Abstract: A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

Abstract: A system detects a plant's exposure to trichloroethylene (TCE) through plant leaf imaging. White light impinging upon a plant's leaf interacts therewith to produce interacted light. A detector is positioned to detect at least one spectral band of the interacted light. A processor coupled to the detector performs comparisons between photonic energy of the interacted light at the one or more spectral bands thereof and reference data defining spectral responses indicative of leaf exposure to TCE. An output device coupled to the processor provides indications of the comparisons.

Abstract: A robotic system includes a robot having a total number of degrees of freedom (DOF) equal to at least n, an underactuated tendon-driven finger driven by n tendons and n DOF, the finger having at least two joints, being characterized by an asymmetrical joint radius in one embodiment. A controller is in communication with the robot, and controls actuation of the tendon-driven finger using force control. Operating the finger with force control on the tendons, rather than position control, eliminates the unconstrained slack-space that would have otherwise existed. The controller may utilize the asymmetrical joint radii to independently command joint torques. A method of controlling the finger includes commanding either independent or parameterized joint torques to the controller to actuate the fingers via force control on the tendons.

Abstract: A process for creating conversion coatings and spin, drawing, and extrusion finishes for surfaces, wherein the conversion coatings and spin, drawing, and extrusion finishes contain potassium, phosphorus, nitrogen, and one or more non-alkaline metals and/or one or more metalloids. The process comprises forming an aqueous solution of water, phosphoric acid or sulfuric acid, ammonium hydroxide, an alkali metal hydroxide, and one or more non-alkaline metals and/or one or more metalloids. The aqueous solution forms an anti-friction multilayer conversion and/or mixed element coating or a spin, drawing, and extrusion finish on a surface when applied to the surface, either directly without the use of applied external electromotive force, or as an additive in lubricating fluids.

Abstract: A process for producing highly monodisperse polystyrene particles includes steps of mixing water and styrene in a reactor, optionally adding an electrolyte to the mixture, purging the mixture of oxygen, adding a polymerization initiator while agitating and heating the mixture, and maintaining agitation and heating for a time sufficient to achieve a desired yield of monodisperse polystyrene particles having a particle size from 0.25 microns to 2.5 microns and a statistical quality factor greater than 10.

Abstract: The present disclosure provides ex vivo-derived mineralized three-dimensional bone constructs. The bone constructs are obtained by culturing osteoblasts and osteoclast precursors under randomized gravity vector conditions. Preferably, the randomized gravity vector conditions are obtained using a low shear stress rotating bioreactor, such as a High Aspect Ratio Vessel (HARV) culture system. The bone constructs of the disclosure have utility in physiological studies of bone formation and bone function, in drug discovery, and in orthopedics.

Abstract: A device used in making differential measurements of a flow includes an open-ended tubular flow obstruction and a support arm. The flow obstruction has an outer annular wall and an inner annular wall. The support arm has a first end coupled to an exterior wall of a conduit and a second end coupled to the flow obstruction. The support arm positions the flow obstruction in the conduit such that a first flow region is defined around the flow obstruction's outer annular wall and a second flow region is defined by the flow obstruction's inner annular wall. The support arm's first end and second end are separated from one another with respect to a length dimension of the conduit. Measurement ports provided in the flow obstruction are coupled to points at the exterior wall of the conduit by manifolds extending through the flow obstruction and support arm.

Abstract: In some implementations, apparatus and methods are provided through which a dynamic cryogenic seal is manufactured. In some implementations, the seal includes a retainer and a spring-seal assembly, the assembly being comprised of a main spring housing and fluorine-containing polymer seals. In some implementations, either a radial seal, or an axial (or “piston seal”) is provided. In some implementations, methods of manufacturing the dynamic cryogenic seal are also provided. In some implementations, the methods include assembling the components while either heated or cooled, taking advantage of thermal expansion and contraction, such that there is a strong interference fit between the components at room temperature. In some implementations, this process ensures that the weaker fluorine-containing polymer seal is forced to expand and contract with the stronger retainer and spring and is under constant preload.

Abstract: A method of assembling an energy harvesting system is provided. The method includes coupling at least one energy storage device in flow communication with at least one apparatus that is configured to generate thermal energy and to transfer the thermal energy into at least one fluid stream. The energy storage device is configured to store the fluid stream. Moreover, the method includes coupling at least one fluid transfer device downstream from the energy storage device. The fluid transfer device receives the fluid stream from the energy storage device. A bladeless turbine is coupled in flow communication with the fluid transfer device, wherein the bladeless turbine receives the fluid stream to generate power.

Abstract: A composite conductor includes a conductor that has a high temperature polyimide insulation formed around it. This polyimide layer may include reinforcing fibers such as, for instance, glass fibers. The insulation layer may further include grading layers. The conductor is placed inside an earth layer. The composite conductor may be protected with a stainless steel enclosure.

Abstract: Disclosed is an apparatus and method for imaging a target area. Light is emitted from a device and separated into individual rays of light. These rays are then directed to a target area where they are reflected and returned to a receiving device. The time of flight for the individual rays of light is calculated to determine the range and shape of objects in the target area.

