wey TechBriefs Electronic Components and Circuits Electronic Systems Physical Sciences Materials Computer Programs Mechanics Machinery Fabrication Technology Mathematics and Information Sciences SORrSDOA@OOGHU Life Sciences 02-10 October 2002 INTRODUCTION Tech Briefs are short announcements of innovations originating from research and development activ- ities of the National Aeronautics and Space Administration. They e nphasize information considered likely to be transfaecrorssa ibndulsienal , regional, or disciplinary ines and are issued to encourage Availability of NASA Tech Briefs and TSPs Requests for individual Tech Briefs or for Technical Support Packages (TSPs) announced herein shobe uadarlessded to National TechnToralnsfoer gCeynt er Telephone No. (800) 678-6882 or via World Wide Web at www2.nttc.edu/leads/ Please reference the control numbers appearing at the end of each Tech Brief. informaotn iNAoSnA' s Commercial Technology Team, its documents, and services ts also available at the same facility or on the World Wide Web at www.nctn.hq.nasa.gov. Commercial Technology Offices and Patent Counsels are located at NASA. field centers to provide technologaycc-ests tro ainndusstritale urser s. Inquines can be made by contacting NASA field cen- ters and program offices listed below. NASA Field Centers and Program Offices Ames Research Center John F KennSpeaced Cyent er NASA Program Offices Carona Blake Jim Alibert At NASA Headquarters there are seven major program offices that (650) 604-1754 or (321) 867-6224 or Gevelop and oversee technology vrorects of potential interest to industry. chtake@mail arc nasa gov Jim Allbaro- 1@ksc nasa gov Cari Ray Gien Muckiow Small Business innovation Office of Space Sorences ~~. 7 aan aneanes er Smal Busness Tectnoogy (202) 358-2235 or (661) 276-3689 or Sa. morelio@larc nasa.gov aioe 9 pal Ng.n ae8.G ov penny baer-nechat@dirc nasa gov cray@mail hq nasa gov Roger Crouch Glenn Research Center Office of Microgravity Sorence GodSpdacea Flirght dCen ter = Larry Viterna Dr Robert Norwood Applications (Code U) George Alcorn (216) 433-3484 or Office of Commercal Technology (202) 358-0689 or (301) 286-5810 or cto@grc nasa.gov (Code RW) rcrouch@hq_nasa. gov galcorn@gsic nasa gov e ‘1s (202) 358-2320 or George C. Marsha’ Space rorwood@mail MQ. nasa.gov Granvilie Pauies Jet Propulsion Laboratory Flight Center Office of Mission to Planet Earth a(8r18) 354-2577 Rpoir resagoy (256) 54. 4-2615 or , | Office of Space Fight (Code MP) (202) 358-; 0706 or JohnSpsaceo Cnent er Charlene E. Gilbert (281) 483-3809 or commercializatonna@sya sgco v NASA Tech Bnets, October 2002 2 NASA Tech Bnets, Octoher 200? & TechBriets a National Aeronautics and : Admini 5 Electronic Systems 11 Physical Sciences 23 Materials 27 Computer Programs 31 Mechanics 37 Machinery 43 Fabrication Technology #©@|6 '' o6|| \6 49 Mathematics and Information Sciences This document was prepared under the sponsorship of the National Aeronautics and Space Adminstration Nether the United States Government nor any person acting on behalt of the United States Goverment assumes any lability resulting from the use of the information contained im ths Gocument. or warrants that such use will be free frorn privately owned nghts NASA Tech Bnefs. Octooer 2002 Electronic Systems Hardware, Techniques, and Processes intuitve Control System for a Dexterous Robot FOPSK With an Outer Code for Greater Efficrency Noncontact Scanning Surface Profilometers -o o © Ultrasonic System Tracks Body Movements in Three Dimensions Intuitive Control System for a Dexterous Robot The operator and robot acting together can respond ynaon 8B. Johnson Space Center with