Abstract: A tool for removing and/or replacing bearings in situ comprises a brace having a first end adapted to engage a first end of the bearing housing, and a second end adapted to engage a second end of the bearing housing. If the two ends of the bearing housing are different in configuration, the respective ends of the brace are correspondingly configured. An elongate guide member integral with the brace has two parts, each projecting endwise from a respective end of the brace. A pressure plate is alternatively removable mountable on either part of the guide member for longitudinal movement therealong, and has first and second ends of different configurations adapted to engage first and second ends respectively of the bearing. A threaded-type drive is cooperative between the guide and the pressure plate to move the pressure plate longitudinally along the guide and apply a force to the bearing, either to remove the bearing from its housing, or to emplace a new bearing in the housing.

Abstract: A releasable fastening apparatus includes a connecting member and a housing, the housing supporting a gripping mechanism adapted to engage the connecting member. A triggering member is movable within the housing between a first position in which it constrains the gripping mechanism in locked engagement with the connecting member, and a second position in which the gripping mechanism is disengaged from the connecting member. A shaped memory alloy actuator is employed for translating the triggering member from its first to its second position, the actuator being operable to expand longitudinally when transitioned from a martensitic to an austenitic state.

Abstract: An electromagnetic attachment mechanism for use as an end effector of a remote manipulator system. A pair of electromagnets 15A, 15B, each with a U-shaped magnetic core with a pull-in coil 34 and two holding coils 35,36 are mounted by a spring suspension system 38,47 on a base plate 25 of the mechanism housing 30 with end pole pieces 21,22 adapted to move through openings in the base plate when the attractive force of the electromagnets is exerted on a strike plate 65 of a grapple fixture 20 affixed to a target object 14. The pole pieces are spaced by an air gap from the strike plate when the mechanism first contacts the grapple fixture. An individual control circuit and power source is provided for the pull-in coil and one holding coil of each electromagnet. A back-up control circuit connected to the two power sources and a third power source is provided for the remaining holding coils.

Abstract: A microporous structure with layered interstitial surface treatments, and method and apparatus for preparation thereof. The structure is prepared by sequentially subjecting a uniformly surface-treated structure (10a) to atomic oxygen treatment to remove an outer layer (16) of surface treatment to a generally uniform depth, and then surface treating the so exposed layer with another surface treating agent. The atomic oxygen/surface treatment steps may optionally be repeated, each successive time to a lesser depth, to produce a microporous structure having multilayered surface treatments. The apparatus (200) employs at least one side arm (228) from a 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 payload retention device (10) for grappling and retaining a payload (14) in docked position on a supporting structure (18) in the cargo bay of a space vehicle. The device comprises a two-fault tolerant electromagnetic grappling system comprising electromagnets (30A,30B) for attracting and grappling a grapple strike plate (20) affixed to the payload when in proximity thereto and an electromechanical latching assembly comprising a pair of independent latching subassemblies. Each subassembly comprises a set of latching pawls (29) which are driven into latching and unlatching positions relative to a grappled payload by a pair of gearmotors (40), each equipped with a ratchet clutch drive mechanism (75, 76) which is two-fault tolerant with respect to latching such that only one gearmotor of the four needs to be operational to effect a latch of the payload but is single fault tolerant with respect to release of a latched payload.

Abstract: An apparatus for rejecting waste heat from a system located on or near the lunar equator which utilizes a reflective catenary shaped trough deployed about a vertical radiator to shade the radiator from heat (i.e., infrared radiation) emitted by the hot lunar surface. The catenary shaped trough is constructed from a film material and is aligned relative to the sun so that incoming solar energy is focused to a line just above the vertical radiator and thereby isolate the radiator from the effects of direct sunlight.The film is in a collapsed position between side by side support rods, all of which are in a transport case. To deploy the film and support rods, a set of parallel tracks running perpendicular to length of the support rods are extended out from the transport case.

Abstract: A two-dimension vernier scale utilizing a cartesian grid on one plate member with a polar grid on an overlying transparent plate member. The polar grid has multiple concentric circles at a fractional spacing of the spacing of the cartesian grid lines. By locating the center of the polar grid on a location on the cartesian grid, interpolation can be made of both the X and Y fractional relationship to the cartesian grid by noting which circles coincide with a cartesian grid line for the X and Y direction.

