Abstract: A quick connect fastener for attachment to an axially elongated externally threaded member by axially thrusting the fastener onto the member, the fastener having an outer casing including a passageway having a frusto-conical surface. A segmented core having four internally threaded shells is positioned within the casing, the shells having a frusto-conical outer surface and a cylindrical annulus including a standard thread profile. The shells include a groove at each end for receiving a C-shaped clip which urge the shells radially outwardly and toward the larger end of the passageway. A coil spring positioned within the nut casing at the larger end acts to urge the shells toward a surface acting as a stop at the smaller end which limits movement of the shells and counteracts a substantial amount of the tension of the externally threaded member. Raised keys on the surfaces of the shells are received within grooves in the casing so that the shells rotate upon rotation of the shell.

Abstract: A generalized compliant motion with sensor fusion primitive uses a set of input parameters provided from a local control site to a remote execution site to control a telerobot with a combination of a priori trajectory motion and real and virtual local and remote sensor inputs. The set of input parameters specify the desired telerobot behavior based on a combination of local and remote information. This general motion primitive requires less computer memory size, and provides more capabilities, than the task specific primitives it replaces because redundancies are eliminated while permutations of capabilities are available. Trajectory motion occurs during a nominal motion time segment while termination conditions are monitored during an ending time segment to stop motion when a termination condition occurs. Force and compliant motion, teleoperation, dither, virtual springs restoration and joint limit control are combined with the trajectory motion at the remote site.

Abstract: A method and apparatus for inserting an eddy current hole probe into a hole specimen and automatically moving the probe in two orthogonal (X, Y) directions in response to the impedance change of an eddy current coil located in the probe as a function of distance from the surface of the hole. The probe is centered in the hole by a system controller which operates to minimize the composite deviation value of the coil impedance. The diameter of the hole is then determined from the average impedance measurement. Following this, a plot of the hole eccentricity is generated by determining the impedance deviation from the average coil impedance value as a function of the angular rotation of the probe in the hole. Measurements of the hole eccentricity for a plurality of hole depths provides an indication of the hole eccentricity profile.

Abstract: A random binary modulated sensor transmits a continuous wave r.f. signal ulated by a binary random bit pair code signal which is transmitted by an antenna. A return signal reflected from a target is received by the antenna. A receiver mixer modulates the return signal with the r.f. signal and a delay circuit delays the binary random bit pair code. A coorelator receives the modulated return signal and delayed binary random bit pair code for producing a doppler output signal. A separate r.f. path in which a portion of the modulated r.f. signal is variably attenuated and variably phase shifted is present to cancel noise signals generated by antenna mismatch in transmission.

Abstract: An apparatus is disclosed for capturing and holding a rod, bar or similar member; the apparatus having in one aspect a body member with a recess therein and a hook extending from the body member, the hook and recess defining a capture envelope for receiving and confining the rod etc. In one aspect such an apparatus is disclosed in which the hook is movable with respect to the body member to vary the size of the capture envelope, both to initially facilitate emplacement of the apparatus about the rod, etc., and then to provide for tightening of the apparatus about the rod, etc., if desired.

Abstract: A multiple arm generalized compliant motion robot control system governs dual multi-joint robot arms handling an object with both of the arms in accordance with input parameters governing plural respective behaviors to be exhibited by the robot in respective behavior spaces simultaneously. A move-squeeze decomposition processor computes actual move and squeeze decomposition forces based upon current robot force sensor outputs. A compliant motion processor transforms plural object position perturbations of the plural behaviors from the respective behavior spaces to a common space, and computes a relative transformation to a behavior-commanded object position in accordance with the object position perturbations of the plural behaviors. A kinematics processor updates a transformation to a current commanded object position based upon the relative transformation to the behavior-commanded object position.

Abstract: Disclosed are a device and a method for inert gas plasma welding in a low pressure or vacuum environment.