nearly natural, numankke motions Houston, Texas The Full immersion Telepresence Test bed FITT) s an expenmental antfropomor- prec obo! remote-csyostmem tfriato sls s o namec Decause * Gives a human compl operator some of te sensators of Te remote envroas nthomughe thne otper a- tor were mn thal envron= mplaecen oft t he robot. in compwah noldes toelenrobo tc control systems. the FITT provides robotic sensory teecibac\ befier sulted to the oper- ator S Senses and enables the operator and robot acting iogether to respond. with more neary natua Numarnke motions, to Changes n ihe ramote envronment nm pa boule coreiaing Te operaios move ments (pmopofa fle yhea d. ams. aw hands) wih moveme ts of Te robot ce ates a more miutive method of taleoperal ng robots anpuisMoireooverr sthe. u se of an operator's Own Mmovermteo rcotntsro l the robo! provides The operator wih usetu kinesthetic feedback The FIT) and otter SyStarns ike ¢ are expected fo reduce Tar, iQ One and costs. task -compieton trnes. anc operator workloads and errors Because the FITT concept mates human rtehgance wih he Gurabity of robots. t 6 potenhaly usefu for performcoimnplgex aS 7 has) eovwormerts to earn. Geareg up radoaavc) ttoriec vwaeste s The man compoof nthee FIrTT t6 an An Operator Using the FITT controls a remote robot by a combination of hand. arm. head. operators Cw mourted on 4 rmotatrg and foot motons and vocal comwnands base (see figure) By use of foot pedaiso n te cw te opesio can command onerof ttootas hetld oDy nTe srob otr manded vocally ca vary © compienty Gract dive motors on Doth the base of the marupulators. instrumented gloves mea ror @ Grnple repostofi ao rnobont gar n Char and the remote robot The chawr also sure the operators fingerort angles to a more comple: maneuver ike grapptng houses eguomern for controing a waeo and the pitch and yaw of the operator's ard turwaw c a camerau v manpuiators. and end effec hand, thereby providing signais for dex The software that controls the systen s tors on the remote robot The opersio terous teleopoef rrobaottic igoripnpe rs hosted on a UNDUVersaModEuurolcaer d wears a heimet -mourved vdeo Gsplay uv and hands (VME) computer workstation and a parson wt presets. to the operator 60" -fekd-ot- nasnuch as te operators hands aw @ computwieh a 465 mearoprocesssr View Slereoscome: magfome thse vd eo eyes are “rrn0e ther loscalley sdyit te and 8 vane recog ion crovt board Data camera uv on te robot Slersosoome: saved verson of the renole envrormet forn the pogton and oneriiaion sensors magna creates 4 percapton of danth — they ae nol availabe flo eviatrw com mstunerted goves. aw toot pedatsw e one of the most mportart “rnmergornfe’a - mands Therefore, a vooce-recogr¥iosru b Sarrgied at arate of anprowrete1t0 yH r tures of the system The neimet aiso SySIEM Drowdes 4 Convervant way to Dien’ The Gate are sert out over a local-area ret mcludes stereophonmc headphones for avtcoommamndsa wiht Greect dopar ator work, using Nw) level conrnurwcaliosno t @uGho teedback and a mucrophone for control. To prevent the voice-recognition ware tat ertitaenssie c Gata Tro opervocae tcoommarnd s A position. and subsystem from picukp eixtnrangeou s a C-lapnrogagn, umaakingc oew e ve onertabon sensor on the top of the netnet mputs, the system is set up SO thal the Giver mtertaces tansp@et iS The source of conwnarnds wt corre! the operator must press 2 foot pecial to ena Ths work was done by Lary C HL onentoaf htheo “nde o carnureé rona t he tt Substoy reoscevet 4a eSporkenn c an of Johnson Space Center and Vyron ramote robot Offer sencors attached to mand Ontce peedi « refeased fe A (Utter and Susan S Shelton of the operators