sides of the clamp axis. A pair of bolts are captively retained on the base member connection tabs and are threadable into a pair of nuts captively retainable on a support structure. The connection tab and connection flanges on each side of the clamp body are axially offset in a manner permitting downward installation/removal tool access to the lower bolts past the connection flanges.

Abstract: A limiting filter has nonlinear signal limiting devices integrally connected to the filter structure so that as the power level of input signals increase the nonlinear signal limiting devices decrease their impedance in response thereto, detuning the filter. Filter isolation thus becomes a function of both frequency and input power.