Abstract: Synthetic procedures to tetraalkyls, tetraacids and dianhydrides substituted 1,1,1-triaryl-2,2,2-trifluoroethanes which comprises: (1) 1,1-bis(dialkylaryl)-1-aryl-2,2,2-trifluoroethane, (2) 1,1-bis(dicarboxyaryl)-1-aryl-2,2,2-trifluoroethane or (3) cyclic dianhydride or diamine of 1,1-bis(dialkylaryl)-1-aryl-2,2,2-trifluoroethanes. The synthesis of (1) is accomplished by the condensation reaction of an aryltrifluoromethyl ketone with a dialkylaryl compound. The synthesis of (2) is accomplished by oxidation of (1). The synthesis dianhydride of (3) is accomplished by the conversion of (2) to its corresponding cyclic dianhydride. The synthesis of the diamine is accomplished by the similar reaction of an aryltrifluoromethyl ketone with aniline or alkyl substituted or disubstituted anilines. Also, other derivatives of the above are formed by nucleophilic displacement reactions.

Abstract: A superconductive load bearing support without a mechanical contact and vibration damping for cryogenic instruments in space. The levitation support and vibration damping is accomplished by the use of superconducting magnets and the "Meissner" effect. The assembly allows for transfer of vibration energy away from the cryogenic instrument which then can be damped by the use of either an electronic circuit or conventional vibration damping apparatus.

Abstract: A high-temperature hybrid seal is constructed of multiple elements to meet the many demands placed on the seal. The primary elements are: a central high-temperature bellows, a braided ceramic sheath covering the bellows, an outer abrasion resistant sheath covering the ceramic sheath, and a structurally-sound seal-end termination.

Abstract: An apparatus (200) for treating a microporous structure (239) with atomic oxygen. The apparatus (200) includes a main gas chamber (202) for flowing gas in an axial direction and a source (218, 220) of gas, containing atomic oxygen, connected for introducing the gas into the main gas chamber (202). The apparatus (200) employs at least one side arm (228) extending from the main atomic oxygen-containing chamber (202). The side arm (228) has characteristic relaxation times such that a uniform atomic oxygen dose rate is delivered to a specimen (239) positioned transversely in the side arm (228) spaced from the main gas chamber (202).

Abstract: A hydraulic tool for safely separating one multipin electrical connector from another. The preferred separation tool consists of a master cylinder which operates a pair of slave cylinders, each slave cylinder having a corresponding operative shaft and an extraction tab. The slave cylinders are variably spaced apart from one another such that they may be positioned on either side of mated connector pairs of different sizes and so that their extraction tabs may be slid between the connectors. When the master cylinder's plunger is operated, such operation is hydraulically transmitted to the operative shafts of the slave cylinders which extend outward and, once pressed against a substrate, causes the slave cylinders and corresponding extractor tabs to move away and separate one connector from the other. A second preferred separation tool includes an additional pair of extractor tabs, one at the end of each operative shaft, so that the tool can be used to separated a mated connector pair hanging in free space.

Abstract: An annular culture vessel for growing mammalian cells is constructed in a one piece integral and annular configuration with an open end which is closed by an endcap. The culture vessel is rotatable about a horizontal axis by use of conventional roller systems commonly used in culture laboratories. The end wall of the endcap has tapered access ports to frictionally and sealingly receive the ends of hypodermic syringes. The syringes permit the introduction of fresh nutrient and withdrawal of spent nutrients. The walls are made of conventional polymeric cell culture material and are subjected to neutron bombardment to form minute gas permeable perforations in the walls.

Abstract: Cr.sub.3 Si is alloyed with molybdenum which produces a two-phase microstructure of (Cr,Mo).sub.3 Si and (Cr,Mo).sub.5 Si.sub.3. About 50 weight percent of molybdenum is present in the alloy. The alloy forms two protective oxides over a wide range of temperatures. Chromium and molybdenum oxide volatize under flowing air at high temperatures above 1200.degree. C. which facilitates the formation of SiO.sub.2 on the surface. Below 1200.degree. C. Cr.sub.2 O.sub.3 is formed. The new alloy has excellent high temperature strength and creep properties.

