Abstract: Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal.

Abstract: A plug-type heat flux gauge formed in a material specimen and having a thermoplug integrally formed in the material specimen, and a method for making the same. The thermoplug is surrounded by a concentric annulus, through which thermocouple wires are routed. The end of each thermocouple wire is welded to the thermoplug, with each thermocouple wire welded at a different location along the length of the thermoplug. The thermoplug and concentric annulus may be formed in the material specimen by electrical discharge machining and trepanning procedures.

Abstract: A ceramic superconductivity part, such as a wire 10, is produced through the partial oxidation of a specially formulated copper alloy in a core 12. The alloys contain low level quantities of rare earth and alkaline earth dopant elements. Upon oxidation at high temperature, superconducting oxide phases are formed as a thin film 14.

Abstract: The invention is a method and system for monitoring and directly displaying the actual thrust produced by a jet aircraft engine under determined operating conditions and the available thrust and predicted (commanded) thrust of a functional model of an ideal engine under the same determined operating conditions. A first set of actual value output signals representative of a plurality of actual performance parameters of the engine under the determined operating conditions is generated and compared with a second set of predicted value output signals representative of the predicted value of corresponding performance parameters of a functional model of the engine under the determined operating conditions to produce a third set of difference value output signals within a range of normal, caution, or warning limit values.

Abstract: An apparatus and method for biofilm monitoring of a water distribution system which includes the mounting of at least one fitting 61 in a wall port 65 of a manifold 19 in the water distribution system with a passage 62 through the fitting in communication with the manifold flow stream and the insertion of a biofilm sampling member 77 through the fitting with planar sampling surfaces 91,92 of different surface treatment provided on linearly arrayed sample couplons of the sampling member disposed in the flow stream in edge-on parallel relation to the direction of the flow stream of the manifold under fluid-tight sealed conditions. The sampling member 77 is adapted to be aseptically removed from or inserted in the fitting and manifold under a positive pressure condition and the fitting passage 62 sealed immediately thereafter by appropriate closure device 60 so as to preclude contamination of the water distribution system through the fitting 61.

Abstract: A memory system is provided, of the type which includes an error-correcting circuit that detects and corrects errors, which more efficiently utilizes the capacity of a memory formed of groups of binary cells whose states can be inadvertently switched by ionizing radiation. Each memory cell has an asymmetric geometry, so that ionizing radiation causes a significantly greater probability of errors in one state than in the opposite state (e.g., an erroneous switch from "1" to "0" is far more likely than a switch from "0" to "1"). An asymmetric error-correcting coding circuit can be used with the asymmetric memory cells, which requires fewer bits than an efficient symmetric error-correcting code.

Abstract: A coupling device which is mechanically two fault tolerant for release. The device comprises a fastener plate 11 and fastener body 12, each of which is attachable to a different one of a pair of structures to be joined. The fastener plate 11 and body 12 are coupled by an elongate toggle 13 mounted at one end in a socket on the fastener plate for universal pivotal movement thereon. The other end of the toggle 13 is received in an opening in the fastener body 12 and adapted for limited pivotal movement therein. The toggle is adapted to be restrained by three latch hooks 55 arranged in symmetrical equiangular spacing about the axis of the toggle, each hook being mounted on the fastener body 12 for pivotal movement between an unlatching non-contact position with respect to the toggle and a latching position in engagement with a latching surface 44 of the toggle.

Abstract: The invention is a real-time takeoff and landing performance monitoring system for an aircraft which provides a pilot with graphic and metric information to assist in decisions related to achieving rotation speed (V.sub.R) within the safe zone of a runway, or stopping the aircraft on the runway after landing or take-off abort.The system processes information in two segments: a pretakeoff segment and a real-time segment. One-time inputs of ambient conditions and airplane configuration information are used in the pretakeoff segment to generate scheduled performance data. The real-time segment uses the scheduled performance data, runway length data and transducer measured parameters to monitor the performance of the airplane throughout the takeoff roll. Airplane and engine performance deficiencies are detected and annunciated. A novel and important feature of this segment is that it updates the estimated runway rolling friction coefficient.

Abstract: A control system for a multi-motor system such as a space telerobot having a remote computational node and a local computational node inter-connected with one another by a high speed data link is described. A Universal Computer Control System (UCCS) for the telerobot motors is located at each node. Each node is provided with a multibus computer system which is characterized by a plurality of processors with all processors being connected to a common bus leading to a command processor. The command processor controls joint hardware and/or software for a plurality of direct current torque motors of the type used in telerobot joints and telerobot hand-held controllers. The motors are connected to the joint processor cards and respond to digital control signals from the joint command processor and a joint motor control card.

Abstract: The invention is a multi-color luminescent display 10 comprising an insulator substrate 11 and a single layer of host material 13 which may be a phosphor deposited thereon that hosts one or more differential impurities 14, therein forming a pattern of selected and distinctly colored phosphors such as blue, green, and red phosphors in the single layer of host material 13. Transparent electrical conductor means 12 may be provided for subjecting selected portions of the pattern of colored phosphors to an electric field thereby forming a multi-color, single layer electroluminescent display.