wosts provide tree -arnean command 6 processed awd Diayed back Lockheed Varin No turther documnen sora posmon and ofch yaw and rol ao to the operator over 4 voce Sy Wirweuret o fatron Ss avadabie na@is tor remote cormmro of postors aw confrmation. Motbons thal can be com MSC -22 733 FQPSK With an Outer Code for Greater Efficiency Coding gains are expecteevedn ,fo r NASA's Jet Propulsion Laboratory, reduced-complexity recervers Pasadena, Califorma FOPSK Matched Canine He " form = re" | Ths FOPSK Coding/Moduisuon and Demoduston/Uecoding scheme has been Shown, congiastore: serutabons, t)i ke sigwhcist gab: over FOPSK modulabon and Gernoc.ewis otuli coodnin g A proposed method of FOPSK modue- nature of the cross-corre6i saucihi aosn t o gars in terms of sgna@-tor-antoo nseeed - ton aw Genodéstion of 4 rao ae efectvey moompxrete 3 "els coding @0 to keep te O4-arror rate balow a speo- would incoranyp ofo a rnuranibutr oef r aa- schmeiom FOePS* . fed vate) arngng fom 3.751077e B vey Spe (Gor -consTart eng?) ote Acoodrg to le proposed mefod, a Ths work was done by Maun Simon codes. By affording sgrvicart coding gare gor -corcvant long? cocfn eeec t. an andj Darush Dwsaler of Caliech for even when usng 3 mauced-compinty Ofer code) woud be rWroduoed mio a Gata NASA's Jet Propulsion Laborstory (and Tus shoFUPSpK re)cever ee Stream ve an miotacve prc to nocuasban Furth nformaton 6 cortaned nm a TSP method would offe the cuncorntaprotte n of te came agra ©) a) FOPSK tawre- [see page 1) ta to aferce Ghumny © powr au te: The combnof ass tcutoe croce, w th i) accowrih dPubaic nLawc 9e6-51 7. Spectal wath of an FOPSK commune the contractor has elected to retan tte fo th nveriton. inqumes concening nofits for @s commerad use Sou be adcressad to a@iows fo teralve Geoudg Al Te scever y tts te feratve Geocoding woud be part of Te GenAo)o p.roce ss. Mai Stop 202-233 The fgve Gepects ow of 2 curber of 4800 Oak Grove Drive Qererc codny Gecauing schurnes, aarnt- PacadeCAn a91,10 9 ted by ths method. al moles the use of (818) 354-2240 @ recducedconmpe"colevye Compute Rete to NPD. 30135, votanrd neumb er tora gruisbors fo ns sherre Wh) var of te NASA Tech Gres cme aw te Ous Oule codes. fieriGeoek vsehes . page number rvoanNonge ofsfe ,Twa s. 8 coss.o7- and numbers of Gecoding teratons ralaton between the | and O channets The Gamotnhe spotetntaal lot obteain dcodi ng NoncScanoningn Sutrfacea Prcofiltomet ers Positiondet-ecstores nares uisedt tio mveaesur e John F KennSpeaced Cyente r, relative surface heights. Flonda A Gass 0 aOleg@ectors: soroorte A crofiof ohsm tympe enotutdiees ar tw o- the surfofa mcterees t. The hagof t he Gmensonal xy) Nonzonial-transiation optical head 6 set at a norma vertical dis Stage. on whch) he ofeect to be nepected tanc0 2e5 2 635 mT -/2 fe prototype! 6 Mounted wi) he a.rtace of nterest fac. above the surtace of interest When the ver Uwe cowed 4 Gatorwy optical toa Gstanoe between the optca wad arnxi heed The optea Need conta « oer the srtace equas Ths forwa Gstawe Goode amed to prasct ) Leaofn g v the gpot of ight formed on the artace by Gowwed at an angie (22.1/7" 2 fe pro- te aor been 6 at a non! certral hon totype profiofor her peertpenedoruds) to fortal powton When the artace tes af a NASA Tech Bnets Octoter 210? Gfieret hag. Te spot of gt s tormed 2 anT)e ee OmwTee aecetodenss aw sugges Tet srace Gvators onal be @ Gierert horvorta postion Ts ndcate Te toca Gevaton of he hart routinely resolved to with 10“ nm Gun of Te surtoaf mcteeres t Ths work wes Gone Dy Jefey A Hooke f00us The ight refiected form tte user dun Under computer contol the tansiaton and Sephean V4 Seomons torms~ of | NET alec spot fo 3 