Abstract: The present invention is a mass gauging interferometry system used to determine the volume contained within a tank. By using an optical interferometric technique to determine gas density and/or pressure a much smaller compression volume or higher fidelity measurement is possible. The mass gauging interferometer system is comprised of an optical source, a component that splits the optical source into a plurality of beams, a component that recombines the split beams, an optical cell operatively coupled to a tank, a detector for detecting fringes, and a means for compression. A portion of the beam travels through the optical cell operatively coupled to the tank, while the other beam(s) is a reference.

Abstract: The method of the invention promotes single crystal growth during fabrication of melt growth semiconductors. A growth ampoule and its tip have a semiconductor source material placed therein. The growth ampoule is placed in a first thermal environment that raises the temperature of the semiconductor source material to its liquidus temperature. The growth ampoule is then transitioned to a second thermal environment that causes the semiconductor source material in the growth ampoule's tip to attain a temperature that is below the semiconductor source material's solidus temperature. The growth ampoule so-transitioned is then mechanically perturbed to induce single crystal growth at the growth ampoule's tip.

Abstract: A flame holder system includes a modified torch body and a ceramic flame holder. Catch pin(s) are coupled to and extend radially out from the torch body. The ceramic flame holder has groove(s) formed in its inner wall that correspond in number and positioning to the catch pin(s). Each groove starts at one end of the flame holder and can be shaped to define at least two 90°turns. Each groove is sized to receive one catch pin therein when the flame holder is fitted over the end of the torch body. The flame holder is then manipulated until the catch pin(s) butt up against the end of the groove(s).

Abstract: Disclosed herein are systems, methods, and non-transitory computer-readable storage media for processing image information using a more computationally efficient version of a previously developed HSEG (Hierarchical Segmentation) algorithm. The HSEG algorithm includes iterations intertwining two forms of region growing to produce a set of hierarchically related image segmentations. The first form is a commonly used approach in which regions are grown by merging the most similar spatially adjacent regions. The second form is a unique approach in which regions are grown by also merging spatially non-adjacent regions that are at least as similar as the spatially adjacent regions merged by the first form in the same iteration. The improved HSEG algorithm limits the regions considered for non-adjacent region merging in the second form of operation to regions having at least a minimum number of pixels. This minimum is dynamically controlled to optimize processing efficiency and image segmentation quality.

Abstract: Embodiments of the present invention pertain to an apparatus that provides four simultaneous ion and neutral measurements as a function of altitude with variable sensitivity for neutral atmospheric species. The variable sensitivity makes it possible to extend the measurements over the altitude range of 100 to more than 700 kilometers. The four instruments included in the apparatus are a neutral wind-temperature spectrometer, an ion-drift ion-temperature spectrometer, a neutral mass spectrometer, and an ion mass spectrometer. The neutral wind-temperature spectrometer and ion-drift ion-temperature spectrometer are configured to separate O and N2 and O+ from H+ while the neutral mass spectrometer and the ion mass spectrometer are configured to separate mass with a resolution of one in sixty-four to enable metallic ion identification in the lower thermosphere.

Abstract: An SEA architecture for controlling the torque applied by an SEA that has particular application for controlling the position of a robot link. The SEA architecture includes a motor coupled to one end of an elastic spring and a load coupled to an opposite end of the elastic spring, where the motor drives the load through the spring. The orientation of the shaft of the motor and the load are measured by position sensors. Position signals from the position sensors are sent to an embedded processor that determines the orientation of the load relative to the motor shaft to determine the torque on the spring. The embedded processor receives reference torque signals from a remote controller, and the embedded processor operates a high-speed servo loop about the desired joint torque. The remote controller determines the desired joint torque based on higher order objectives by their impedance or positioning objectives.

Abstract: A grasp assist system includes a glove, actuator assembly, and controller. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. Phalange rings are positioned with respect to the digit. A flexible tendon is connected at one end to one of the rings and is routed through the remaining rings. An exoskeleton positioned with respect to the digit includes hinged interconnecting members each connected to a corresponding ring, and/or a single piece of slotted material. The actuator assembly is connected to another end of the tendon. The controller calculates a tensile force in response to the measured grasping force, and commands the tensile force from the actuator assembly to thereby pull on the tendon. The exoskeleton offloads some of the tensile force from the operator's finger to the glove.

Abstract: A grasp assist system includes a glove and sleeve. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly.

Abstract: A grasp assist system includes a glove and a flexible sleeve. The glove includes a digit such as a finger or thumb, a force sensor configured to measure a grasping force applied to an object by an operator wearing the glove, and adjustable phalange rings positioned with respect to the digit. A saddle is positioned with respect to the finger. A flexible tendon is looped at one end around the saddle. A conduit contains the tendon. A conduit anchor secured within a palm of the glove receives the conduit. The sleeve has pockets containing an actuator assembly connected to another end of the tendon and a controller. The controller is in communication with the force sensor, and calculates a tensile force in response to the measured grasping force. The controller commands the tensile force from the actuator assembly to tension the tendon and thereby move the finger.