Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

A capacitance based proximity sensor, the 'Capaciflector' (Vranish 92), has been developed at the Goddard Space Flight Center of NASA. We had investigated the use of this sensor for avoiding and maneuvering around unexpected objects (Mahalingam 92). The approach developed there would help in executing collision-free gross motions. Another important aspect of robot motion planning is fine motion planning. Let us classify manipulator robot motion planning into two groups at the task level: gross motion planning and fine motion planning. We use the term 'gross planning' where the major degrees of freedom of the robot execute large motions, for example, the motion of a robot in a pick and place type operation. We use the term 'fine motion' to indicate motions of the robot where the large dofs do not move much, and move far less than the mirror dofs, such as in inserting a peg in a hole. In this report we describe our experiments and experiences in this area

Effect of hydrogen on deformation structure and properties of CMSX-2 nickel-base single-crystal superalloy

Material used in this study was a heat of the alloy CMSX-2. This nickel-based superalloy was provided in the form of oriented single crystals, solutionized for 3 hrs at 1315 C. It was then usually heat treated as follows: 1050 C/16h/air cool + 850 C/48h/air cool. The resulting microstructure is dominated by cuboidal, ordered gamma precipitates with a volume fraction of about 75% and an average size of 0.5 microns. In brief, the most compelling hydrogen induced-changes in deformation structure are: (1) enhanced dislocation accumulation in the gamma matrix; and (2) more extensive cross-slip of superdislocations in the gamma precipitates. The enhanced dislocation density in gamma acts to decrease the mean free path of a superdislocation, while easier cross slip hinders superdislocation movement by providing pinning points in the form of sessile jobs. Both processes contribute to the increase of flow stress and the notable work hardening that occurs prior to fracture

InGaAs/GaAs/alkanethiolate radial superlattices: Experimental

A radial InGaAs/GaAs/1-hexadecanethiol superlattice is fabricated by the roll-up of a strained InGaAs/GaAs bilayer passivated with a molecular self-assembled monolayer. Our technique allows the formation of multi-period inorganic/organic hybrid heterostructures. This paper contains the detailed experimental description of how to fabricate these structures.Comment: 2 pages, no figures, Version 2; minor changes (fixed typos and update references

Structural analysis of the Arunta Block and Amadeus Basin (Central Australia) by means of digital remote sensing techniques and field data

Der proterozoische Arunta Block und das altpaläozoische Amadeus Basin zeichnen sich durch jeweils eigenständige lithologische Abfolgen und tektonische Deformationstypen aus. Der Kontaktbereich dieser intrakratonen Blöcke wirft seit Jahren Diskussionen hinsichtlich des tektonischen Baus auf: von hypothetischen weitreichenden Überschiebungsdecken (nappes) bis hin zu einfachen kleindimensionierten Störungen oder Verschleppungen (thrusts). Im Rahmen dieser Arbeit wird versucht, diese Elemente anhand von multispektralen Landsat-TM-Daten und Analysen von Luftbildern und ERS-1-Daten makroskopisch zu erfassen und zu deuten. Es ist möglich, Gesteinseinheiten und die unterschiedlichen Deformationsstile repräsentativer Untersuchungsgebiete zu differenzieren, sowie auf der Basis der topographischenKarten ein digitales Höhenmodell der Region zu erstellen, das die Zusammenhänge zwischen morphologischen Gegebenheiten vor Ort und imSatellitenbild in Bezug auf die Verbreitung von Lithologien und Störungszonen verdeutlicht. Auf diese Weise entsteht das Bild eines komplexen tektonischen Spannungsfeldes, das für jeden intrakratonen Block individuelle, zeitlich voneinander getrennt wirkende Ereignisse als Auslöser für die anzutreffenden Strukturen vorsieht.The Proterozoic Arunta Block and the younger late Palaeozoic Amadeus Basin each show significant lithological sequences and tectonic deformation styles. Since years the contact zone of these intracratonic blocks raises controversial discussions concerning its tectonic origin: from hypothetic widespread nappes to simple faults and thrusts of smaller dimension everything is taken into consideration. Within the scope of this paper it is attempted to detect their macroscopic pattern by applying multispectral and further remote sensing data analysis of aerial photographs, Landsat-TM and ERS-1data. It is possible to distinguish rock units and different deformation styles of representative areas as well as to create a digital elevation model of the region on the basis of topographic maps that elucidates the coherence of morphological features in place and in the satellite image as far as the propagation of lithologies and fault zones is concerned. It arises the picture of a complex tectonictension field, that contains individual tectonic events separated by time for each structure within the intracratonic blocks

