Teleoperation to robotics at Langley Research Center

A popular conception of the evolution of remote manipulation is a progression from teleoperation to telerobotics and then to robotics. This is logical because in going from teleoperation to robotics there would appear to be a continuous decrease in manned workload, an increase in system complexity, and an increase in the amount of intelligence in the automated system. During the past 10 years NASA Langley Research Center (LaRC) has been involved in all three areas. The decision on which system is most suitable for a task depends not only on the task, but on the allocation of responsibility for intelligence or high level control. The operator may be responsible for all intelligence and control functions, they may be shared between the operator and the automated system, or they may be performed by an autonomous system. This paper discusses some of the experiences in each area in applications related to possible space tasks and some of the lessons learned.     

The effect of increasing application rate of granular calcium ammonium nitrate on net nitrification in a laboratory study of grassland soils

Soil incubation studies were undertaken in controlled environment cabinets at 15°C to investigate the effect of increasing application rates of calcium ammonium nitrate (CAN) on net nitrification in two grassland soils. Granular CAN was applied to the surface of freshly collected, moist soil, at a rate equivalent to 0, 100, 200, 400, 800 and 1600µg NH ₄ ⁺ -N and NO ₃ ^- -N per gram of oven dry soil. In half the treatments finely ground CaCO₃ was incorporated into the moist soil to raise the starting pH. Changes in soil mineral N and pH were measured at weekly intervals up to six-weeks. The most probable number (MPN) technique was used to enumerate the NH ₄ ⁺ -N and NO ₂ ^- -N oxidizers at the beginning and end of the incubation.At low rates of CAN application there was considerable NH ₄ ⁺ -N oxidation to NO ₃ ^- -N during the incubation of both soils. Lime stimulated this N transformation. At high application rates (i.e. 800 and 1600 ppm) there was little change in NH ₄ ⁺ -N or NO ₃ ^- -N on either soil during the 6 week incubation, in the presence or absence of lime. The rate of NO ₃ ^- -N produced peaked at 5.6 and 3.8 mg NO ₃ ^- -N kg^–1 d^–1 on soil 1 and 2 respectively, in the presence of lime. Above a level of 400 ppm CAN (equivalent to 38 kg N ha^–1) the rate of NO ₃ ^- -N produced decreased. The higher rate of net nitrification in soil 1 compared with soil 2 was probably due to a higher number of nitrifying bacteria. Although high rates of CAN decreased the nitrifying activity of both soils there was little difference between treatments in the actual numbers of NH ₄ ⁺ -N and NO ₂ ^- -N oxidizers determined by the MPN technique.The results showed that the rate of granular CAN applied to the soil surface can influence the local activity of nitrifying bacteria and subsequent N transformations. At application rates of CAN generally used agriculturally for grass production, it is likely that net nitrification of the NH ₄ ⁺ -N in the fertilizer granule will be inhibited.     

Abrasion Resistance of Field-Assisted Ion-Exchanged Glass

The fracture strength of HF-etched samples was measured as a function of field-assisted K-Na ion exchange depth, as well as the severity of abrasion. As expected, the more severe the abrasion, the greater the depth required to make the strength insensitive to abrasion. An abrasion-independent weakening mechanism that increased with exchange depth was also found to be operative.     

Stress Superposition in High-Strength Glass

The introduction of surface compression via alkali-ion exchange is frequently used to strengthen alkali-containing glass. However, previous investigators found that when starting with high-strength glass, the strength measured after exchange was significantly less than the sum of the residual compression and the starting fracture strength. Results are presented which suggest that the source of this discrepancy is surface damage produced during the heat treatment accompanying the ion-exchange process. Further, when the surface damage was removed by shallow hydrofluoric acid etching, the resulting fracture strength did approximately equal the sum of the residual stress and the high starting strength.     

Diluent effects on carbonate mobility in bisphenol-A polycarbonate in the solid state

The effect of miscible low molecular weight additives on the mobility of the carbonate group in bisphenol-A polycarbonate (BPAPC) has been studied using n.m.r. and dielectric relaxation experiments in the solid state. Proton-enhanced dipolar-decoupled carbon-13 n.m.r. spectra of BPAPC, isotopically enriched at the carbonate position, are obtained without magic-angle sample spinning. The resolved chemical shift anisotropy allows study of nuclear spin relaxation for the carbonate groups in the polymer that have different orientations relative to the static magnetic field in the laboratory frame. The spin-lattice relaxation time in the rotating frame (T_1?) is measured at a motional-probe frequency of 50 kHz for the undiluted polymer and for BPAPC-diluent blends containing either dibutylphthalate or dinitrobiphenyl. The T_1? exhibits some dependence on orientation in all systems studied. In the blend containing dibutylphthalate (DBP), T_1? is decreased by a factor of two for all orientations of the carbonate group. This implies that DBP substantially increases the spectral density of 50 kHz motions in the carbonate region of the polymer at ambient temperature. In contrast, dinitrobiphenyl does not significantly alter the Fourier component of thermal fluctuations at 50 kHz. Dielectric relaxation measurements at 10 kHz reveal that the primary (T_g) and secondary (β) motional processes in BPAPC are affected by low molecular weight additives. An intermediate relaxation process appears in the temperature interval between the glass transition temperature (T_g) and the sub-T_g β-relaxation (T_β) in the polymer-diluent blends. The n.m.r. spin-lattice relaxation rate in the rotating frame, T^?1_1?, correlates well with the relative magnitude of the dielectric dissipation factor (tan δ_ε) between T_g and T_β.     

Static and Cyclic Fatigue of Alumina at High Temperatures: II, Failure Analysis

Failure mechanisms of an alumina, tested at 1200°C under static and various cyclic loading conditions, were examined. Slow crack growth of a single crack is the dominant mechanism for the failure in specimens under cyclic loading with a short duration of maximum stress at all applied stress levels, as well as at high applied loads for static loading and cyclic loading with a longer hold time at maximum stress. At low stress levels, failure of static loading and cyclic loading with a longer hold time at maximum stress might occur by formation and/or growth of multiple macrocracks. More importantly, for all the given loading conditions. The viscous glassy phase behind the crack tip could have a bridging effect on the crack surfaces. A simplified model for calculating effective stress intensity factor at the crack tip under static and various cyclic loading demonstrated a trend consistent with the stress–life data.     

An NMR study of acid sites on chlorided alumina catalysts using trimethylphosphine as a probe

The MAS-NMR spectra of adsorbed trimethylphosphine (TMP) were used to determine the concentration of Brønsted and Lewis acid sites on pure and chlorinated-Al₂O₃ samples. Chlorination with CHCl₃,CCl₄ or AlCl₃ promoted the formation of Brønsted acid centers, which are characterized by the protonated adduct of TMP. This adduct has a³¹P chemical shift of ca. –3.8 ppm and a J_P–H scalar coupling of 517 Hz. Additional resonances in the –44 to –54 ppm range are attributed to Lewis acid-base pairs. In some cases a partially resolved J_P–Al coupling is observed, which confirms the assignment. Upon thermal treatment of a chlorinated sample at temperatures > 200°C, the concentration of Brønsted acid centers decreased; the concentration of one type of Lewis acid increased and another remained almost constant. In a parallel set of experiments the initial conversion ofn-hexane at 150°C and the yields of cracking and isomerization products were determined. Comparable functional relationships were observed between the loss of Brønsted acid sites and the decrease in yields of both cracking and isomerization products. These results suggest that Bransted acidity is responsible for the cracking and isomerization ofn-hexane over chlorided aluminas at 150°C.