Abstract: The combination 10 of a foot restraint platform 12 designed primarily for use by an astronaut being rigidly and permanently attached to an end effector 14 which is suitable for attachment to the manipulator arm 16 of a remote manipulating system. The foot restraint platform, is attached by a brace 36 to the end effector 14 at a location away from the grappling interface of the end effector. The platform comprises a support plate 18 provided with a pair of stirrups 21,22 for receiving the toe portion of an astronaut's boots when standing on the platform and a pair of heel retainers 23,24 in the form of raised members which are fixed to the surface of the platform and located to provide abutment surfaces for abutting engagement with the heels of the astronaut's boots when his toes are in the stirrups. The heel retainers 23,24 preclude a backward sliding movement of the feet on the platform and instead require a lifting of the heels in order to extract the feet.

Abstract: A video-rate coordinate remapper includes a memory for storing a plurality of transformations on look-up tables for remapping input images from one coordinate system to another. Such transformations are operator selectable. The remapper includes a collective processor by which certain input pixels of an input image are transformed to a portion of the output image in a many-to-one relationship. The remapper includes an interpolative processor by which the remaining input pixels of the input image are transformed to another portion of the output image in a one-to-many relationship. The invention includes certain specific transforms for creating output images useful for certain defects of visually impaired people. The invention also includes circuitry for shifting input pixels and circuitry for scrolling the output matrix.

Abstract: The invention teaches a return vehicle for use in returning a crew to Earth from low earth orbit in a safe and relatively cost effective manner. The return vehicle comprises a cylindrically-shaped crew compartment attached to the large diameter of a conical heat shield having a spherically rounded nose. On-board inertial navigation and cold gas control systems are used together with a de-orbit propulsion system to effect a landing near a preferred site on the surface of the Earth. State vectors and attitude data are loaded from the attached orbiting craft just prior to separation of the return vehicle.

Abstract: In the representative embodiment of the new and improved methods and apparatus disclosed herein to provide effective real-time management of a spacecraft rocket engine powered by gaseous propellants, real-time measurements representative of the engine performance are compared with predetermined standards to selectively control the supply of propellants to the engine for optimizing its performance as well as efficiently managing the consumption of propellants. A priority system is provided for achieving effective real-time mangagement of the propulsion system by first regulating the propellants to keep the engine operating at an efficient level and thereafter regulating the consumption ratio of the propellants. A lower priority level is provided to balance the consumption of the propellants so significant quantities of unexpended propellants will not be left over at the end of the scheduled mission of the engine.

Abstract: Apparatus and method for releasably connecting first and second objects, wherein a magnetic end effector may include at least one elongated pin member (10) a proximal end of which is connected to the first object (1) and the distal end of which may be inserted into a receiving portion (4) in the second object (2). Latch members (16) are carried by the pin member (10) for radial movement between retracted and expanded positions for releasing and locking, respectively, first and second objects (1, 2). A plunger member (20) carried by the pin member (11) is axially moveable between first and second positions. In the first plunger position, the latch members (16) are located in the expanded (locked) position and in the second plunger position the latch members (16) are released for movement to retracted or unlocked position. Magnetic end effector (30) is provided for releasable attachment to the first object (1) and for moving the plunger member (20) to the second position, thereby releasing the first object (1).

Abstract: An apparatus for determining three dimensional positioning relative to a predetermined point utilizing moire interference patterns such that the patterns are complementary when viewed on axis from the predetermined distance. Further, the invention includes means for determining rotational positioning in addition to three dimensional translational positioning.

Abstract: A method for tracking an object in a sequence of images is described. Such sequence of images may, for example, be a sequence of television frames. The object in the current frame is correlated with the object in the previous frame to obtain the relative location of the object in the two frames. An optical joint transform correlator apparatus is provided to carry out the process. Such joint transform correlator apparatus forms the basis for laser eye surgical apparatus where an image of the fundus of an eyeball is stabilized and forms the basis for the correlator apparatus to track the position of the eyeball caused by involuntary movement. With knowledge of the eyeball position, a surgical laser can be precisely pointed toward a position on the retina.