OOFEponSdets oyn a Stage © actuated to scan Te optica head 'y KennSpeaced Cyent er One-One aoe 20S) Sarsive Getecias acoMes asstoo e So aah pceneto f NASA fn@s gated Lae Tecnang, PSO) wn 6 a Owtodetewciht oee r hovwortta poston wy. Te optical neac inc, an excuse boanse tor is tactnaiogy trodes at apposte ends of aime "he ceve rege: holotsc naucatme eof Te inqures concthee cmommieranal guse of ton of Te postion of Te soot of it aor coca Gevaton of the surface fom the norm the “Noncsocannnintg Saurfcacte P ro MU Fe Tor 3 owe cota poston ra vaca Gstawe The compute Duds flomsheoultd hee arddrsess”ed to Gapencts on Te Gaahon of Te asnvrwied up 2 tree -G menmsap oof Tne sdurf ace John Newman, Present Spot on the surtace of mferes! Tor). Teron tun fhe ene Gee Of verica-devabGoant a Laser Technologyi.n c @ vetca asia ce Dalow Te ootca "ead to a roewOrf Noerworrtat psosti on 1055 W GermantowPnk e The spot of igft focused orro the PSD gves The prototype profionmasn beeart tees t. NomstoPwA n19,40 3 nse 10 Ofwotoore ts =/ Te Ww) aactodes oO 226 Of Severe Obes. nurs 2 Tel No. 610) 631-5%43 Te migtve values Of Teese (otoorets Sey "ew Gre aw Seoners Of Giusety KSC-11759 Gapend on Me postion of Te got of ag refectve matenais. The resofu ffe tses ts Ultrasonic System Tracks Body Movements in Three Dimensions This system affords centimeter accuracy and overcomes Lyndon B. Johnson Space Center, major Gisadvaonf tpnoar gsyestesms . Houston, Texas A system based on Wit asonic sensors Savy (0 Measure Cor plete Dody motons by 40 kHz ~The outputs of he mmoeverasv has Deen Gevalooed a5 a maans of rade use of systerns thal are acceptablteo sert to the MMU. wich performs corre- moving oteects wi certirmete acovracy human Subects. that rtertere ~wenaly wt lahon procaenalsogosus iton wtg p er- The 9)Ste?n 6 mended espenaly to Track. tw siects ™oOtors au ta est ew formed on mcrosgwuate /)v hee hr y 1 petnert ots of Te body of a human ronmerta mtert"ehe rpraesent csysete rn sucoesstu Global Postioning System The Subject eng=| acontgro! eof ad ram ute Saisie ese eQurerorts Oufputs of The correiaion processor are "he atrooor ore bot of mmersed naw. ™e (resert syste mics several sta move Tae Gdstawes Te Troe tua ewrommerrt The syste coud a be Soney Soe Urasore: Tansdoms pos. Grenson coordoif nhoa Totree vser s used to Tack a mote robot bored Dov Te eon win wer te ae computed fom fee é@tawes ow Theae rnoreeaey y) Gerafeo tmo m human Gutyect moves. Ore of more Pars. The row) posbons of Te meoevers No sopnmeethtods cofa cwatcteewradg fe minting Ultrasone Taned.#eo psos’tosna d oCyt ronwaion 6 neetdo eeratde Te motoofr fsura n Sifwects& Te are on fe parts of Te funan aiects boo recevers and the MMU to Gstingus” mentoro epodse s Por motor rack) tat ae to be tacked Putting fe rane among the sgrat moeved fon Gre” tes on fe fue aioe owwees Te vanebeciausfe eiat etranrervfser use tailorefdo such) hgh GDecaized aréce wayt Tel Te atext mst cry Te a ueRe Oe CO oTooO’ fo Te tons 45 Pack Movernofe Nre Nteasad o eaarwetTe l proceTse sWeasss. phase ondes of af he offer Tanwrvfters of Te eyesoF ) Whole boo) taor9 sys sg rorn6 Saatoriwy obecanuse @ Ths work wes Gone by Robert E Bore tens Now on Te market ulizve vary such processing G6 performed the of Ganeys Research & Oeveloormenitn,c . epeeve 00c-4 sensors of magwtc ser moaves aud ) 8 Saborary motor wre tor Johnson Space Center furtar nity ars Tet we ssoeptte tf ons 1 Te araruee VtM S maton © cortaned 7 a TSP lsee page 1) presof eneanrbyc meetal ic otyects To Each Taneerrvtvs ai phtasee crode d MSC -23028 actweve reakstc wiua realty ¢ wi be neces wavetom a’ the maudie: frequency of NASA Tach Brete Octomoer 200DD