Abstract: An electro-optic resonant cavity is used to achieve phase modulation with lower driving voltages. Laser damage thresholds are inherently higher than with previously used integrated optics due to the utilization of bulk optics. Phase modulation is achieved at higher speeds with lower driving voltages than previously obtained with non-resonant electro-optic phase modulators. The instant scheme uses a data locking dither approach as opposed to the conventional sinusoidal locking schemes. In accordance with a disclosed embodiment, a resonant cavity modulator has been designed to operate at a data rate in excess of 100 Mbps. By carefully choosing the cavity finesse and its dimension, it is possible to control the pulse switching time to within 4 ns and to limit the required switching voltage to within 10 V. Experimentally, the resonant cavity can be maintained on resonance with respect to the input laser signal by monitoring the fluctuation of output intensity as the cavity is switched.

Abstract: A frequency monitoring system constructed of a rack mountable instrument for monitoring laser pulse frequency. The pulsed laser frequency is displayed on a linear bar-graph array composed of Light Emitting Diodes (LED's). The display is calibrated so that each LED represents a radio frequency (RF). When the transmitter laser pulses, the laser pulse is reflected by the target object and detected by the receiver and amplified. A small amount of the laser pulse transmitted is detected and mixed with a stable local oscillator signal to produce an RF burst that is sent to the frequency monitor and converted to TTL levels with a high-speed TTL voltage comparator. The TTL signal is fed into the clock input of a binary counter which is cleared and gated by a synch pulse from the transmitter. The output of the binary counter is sent to a digital to analog converter which converts it into an output voltage that is in turn amplified and used as reference points for LED dot/bar driver IC's.

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 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: 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 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: 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 eliminating unwanted reflections from refractive optical elements in an optical system is provided. The device operates to prevent desired multiple fringe patterns from being obscured by reflections from refractive elements positioned in proximity to a focal plane of the system. The device exploits the 180-degree offset, or rotational shear, of the undesired reflected light by providing an optical stop for blocking one-half of the cross-section of the test beam. By blocking one-half of the test beam, the undesired offset beam is blocked, while the returning transmitted beam passes into the optical system unaffected. An image is thereby produced from only the desired transmitted beam. In one configuration, the blocking device includes a semicircular aperture which is caused to rotate about the axis of the test beam. By rotating, all portions of the test beam are cyclically projected into the optical system to thereby produce a complete test image.

Abstract: A method and apparatus to produce correction-free pyrometry is described. The method determines the optimum position for a pyrometer that "views" a specular, spherical or near-spherical target in a furnace through pyrometer optics and a window in a wall of the furnace. The positioning method uses nonparaxial optical analysis to determine the position of an image of the window in the target. The window image is free of any image of the furnace walls, that is, it is free from wall radiance, and pure target radiance can be obtained in that region. The optical analysis is then used to back project the pyrometer detector through the pyrometer optics and onto the surface of the target. If the detector projection falls completely within the image of the window, the detector will read only pure target radiance and no correction will be necessary to obtain the temperature of the target through pyrometry.

Abstract: A sorbent capable of removing trace amounts of oxygen (ppt) from a gas stream at a high temperature above 200.degree. C. comprising a porous alumina silicate support such as zeolite containing from 1 to 10 percent by weight of ion exchanged transition metal such as copper or cobalt ions and 0.05 to 1.0 percent by weight of an activator selected from a platinum group metal such as platinum. The activation temperature, oxygen sorption and reducibility are all improved by the presence of the platinum activator.

Abstract: Epitaxial heterojunctions formed between high temperature superconductors and metallic or semiconducting oxide barrier layers are provided. Metallic perovskites such as LaTiO.sub.3, CaVO.sub.3, and SrVO.sub.3 are grown on electron-type high temperature superconductors such as Nd.sub.1.85 Ce.sub.0.15 CuO.sub.4-x. Alternatively, transition metal bronzes of the form A.sub.x MO.sub.3 are epitaxially grown on electron-type high temperature superconductors. Also, semiconducting oxides of perovskite-related crystal structures such as WO.sub.3 are grown on either hole-type or electron-type high temperature superconductors.

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: 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 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: 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: A planar frequency tripler comprised of two semiconductor diode structures connected back-to-back by an n.sup.+ doped layer (N.sup.+) of semiconductor material utilizes an n doped semiconductor material for a drift region (N) over the back contact layer in order to overcome a space charge limitation in the drift region. A barrier layer (B) is grown over the drift region, after a sheet of n-type doping (N.sub.sheet) which forms a positive charge over the drift region, N, to internally bias the diode structure. Two metal contacts are deposited over the barrier layer, B, with a gap between them. To increase the power output of the diodes of a given size, stacked diodes may be provided by alternating barrier layers and drift region layers, starting with a barrier layer and providing a positive charge sheet at the interface of a barrier on both sides of each drift region layer with n-type .delta. doping. The stacked diodes may be isolated by etching or ion implantation to the back contact layer N.sup.

Abstract: A cathode additive is provided for protecting an ambient temperature secondary lithium cell from over-charging or over-discharging. The cathode additive is chosen to create an upper voltage plateau which is slightly higher than a characteristic charge cutoff voltage of the cathode of the cell. The cathode additive additionally creates a lower voltage plateau which is slightly lower than the characteristic discharge cutoff voltage of the cell. Preferably the cathode additive is a transition metal oxide or a sulfide may, for example, include a mixture of Li.sub.2 Mn.sub.2 O.sub.4 and Li.sub.0.1 MoO.sub.2.

Abstract: Silicon and metal are coevaporated onto a silicon substrate in a molecular beam epitaxy system with a larger than stoichiometric amount of silicon so as to epitaxially grow particles of metal silicide embedded in a matrix of single crystal epitaxially grown silicon. The particles interact with incident photons by resonant optical absorption at the surface plasmon resonance frequency. Controlling the substrate temperature and deposition rate and time allows the aspect ratio of the particles to be tailored to desired wavelength photons and polarizations. The plasmon energy may decay as excited charge carriers or phonons, either of which can be monitored to indicate the amount of incident radiation at the selected frequency and polarization.

Abstract: Apparatus and methods for large-area, high-power ion engines comprise dividing a single engine into a combination of smaller discharge chambers (or segments) configured to operate as a single large-area engine. This segmented ion thruster (SIT) approach enables the development of 100-kW class argon ion engines for operation at a specific impulse of 10,000 s. A combination of six 30-cm diameter ion chambers operating as a single engine can process over 100 kW. Such a segmented ion engine can be operated from a single power processor unit.