Abstract: A method for determining the effects of exposure of oxygen plasma on a specimen such as a thin film polymer or thin metals. The method includes providing an apparatus with a chamber having a holder supporting the polymer specimen in a plasma environment provided in the chamber. The chamber is regulated to a predetermined pressure and set temperature prior to the introduction of oxygen plasma therein. The specimen is then subjected to the plasma environment for a predetermined time during which time the temperature of the specimen is sensed and regulated to be maintained at the set temperature. Temperature sensing is accomplished by a probe which senses any changes in bulk sample temperature. Temperature regulation is provided by a thermoelectric module and by a coolant flow tube.

Abstract: An assembly of three major components including a wrist interface plate which is secured to the wrist joint of a robotic arm, a tool interface plate which is secured to each tool intended for use by the robotic arm, and a tool holster for each tool attached to the interface plate. The wrist interface plate and a selected tool interface plate are mutually connectable together through an opening or recess in the upper face of the interface plate by means of a notched tongue protruding from the front face of the wrist interface plate which engages a pair of spring-biased rotatable notched wheels located within the body of the tool interface plate.

Abstract: A system of matching optics for gaussian beams. The matching optics system is positioned between a light beam emitter (such as a laser) and the input optics of a second optics system whereby the output from the light beam emitter is converted into an optimum input for the succeeding parts of the second optical system. The matching optics arrangement includes the combination of a light beam emitter, such as a laser with a movable afocal lens pair (telescope) and a single movable lens placed in the laser's output beam. The single movable lens serves as an input to the telescope. If desired, a second lens, which may be fixed, is positioned in the beam before the adjustable lens to serve as an input processor to the movable lens. The system provides the ability to choose waist diameter and position independently and achieve the desired values with two simple adjustments not requiring iteration.

Abstract: A Schottky diode for millimeter and submillimeter wave applications is comprised of a multi-layered structure including active layers of gallium arsenide on a semi-insulating gallium arsenide substrate with first and second insulating layers of silicon dioxide on the active layers of gallium arsenide. An ohmic contact pad lays on the silicon dioxide layers. An anode is formed in a window which is in and through the silicon dioxide layers. An elongated contact finger extends from the pad to the anode and a trench, preferably a transverse channel or trench of predetermined width, is formed in the active layers of the diode structure under the contact finger. The channel extends through the active layers to or substantially to the interface of the semi-insulating gallium arsenide substrate and the adjacent gallium arsenide layer which constitutes a buffer layer.

Abstract: A method for the decomposition of halogenated organic compounds contained in a contaminated medium comprises adding an alkali metal carbonate or bicarbonate to the contaminated medium in an aqueous solution or in a solvent having a boiling point of at least 200.degree. C., or in the form of a solid dispersion or suspension. The medium is heated to dehydrate the medium and then is further heated at a temperature between about 250.degree. and 400.degree. C. to effect decomposition of the halogenated organic compounds. An acid is then added to the medium in an amount sufficient to neutralize the same.

Abstract: Composite flexible multilayer insulation systems (MLI) were evaluated for thermal performance and compared with currently used fibrous silica (baseline) insulation system. The systems described are multilayer insulations consisting of alternating layers of metal foil and scrim ceramic cloth or vacuum metallized polymeric films quilted together using ceramic thread. A silicon carbide thread for use in the quilting and the method of making it are also described. These systems are useful to provide lightweight thermal insulation for a variety of uses, particularly on the surface of aerospace vehicles subject to very high temperatures during flight.

Abstract: A power saw for space or robotic operations with jaw members (12,14) for clamping to a work piece (16) by an operation of a lever arm (70). The saw assembly (18) is slidably mounted on the jaw assembly (18) and fed into the work piece by a hand operated feed screw (54). The saw assembly includes a motor and gear belt (26,28). A current sensing circuit provides a current signal which actuates colored lights (96,100,102) to visually depict the load on the saw blade during the cutting operations.

Abstract: A master six-degree-freedom Force Reflecting Hand Controller ("FRHC") is available at a master site where a received image displays, in essentially real-time, a remote robotic manipulator which is being controlled in the corresponding six-degree-freedom by command signals which are transmitted to the remote site in accordance with the movement of the FRHC at the master site. Software is user-initiated at the master site in order to establish the basic system conditions and then a physical movement of the FRHC in Cartesean space is reflected at the master site by six absolute numbers that are sensed, translated, and computed as a difference signal relative to the earlier position. The change in position is then transmitted in that differential signal form over a high speed synchronized bilateral communication channel which simultaneously returns robot-sensed response information to the master site as forces applied to the FRHC so that the FRHC reflects the "feel" of what is taking place at the remote site.

Abstract: A composition containing 30 to 70% chromium carbide, 5 to 20% soft noble metal, 5 to 20% metal fluorides, and 20 to 60% metal binder is used in a powdered metallurgy process for the production of self-lubricating components, such as bearings. The use of the material allows the self-lubricating bearing to maintain its low friction properties over an extended range of operating temperatures.

Abstract: The present invention is directed to a chemical etching composition for etching metals or metallic alloys. The composition includes a solution of hydrochloric acid, phosphoric acid, ethylene glycol and an oxidizing agent. The etching composition is particularly useful for etching metal surfaces in preparation for subsequent fluorescent penetrant inspection.