NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot, so it involves both internal fault detection as well as force sensing for unintended external contacts. The designs for the supervisory command mode and the redundant safety system will be described. Specific implementations were developed and test results will be reported. Experiments were conducted using terrestrial analogs for deep space missions, where time delays were artificially added to emulate the longer distances found in space.

关键词：遥控机器人；地球模拟舱外活动；太空任务

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Flight control of micro aerial vehicles (MAVs) is challenging due to the size of small-scale robotics platforms, which places size, weight, and power limitations on onboard sensors, as well as restricts the data processing algorithms that can be implemented on the platforms. We focus on computing optic flow in order to control a MAV using small vision chips as opposed to a complex camera system in order to cut down on the size and weight of the sensors as well as the processing power needed. We propose using an externally produced vision sensor by Centeye, ArduEye, to develop an algorithm for computing optic flow, from existing algorithms tailored to the sensor, to be used to control a quadrotor. Such efforts will benefit the various MAV research thrusts by providing a successful optic flow sensor and data processing algorithm that can be applied to the flight control of other robotic platforms.

关键词：用视觉传感器；光流；微型飞行器；飞行控制

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Landing mission concepts that are being developed for exploration of solar system bodies are increasingly ambitious in their implementations and objectives. Most of these missions require accurate position and velocity data during their descent phase in order to ensure safe, soft landing at the pre-designated sites. Data from the vehicle's Inertial Measurement Unit will not be sufficient due to significant drift error after extended travel time in space. Therefore, an onboard sensor is required to provide the necessary data for landing in the GPS-deprived environment of space. For this reason, NASA Langley Research Center has been developing an advanced Doppler lidar sensor capable of providing accurate and reliable data suitable for operation in the highly constrained environment of space. The Doppler lidar transmits three laser beams in different directions toward the ground. The signal from each beam provides the platform velocity and range to the ground along the laser line-of-sight (LOS). The six LOS measurements are then combined in order to determine the three components of the vehicle velocity vector, and to accurately measure altitude and attitude angles relative to the local ground. These measurements are used by an autonomous Guidance, Navigation, and Control system to accurately navigate the vehicle from a few kilometers above the ground to the designated location and to execute a gentle touchdown. A prototype version of our lidar sensor has been completed for a closed-loop demonstration onboard a rocket-powered terrestrial free-flyer vehicle.

关键词：传感器；雷达

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The function of the infrared gas transducer used during extravehicular activity in the current space suit is to measure and report the concentration of carbon dioxide (CO2) in the ventilation loop. The next generation portable life support system (PLSS) requires next generation CO2 sensing technology with performance beyond that presently in use on the Space Shuttle/International Space Station extravehicular mobility unit (EMU). Accommodation within space suits demands that optical sensors meet stringent size, weight, and power requirements. A laser diode spectrometer based on wavelength modulation spectroscopy is being developed for this purpose by Vista Photonics, Inc. Two prototype devices were delivered to NASA Johnson Space Center (JSC) in September 2011. The sensors incorporate a laser diode-based CO2 channel that also includes an incidental water vapor (humidity) measurement and a separate oxygen channel using a vertical cavity surface emitting laser. Both prototypes are controlled digitally with a field-programmable gate array/microcontroller architecture. The present development extends and upgrades the earlier hardware to the Advanced PLSS 2.0 test article being constructed and tested at JSC. Various improvements to the electronics and gas sampling are being advanced by this project. The combination of low power electronics with the performance of a long wavelength laser spectrometer enables multi-gas sensors with significantly increased performance over that presently offered in the EMU.

关键词：红外气体传感器传感器；光学；舱外活动；宇航

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全球制造业之变革：产业再转移，美国重返制造业。制造业微笑曲线必须向两端移动。中国机械行业上市公司现状。机械行业自上而下投资逻辑。机械行业自下而上投资逻辑。

关键词：制造业；铁路装备；高端装备；能源装备；节能装备；民生装备

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未来两年高铁线路密集投运，动车组迎来交付高峰。顶层设计铁路体制改革，多举措提升投资回报吸引社会资本参与。高铁外交加快推进中国高铁走向海外市场。

