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The RFID-Based Rotary Position Sensor was designed for use in a hand-crank dispenser with a circular disc inside the dispenser box containing a plurality of RFID integrated circuits (ICs) around the disc's periphery. An antenna is coupled to the crank on the outside of the box, which allows a user to turn the disc and dispense items. An RFID interrogator, coupled to a processor, determines the orientation of the crank based on the RFID ICs, providing information about the rotation angle of the internal disc which can then be used to assess level of material remaining in the dispenser. This sensor can be useful for items that are too small to tag individually (e.g., pharmaceutical pills), but there are various potential applications for the sensor system including use in limit switches, position sensors, and orientation sensors. The configuration of the RFID ICs and antenna can be tailored for specific applications. For example, the system could be used in a rack-and-pinion gear system to measure the rotational or angular displacement that arises from a linear force. Furthermore, the system could be incorporated into a rotary controller to refine the rotation angle of a rotating system, like a steering systemor rotor, for example. NASA's RFID-Based Rotary Position Sensor is at a TRL 6 (system/subsystem model or prototype demonstration in a relevant environment) when used in its original application as part of a hand-crank dispenser system. For additional applications that have not been explored by NASA, the invention is at a TRL 4 (component and/or breadboard validation in a laboratory environment).

R2 uses brushless DC motors, harmonic drive gear reductions, and electromagnetic failsafe brakes as the building blocks for the powerful, torque-dense actuators in its human-scale, 5 DoF upper arms. Moreover, the use of series elastic actuators and novel tension sensing & control systems represent some of the most innovative technologies present in the humanoid robotic arms of R2. Series Elastic Actuators (SEAs): R2s SEAs achieve fine torque sensing at each of its joints without sacrificing strength or payload capacity. Such capabilities are enabled through the development of several advanced technologies. Specifically, novel planar torsion springs (U.S. Patent No. 8,176,809) are integrated into each rotary series elastic actuator (U.S. Patent No. 8,291,788), while two absolute angular position sensors, calibrated using a novel technique (U.S. Patent No 8,250,901), measure the deflection of each spring. Force and Impedance Control Systems (U.S. Patent No. 8,525,460): These systems use position sensor signals for sending position data to an embedded processor that determines the positional orientation of the load relative to a motor shaft and its related torque on a string. A FPGA-based controller (U.S. Patent No. 8,442,684) provides a high-speed (10 KHz) control loop for the electric motor and gear reduction assembly present in R2 joints. Tension Sensing & Control of Tendon-Based Robotic Manipulators: NASA has also developed technologies to provide tension sensing & control of humanoid robotic arms. First, a tendon tension sensor (U.S. Patent No. 8,371,177) measures strain on tendons (strings) employed in robotic arms. A novel calibration system (U.S. Patent No. 8,412,378) calibrates the tendon tension sensors. Finally, joint space impedance control systems (U.S. Patent Nos. 8,170,718 & 8,060,250) provide closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints, as well as programmable Cartesian arm stiffness.

Because OFDR-based fiber interrogation systems rely upon interferometry between sensors with respect to a unique reference length, the excitation source (laser) must lase at a single longitudinal mode (SLM). If the excitation source contains multiple modes, the resulting beat frequency becomes a super-position of the multiple frequencies caused by the modes; as a result, the sensor cannot be accurately defined in the Fourier domain. For OFDR systems with high sensing ranges, a continuous wavelength tunable laser must be used to accommodate the resonant wavelength shift of the fiber sensors due to environmental changes. External cavity lasers (ECLs) have been used due to their narrow linewidth and ability to lase at a SLM with no mode-hopping between steps. However, the mechanical complexity associated with tuning, susceptibility to vibration and shock, and high price point leave much to be desired. To overcome the limitations of OFDR-based FOSS systems resulting from non-ideal excitation sources, NASA has developed a narrow linewidth solid-state laser based on the Distributed Feedback (DFB) laser. NASAs laser is continuously tuned by manipulating the laser cavitys temperature via a thermal-electric cooler feedback system. This continuous wavelength tuning generates a clean clock signal within an auxiliary interferometer, while the laser simultaneously interrogates multiple FBGs to produce a clean sensing interferometer. A Fourier domain spectrograph is used to show the unique frequency (i.e., location) of each FBG. While NASAs excitation source provides several performance advantages over conventional lasers used in OFDR, it is also highly compact and one eighth the cost of the ECLs traditionally used as excitation sources in OFDR-based systems. The laser has no moving parts, which also substantially improves system reliability. Originally developed to demonstrate a low-cost interrogator for liquid level sensing in oil tanks, NASAs compact, temperature-tuned OFDR laser can be applied wherever OFDR-based fiber optic sensing is desirable. Additional applications may include temperature distribution sensing, strain sensing, pressure sensing, and more. NASA AFRC has strong subject matter expertise in fiber optic sensing systems, and has developed several patented technologies that are available for commercial licensing. For more information about the full portfolio of FOSS technologies, visit: https://technology-afrc.ndc.nasa.gov/featurestory/fiber-optic-sensing

