Partial bitstream relocation (PBR) on field programmable gate arrays (FPGAs) is a technique to re-scale parallelism of accelerator architectures at run time and enhance fault tolerance. PBR techniques have focused on reading inactive bitstreams stored in memory, on-chip or off-chip, whose...

A scanning LiDAR, by its inherent nature, generates a great deal of raw digital data. To generate 3D imagery in real time, the data must be processed as quickly as possible. One method of discerning time-of-flight of a laser pulse for a LiDAR application is correlating a Gaussian pulse with a...

As electronic circuits approach submillimeter wavelength frequencies (300 GHz) and higher, the traditional low-loss method of packaging electronic circuits in waveguide modules for guiding the signal requires more attention. The reasons are that circuits at higher frequencies have lower signal...

JPL has been hand-welding aluminum tubing for decades in support of flight programs and ground support equipment, including thermal plates and shrouds. This hand-welding process is time-consuming, cumbersome, difficult, and unreliable in terms of repeatability and success, which leads to leaks, rework,...

A method, using a particle filter, has been created for identifying the location, orientation, and shape of an object that a robot hand touches. An appropriate motion model has been defined that characterizes the motion of the robot hand as it moves relative to an object....

The Robonaut 2 (R2) Dexterous Robot is the result of an effort to build a two-armed, ten-fingered humanoid robot torso capable of assembly work. This invention concerns a multi-fingered hand, and is composed of several parts. One is a tendon-driven, four-link, four-degree-of-freedom robotic...

Micro aerial vehicles (MAVs) are lightweight, highly dynamic vehicles with limited payload, sensing, and computation capabilities. There is significant interest to automate MAVs for military surveillance, reconnaissance, and search-and-rescue missions. The current...

Various advancements have been made in the development of miniature in vivo surgical robots. These robots are designed to perform Laparoendo scopic Single-Site Surgery (LESS). After being inserted through a single incision, these robots can perform surgical procedures in a dexterous workspace....

There are many applications for Autonomous Seaborne Vessels (ASVs). The seaborne cargo shipping industry moves over 9 billion tons of cargo per year, is worth $375 billion, and is responsible for 90 percent of world trade. Autonomous cargo ships could reduce the operating expenses of cargo ships by 44%. ASVs...

The Space Shuttle Remote Manipulator System (SRMS) and Space Station Remote Manipulator System (SSRMS) have proven the benefit of long-reach manipulators, with the reach of both manipulators in the l5-18-m class. Manipulators with greater reach provide many benefits. The SRMS’s limited...

Tensegrity robots have many unique properties useful for robots intended to operate in natural settings, yet the exploration of how to build and control such robots is just beginning. Many of their positive qualities, such as multipath force distribution, compliance, and their oscillatory nature, also make...

A software architecture to allow semi-autonomous mobile manipulation of highly dexterous robots under degraded communications was developed to enable remote operation of a mobile manipulation robot as a first responder in a disaster-response scenario. The software architecture is...

The main objective of this work was to develop a high-fidelity, nonlinear simulation of complex flexible structures with active control systems. A multibody system can consist of several flexible articulating components. The system can also have multiple control systems. The main...

This innovation is a suite of three methods built into a prototype flight deck navigation display interface that supports the display of predicted weather and weather avoidance decision-making. Currently, the interface uses weather objects derived from various convective weather...

Vehicle-scale integration and test requires closed-loop simulation using full-scale avionics systems or even entire vehicles. Incorporation of simulation data into real systems is problematic because real system sensors report the real laboratory...

When designing aerodynamic structures, it is important to understand if, and under what aerodynamic conditions, the structure will be stable and unstable. This is especially true if a structure is inherently flexible, such as a wing, where unstable response leads to oscillations of the...

The Interactive Liner Impedance Analysis and Design (ILIAD) tool is a software package used to design the composite surface impedance of an acoustic liner using resonant channels. ILIAD’s graphical user interface allows the acoustic channel geometry to be drawn in the liner volume while the...

The conceptual aircraft designer is faced with a dilemma on how to strike the best balance between productivity and fidelity. Attempts have been made to use computer-aided design packages to fill this void, but their cost and steep learning curve have made them unwieldy at best. Open Vehicle Sketch Pad (OpenVSP.org) has been...

Thermal spray coating is not a new process. There are different techniques utilized that depend on the objective function of the coating, the environment to which the coated piece will be subjected, and the coating material used. In any application, quality is ultimately measured by how...

A recent innovation has made manipulation of hazardous laboratory reagents in microgravity easier, thus enabling even more scientific research to be performed on the International Space Station (ISS). Prior to this innovation, moving fluids from container to container was performed only...

Additively manufactured 3D articles of certain high-temperature polymer composites such as ULTEM 1000 reinforced with chopped carbon fibers and printed by current state-of-the-art Fused Deposition Modeling (FDM) printers, suffer significantly...

DRAT software overcomes limitations inherent in the Apache Release Audit Tool (RAT), and also brings code auditing and open-source license analysis into the realm of Big Data by using scalable, open-source Apache technologies. Distributed RAT (DRAT) leverages Apache Tika to automatically detect and classify...

Adopters of the AIAA/ANSI Standard S119, “Flight Dynamics Model Exchange Standard,” are required to deal with models encoded using DAVE-ML, an XML grammar. While examining the model via a text editor, the ability to visualize nonlinear mappings between input and output signals is not...