Quantized spin excitations in a ferromagnetic microstrip from microwave photovoltage measurements

Quantized spin excitations in a single ferromagnetic microstrip have been measured using the microwave photovoltage technique. Several kinds of spin wave modes due to different contributions of the dipole-dipole and the exchange interactions are observed. Among them are a series of distinct dipole-exchange spin wave modes, which allow us to determine precisely the subtle spin boundary condition. A comprehensive picture for quantized spin excitations in a ferromagnet with finite size is thereby established. The dispersions of the quantized spin wave modes have two different branches separated by the saturation magnetization.Comment: 4 pages, 3 figure

Superlattice properties of carbon nanotubes in a transverse electric field

Electron motion in a (n,1) carbon nanotube is shown to correspond to a de Broglie wave propagating along a helical line on the nanotube wall. This helical motion leads to periodicity of the electron potential energy in the presence of an electric field normal to the nanotube axis. The period of this potential is proportional to the nanotube radius and is greater than the interatomic distance in the nanotube. As a result, the behavior of an electron in a (n,1) nanotube subject to a transverse electric field is similar to that in a semiconductor superlattice. In particular, Bragg scattering of electrons from the long-range periodic potential results in the opening of gaps in the energy spectrum of the nanotube. Modification of the bandstructure is shown to be significant for experimentally attainable electric fields, which raises the possibility of applying this effect to novel nanoelectronic devices.Comment: 7 pages, 3 figure

The performance of the Health of the Nation Outcome Scales as measures of clinical severity.

The aim of this study was to examine the performance of the Health of the Nation Outcome Scales (HoNOS) against other measures of functioning and mental health in a full three-year cohort of admissions to a psychiatric hospital. A sample of N=1719 patients (35.3% females, aged 17-78 years) was assessed using observer-rated measures and self-reports of psychopathology at admission. Self-reports were available from 51.7% of the sample (34.4% females, aged 17-76 years). Functioning and psychopathology were compared across five ICD-10 diagnostic groups: substance use disorders, schizophrenia and psychotic disorders, affective disorders, anxiety/somatoform disorders and personality disorders. Associations between the measures were examined, stratifying by diagnostic subgroup. The HoNOS were strongly linked to other measures primarily in psychotic disorders (except for the behavioral subscale), while those with substance use disorders showed rather poor links. Those with anxiety/somatoform disorders showed null or only small associations. This study raises questions about the overall validity of the HoNOS. It seems to entail different levels of validity when applied to different diagnostic groups. In clinical practice the HoNOS should not be used as a stand-alone instrument to assess outcome but rather as part of a more comprehensive battery including diagnosis-specific measures

Kinetic stabilization of Fe film on (4 by 2)-GaAs(100)

We grow Fe film on (4 by 2)-GaAs(100) at low temperature, (~ 130 K) and study their chemical structure by photoelectron spectroscopy using synchrotron radiation. We observe the effective suppression of As segregation and remarkable reduction of alloy formation near the interface between Fe and substrate. Hence, this should be a way to grow virtually pristine Fe film on GaAs(100). Further, the Fe film is found stable against As segregation even after warmed up to room temperature. There only forms very thin, ~ 8 angstrom thick interface alloy. It is speculated that the interface alloy forms via surface diffusion mediated by interface defects formed during the low temperature growth of the Fe film. Further out-diffusion of both Ga and As are suppressed because it should then proceed via inefficient bulk diffusion.Comment: 4 figure