Abstract: A life support system for human habitation (cabin) having a bio-regenerative capability through the use of a plant habitat (greenhouse) whereby oxygen-rich air from the greenhouse is processed and used in the cabin and carbon dioxide-rich air from the cabin is used in the greenhouse. Moisture from the air of both cabin and greenhouse is processed and reused in both. Wash water from the cabin is processed and reused in the cabin as hygiene water, and urine from the cabin is processed and used in the greenhouse. Spent water from the greenhouse is processed and reused in the greenhouse. Portions of the processing cycles are separated between cabin and greenhouse in order to reduce to a minimum cross contamination of the two habitat systems. Other portions of the processing cycles are common to both cabin and greenhouse. The use of bio-regenerative techniques permits a substantial reduction of the total consumables used by the life support system.

Abstract: Methods and apparatus for fusion of data from optical and radar sensors by error minimization procedure. The method has been applied to the problem of shape reconstruction of an unknown surface at a distance. The method involves deriving an incomplete surface model from an optical sensor. The unknown characteristics of the surface are represented by some parameter. The correct value of the parameter is computed by iteratively generating theoretical predictions of the Radar cross-sections (RCS) of the surface, comparing the predicted and the observed values for the RCS, and improving the surface model from results of the comparison. Theoretical RCS may be computed from the surface model in several ways. One RCS prediction technique is the method of moments. The method of moments can be applied to an unknown surface only if some shape information is available from an independent source. The optical image provides the independent information.

Abstract: An orbital debris sweeper is provided for removing particles from orbit which otherwise may impact and damage an orbiting spacecraft. The debris sweeper includes a central sweeper core which carries a debris monitoring unit, and a plurality of large area impact panels rotatable about a central sweeper rotational axis. In response to information from the debris monitoring unit, a computer determines whether individual monitored particles preferably impact one of the rotating panels or pass between the rotating panels. A control unit extends or retracts one or more booms which interconnect the sweeper core and the panels to change the moment of inertia of the sweeper and thereby the rotational velocity of the rotating panels.

Abstract: A diaphragm (10) suitable for extreme temperature usage, such as encountered in critical aerospace applications, is fabricated by a unique method, and of a unique combination of materials, which include multi-layered lay-ups of diaphragm materials (20a, 22, 20b) sandwiched between layers of bleeder fabric (29, 36), which, after being formed in the desired shape on a mold (26), are vacuum sealed (38) and then cured under pressure, in a heated autoclave, to produce a bond capable of withstanding extreme temperatures.

Abstract: A robotic end effector and operation protocol provide for a reliable grasp of a target object irrespective of the target's contours. A robotic hand 30 includes a plurality of jointed fingers 31-34, one of which, like a thumb 31, is in opposed relation to the other. Each finger comprises at least two jointed sections, and is provided with reflective proximity sensors, one on the inner surface of each finger section. Each proximity sensor comprises a transmitter of a beam of radiant energy and a receiver for receiving reflections of the transmitted energy when reflected by a target object. On the fingers opposed to the thumb, the proximity sensors 41 on the outermost finger sections are aligned in an outer sensor array and the sensors 42 on the intermediate finger sections and sensors 43 on the innermost finger sections are similarly arranged to form an intermediate sensor array and an inner sensor array, respectively.

Abstract: The invention relates to monitoring circuitry for the real time detection of vibrations of a predetermined frequency and which are greater than a predetermined magnitude. The circuitry produces an instability signal in response to such detection. The circuitry is particularly adapted for detecting instabilities in rocket thrusters, but may find application with other machines such as expensive rotating machinery, turbines, etc. The monitoring circuitry identifies when vibration signals are present having a predetermined frequency of a multi-frequency vibration signal which has an RMS energy level greater than a predetermined magnitude. It generates an instability signal only if such a vibration signal is identified. The circuitry includes a delay circuit which responds with an alarm signal only if the instability signal continues for a predetermined time period. When used with a rocket thruster, the alarm signal may be used to cut off the thruster if such thruster is being used in flight.