The technology utilizes photopolymer droplets (invisible to the digital radiograph) with embedded radiopaque fragments to create randomized fingerprints on battery samples. The droplets are deposited using a jig (see figure on right) that precisely positions samples. Then, at different points during battery R&D testing or use, digital radiography imaging with micron-level resolution can be performed. The high-resolution imaging required to detect dendrite formation requires images to be collected in multiple “tiles” as shown below. The randomized fingerprints uniquely identify relative positioning of these tiles, allowing rapid assembly of composite high-resolution images from multiple tiles. This same composite creation process can be used for images taken at a series of points in time during testing, and background subtraction can be applied to efficiently compare how the battery is changing over successive charge/discharge cycles to identify dendrite formation. This inspection technique is proven effective for thin-film pouch cell prototypes at NASA, and it works well at the lowest available x-ray energy level (limiting impact on the samples). The Fingerprinting for Rapid Battery Inspection technology is available for patent licensing.

Advances in additive manufacturing have enabled development of printable electronic sensor elements that can be deposited onto flexible substrates. To benchmark performance of printed sensors against the state of the art, NASA developed a low power flexible sensor platform. The platform integrates the following key components and features: -Flexible substrate: DuPont Kapton allows bending around cylindrical surfaces as small as in diameter. -Embedded microcontroller: Cypress CY8C4248 LQI-BL583 Arm Cortex M0 processor with BLE wireless controller, max frequency 48 MHz. Supports low power modes of operation, capacitive sensing support, and a single-channel 12-bit AD converter. -Commercial sensor suite: Bosch BNO080 inertial sensor; Bosch BME280 humidity, pressure, and temperature sensor; AMS CCS811 air quality sensor (VOCs and CO2). -Prototyping area for custom-printed sensors: 1) thermistor, uses carbon-based PTC resistor paste DuPont2792; 2) capacitive humidity sensor using a NASA-developed dielectric ink. NASA researchers have used the platform to study performance of the printed capacitive humidity sensor. The 2x4 mm co-doped barium titanate sensing element is highly sensitive to water vapor and performs as an unobtrusive breathing monitor, sensitive to breath at distances of up to 20 cm. Average change of sensor capacitance at a distance of 7.5 cm was observed to be 6.23.5 pF.

With a form factor close to a deck of playing cards, the system interrogator has custom software to interface with and service a population of sensor tags at the required data rates. Each EPCglobal C1G2 sensor tag uses incident interrogator energy to charge its small integrated circuit (IC), which reads an internal memory bank, encodes identification data, and uses that information to modulate and backscatter a reply to the interrogator using reflected interrogator energy. Two tag interfaces allow the attached processor to power the reading/writing of data to the tag memory and then allows the interrogator to power the reading of the tag memory data. When neither of the two interfaces are engaged, the RFID IC is completely powered down. Reading and writing tag memory consumes relatively little power compared to the power draw of active transmitter/receiver protocols like Bluetooth, Zigbee, and Wi-Fi. Compared to passive sensing protocols, this wireless instrumentation system enables sampling of a larger population of tags without the computational burden associated with surface acoustic wave (SAW) sensing. RFID-Enabled Wireless Instrumentation technology allows the RFID interrogator to write data through the interface of a sensor tag memory bank using only interrogator power. With only minimal cost to the sensors power budget, the microcontroller unit can read that data out over the serial interface. The sensor can transmit and receive data at no effective cost to its small coin cell battery power supply. This technology is readiness level (TRL) 8 (actual system completed and "flight qualified" through test and demonstration) and the innovation is now available for your company to license. Please note that NASA does not manufacture products itself for commercial sale.

The technology is a solid state, Carbon Dioxide (CO2) sensor configured for sensitive detection of CO2 having a concentration within the range of about 100 Parts per Million (ppm) and 10,000 ppm in both dry conditions and high humidity conditions (e.g., > 80% relative humidity). The solid state CO2 sensor achieves detection of high concentrations of CO2 without saturation and in both dynamic flow mode and static diffusion mode conditions. The composite sensing material comprises Oxidized Multi-Walled Carbon Nanotubes (O-MWCNT) and a metal oxide, for example O-MWCNT and iron oxide (Fe2O3) nanoparticles. The composite sensing material has an inherent resistance and corresponding conductivity that is chemically modulated as the level of CO2 increases. The CO2 gas molecules absorbed into the carbon nanotube composites cause charge-transfer and changes in the conductive pathway such that the conductivity of the composite sensing material is changed. This change in conductivity provides a sensor response for the CO2 detection. The solid state CO2 sensor is well suited for automated manufacturing using robotics and software controlled operations. The solid state CO2 sensor does not utilize consumable components or materials and does not require calibration as often as conventional CO2 sensors. Since the technology can be easily integrated into existing programmable electronic systems or hardware systems, the calibration of the CO2 sensor can be automated.