Abstract: Real-time video presentations are provided in the field of operator-supervised automation and teleoperation, particularly in control stations having movable cameras for optimal viewing of a region of interest in robotics and teleoperations for performing different types of tasks. Movable monitors to match the corresponding camera orientations (pan, tilt and roll) are provided in order to match the coordinate systems of all the monitors to the operator internal coordinate system. Automated control of the arrangement of cameras and monitors, and of the configuration of system parameters, is provided for optimal viewing and performance of each type of task for each operator since operators have different individual characteristics. The optimal viewing arrangement and system parameter configuration is determined and stored for each operator in performing each of many types of tasks in order to aid the automation of setting up optimal arrangements and configurations for successive tasks in real time.

Abstract: A device for positioning encoding of a rotating shaft in which a polygonal mirror having a number of facets is mounted to the shaft and a light beam is directed towards the facets. The facets of the polygonal mirror reflect the light beam such that a light spot is created on a linear array detector. An analog-to-digital converter is connected to the linear array detector for reading the position of the spot on the spots on the linear array detector. A microprocessor with memory is connected to the analog-to-digital converter to hold and manipulate the data provided by the analog-to-digital converter on the position of the spot and to compute the position of the shaft based upon the data from the analog-to-digital converter.

Abstract: A welding torch for plasma arc welding apparatus has a transparent shield cup disposed about the constricting nozzle, the cup including a small outwardly extending polished lip. A guide tube extends externally of the torch and has a free end adjacent the lip. First and second optical fiber bundle assemblies are supported within the guide tube. Light from a strobe light is transmitted along one of the assemblies to the free end and through the lip onto the weld site. A lens is positioned in the guide tube adjacent the second assembly and focuses images of the weld site onto the end of the fiber bundle of the second assembly and these images are transmitted along the second assembly to a video camera so that the weld site may be viewed continuously for monitoring the welding process.

Abstract: A method and apparatus for detecting the temperature of gray and non-gray bodies in the presence of interfering radiation. A gray body has a constant emissivity less than 1 and a non-gray body has an emissivity which varies with wavelength. The emissivity and reflectivity of the surface is determined over a range of wavelengths. Spectra are also measured of the extraneous interference radiation source and the surface of the object to be measured in the presence of the extraneous interference radiation source. An auxiliary radiation source is used to determine the reflectivity of the surface and also the emissivity. The measured spectrum of the surfaces in the presence of the extraneous interference radiation source is set equal to the emissivity of the surface multiplied by a Planck function containing a temperature term T plus the surface reflectivity multiplied by the spectrum of the extraneous interference radiation source. The equation is then solved for T to determine the temperature of the surface.

Abstract: A method and an apparatus for efficiently controlling the power output of a solar cell array string or a plurality of solar cell array strings to achieve a maximum amount of output power from the strings under varying conditions of use. Maximum power output from a solar array string is achieved through control of a pulse width modulated DC/DC buck converter which transfers power from a solar array to a load or battery bus. The input voltage from the solar array to the converter is controlled by a pulse width modulation duty cycle, which in turn is controlled by a differential signal comparing the array voltage with a control voltage from a controller. By periodically adjusting the control voltage up or down by a small amount and comparing the power on the load or bus with that generated at different voltage values a maximum power output voltage may be obtained.

Abstract: A probe and socket assembly (10) for serving as a mechanical interface. The assembly comprising a socket (11) having a housing (14) adapted for connection to a first supporting structure and a probe (12) which is readily connectable to a second structure and is designed to be easily grappled and manipulated by a robotic device for insertion and coupling with the socket. Cooperable automatic locking means (35, 49) are provided on the probe shaft (43) and socket housing (14) for automatically locking the probe in the socket when the probe is inserted a predetermined distance. A second cooperable locking means (92, 25) on the probe shaft (43) and housing (14) are adapted for actuation after the probe has been inserted the predetermined distance.