关键词：铁路建设；高铁建设项目；竣工；设备采购力

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RCT Systems led a team that included Creative Energy Solutions, and NDI Engineering in the development of an Advanced Energy Storage Module (ESM) for the Office of Naval Research (ONR) under a Broad Agency Announcement (BAA) contract for a DDG 51 Fuel Efficiency Demonstrator. The project demonstrated a modular 600kW ESM in December 2010. These modules could be combined into a 3 MW system to allow DDG 51 single generator operations, providing full ship backup power for up to 10 minutes with significant fuel savings. These savings are dependent on the ship operating profile. The BAA assumed 4,000 hours per year per ship of single generator operations. Based on that estimate, the system could facilitate savings of approximately 8000 BBL of Fuel/ship/year, or up to approximately $1.3M/ship/year in direct fuel savings at Jan 2012 DLA Fuel Rates of $160/bbl. This equates to approximately 30direct savings in the ships electric plant fuel usage during peace time cruise and an 8savings in overall ships fuel usage based on Navy Incentivized Energy Conservation (I-ENCON) reports. DoD has mandated the use of Fully Burdened Fuel Cost (FBFC) in all future acquisition decisions. FBFC savings could be as high as $3-5M/ship/year in FY-12 Dollars. We estimate that hardware costs alone could be recouped in approximately 2 years based on FBFC savings. Navy testing at NSWCCD SSES DDG-51 Land Based Engineering Site (LBES) is ongoing, and it is planned to install the ESM in a DDG-51 Class ship in summer/fall of 2012 for an at sea demonstration. The Navy is currently determining the total energy required to be available to satisfactorily de-risk single generator operations on DDG-51 Class ships. While designed for DDG 51, the modular system is potentially adaptable to all Navy and commercial ships, and supports the Next Generation Integrated Power System (NGIPS) Architecture.

关键词：储能；船舶；电力生产；节能；燃气轮机；发电机；锂电池

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China has emerged as the world's second largest country for the Aviation market. With a GDP growth rate of more than 7 percent, the country exhibits excellent opportunities, especially in the Aerospace market. Owing to this tremendous growth, there has been an increase in demand for commercial aircrafts by airline companies. The Chinese government is also increasingly encouraging Chinese companies to manufacture indigenous commercial aircrafts to meet the rising demand and also to boost the economic growth of the country. An increase in the Manufacturing sector would enhance the employment rates and GDP of the country.

关键词：航空市场；国内生产总值；需求；生产商用飞机；就业率；国内生产总值

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An electric current sensor based on Faraday rotation effect in optical fiber was developedfor measuring aircraft lightning current. Compared to traditional sensors, the design hasmany advantages including the ability to measure total current and to conform to structuregeometries. The sensor is also small, light weight, non-conducting, safe from interference,and free of hysteresis and saturation. Potential applications include characterization oflightning current waveforms, parameters and paths, and providing environmental data foraircraft certifications. In an optical fiber as the sensing medium, light polarization rotateswhen exposed to a magnetic field in the direction of light propagation. By forming closedfiber loops around a conductor and applying Ampere’s law, measuring the total lightrotation yields the enclosed current. A reflective polarimetric scheme is used, wherepolarization change is measured after the polarized light travels round-trip through the sensing fiber. The sensor system was evaluated measuring rocket-triggered lightning overthe 2011 summer. Early results compared very well against a reference current shuntresistor, demonstrating the sensor’s accuracy and feasibility in a lightning environment.While later comparisons show gradually increasing amplitude deviations for anundetermined cause, the overall waveforms still compared very well.

关键词：传感器；光纤传感器

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Argon is a flight-ready sensor suite with two visual cameras, a flash LIDAR, an on- board flight computer, and associated electronics. Argon was designed to provide sensing capabilities for relative navigation during proximity, rendezvous, and docking operations between spacecraft. A rigorous ground test campaign assessed the performance capability of the Argon navigation suite to measure the relative pose of high-fidelity satellite mock-ups during a variety of simulated rendezvous and proximity maneuvers facilitated by robot manipulators in a variety of lighting conditions representative of the orbital environment. A brief description of the Argon suite and test setup are given as well as an analysis of the performance of the system in simulated proximity and rendezvous operations.

关键词：传感器；计算机；飞行控制；导航仪器；航天器

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