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The TerraROVER’s core functionality is centered around its electric propulsion system, enabling it to traverse various outdoor environments. Its drive system consists of electric motors and gearboxes that provide controlled speed and maneuverability. The remote-control interface allows users to adjust speed and direction, making it an effective platform for training and testing mobility systems. For advanced applications, the TerraROVER can be adapted for pre-programmed or autonomous navigation, expanding its use in robotics and automation research. A key design feature of the TerraROVER is its adaptability for sensor integration. It includes mounting provisions for miniaturized sensors capable of capturing environmental data such as temperature, GPS location, and visual imagery. The platform supports both onboard data logging and real-time transmission, making it suitable for field studies, distributed sensing applications, and educational experiments. Fabrication is streamlined through the use of 3D-printed components, allowing for cost-effective production and easy assembly in classroom or research settings. Currently at Technology Readiness Level (TRL) 7, the system has been successfully demonstrated in an operational environment and is available for patent licensing.

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): R2’s 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

NASA’s laser mount technology introduces a unique flexible crystal mount to accommodate the dynamics of thermal expansion to eliminate unsymmetrical thermally induced mechanical stresses on the crystal. In addition, while the mount accommodates thermal expansion, it also offers fixed placement of the crystal to maintain alignment and provides continuous and uniform surface contact between the mount and crystal for rapid dissipation of heat. The mount is compatible with any heat sink reservoir. The mount design allows unrestrained thermal expansion of the crystal in two dimensions (i.e. a- and c- axes) because of the design shown in the figure below. The L-shape blocks also deliver cooling to the crystal by providing a path to the heat sink reservoir. The L-shape blocks are manufactured with a high thermal conductivity material such as copper. A softer material with high thermal conductivity such as indium is used to buffer the interface between the crystal and the L-shape blocks surfaces. A coolant medium acts to transfer the heat from the crystal to the cooled mount. Cooling can be provided in different ways – for example by water or by heat pipes with radiator (for use in space). The springs used to hold the laser crystal also provide the adjustment method to align the beam, and once aligned, the crystal mount is very stable. The related patent is now available to license. Please note that NASA does not manufacture products itself for commercial sale.

This innovative kite system is called the WindiWing, and utilizes aerodynamic forces and moments to control its configuration for both ascent and descent, eliminating the need for an external power source or human intervention. By harnessing wind power, the system autonomously climbs and descends along a pilot kite line, provided sufficient wind conditions exist. Windiwing includes a set of stops at predetermined upper and lower bounds of the kite line, which define the highest and lowest points the WindiWing can travel. When a stop is hit, the WindiWing changes direction. Therefore, it can sustain extended flight times at different altitudes. Unlike prior solutions, WindiWing is a passive line-climber operating entirely through aero-mechanical principles and does not require electrical power or active control systems for changes in lift. Instead, WindiWing continuously moves between the designated stops along the kite tether, maintaining stable and predictable movement without the need for remote operation or onboard power. WindiWing is designed with flexibility in mind, offering the ability to carry a range of instrumentation, making it suitable for integration with kite-based systems, tethered balloons, or uncrewed aircraft platforms. The absence of electrical components reduces complexity, enhances reliability, and allows for extended atmospheric data collection with minimal oversight. By offering a scalable, cost-effective, and power-independent solution, this technology enables long-duration atmospheric profiling at various altitudes, making it an ideal tool for researchers in the fields of atmospheric research, environmental research, and education.

The new fabrication method is an electron lithography scheme enabling monolithic integration of multiple photonic devices on a single PIC. The technology was demonstrated by integrating both a widely-tunable distributed Bragg reflector (DBR) and distributed feedback (DFB) lasers on the same substrate. By controlling the central gap width and etch depth along the laser mirror length (shown in the figure below) the reflectivities can be tuned and the desired laser characteristics can be achieved without additional lithography cycles. Initially demonstrated on an indium phosphide substrate with DBR and DFB elements, the platform technology shows promise for various other materials and devices like III-V and II-VI semiconductors, silicon-on-insulator (SOI), and planar lightwave circuits (PLCs). With this versatility, the invention described here can streamline PIC production across diverse applications. Proof-of-concept results showcase the lithographic technique’s ability to produce high-performance photonic devices with side-mode suppression ratios over 50 dB (figure on the right) and output powers exceeding 5 mW. These metrics, combined with the lithographic simplicity, highlight the technology’s potential to reduce costs and accelerate PIC manufacturing. Please note that NASA does not manufacture products itself for commercial scale.

Commonly used RFID protocols are widely accepted because they are inexpensive and easy to implement. However, the associated low transmit power and narrow bandwidth typically result in coarse local-ization estimates. Often it is desirable to know the precise location of assets without reverting to an entirely different and more expensive protocol. Additionally, many industrial and other applications may desire technology that confirms the mating of components. This new program-mable sensor tag technology facilitates both precise localization and mating confirmation in-part by allowing the RFID sensor tag to become a type of distributed low-cost reader. To determine a tag attachment, this innovation utilizes a fixed location RFID sensor tag that incorporates a receptacle node to measure an electrical “influence” through resistance, capacitance, inductance, etc. Assets for which localization is desired are outfitted with “influence tags” – devices that produce a set of distinguishable responses when placed in the receptacle region of the RFID sensor tag. Mating or connections are confirmed when electrodes from an influence tag become attached to matching electrodes on a sensor tag’s receptacle node. Information obtained by the RFID sensor tag is stored in its local memory bank through which a dedicated reader can retrieve influence tag information. Potential applications exist for this technology where specific assets need to be precisely located and/or confirmation is needed when two parts have been correctly connected or attached. This RFID tag technology allows the retrieval of inventory status information in an energy efficient manner from inexpensive, small form factor hardware. Robotic retrieval of assets can be more easily facilitated with this innovation.

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.

The NASA receiver is specifically designed for use in coherent LiDAR systems that leverage high-energy (i.e., > 1mJ) fiber laser transmitters. Within the receiver, an outgoing laser pulse from the high-energy laser transmitter is precisely manipulated using robust dielectric and coated optics including mirrors, waveplates, a beamsplitter, and a beam expander. These components appropriately condition and direct the high-energy light out of the instrument to the atmosphere for measurement. Lower energy atmospheric backscatter that returns to the system is captured, manipulated, and directed using several of the previously noted high-energy compatible bulk optics. The beam splitter redirects the return signal to mirrors and a waveplate ahead of a mode-matching component that couples the signal to a fiber optic cable that is routed to a 50/50 coupler photodetector. The receiver’s hybrid optic design capitalizes on the advantages of both high-energy bulk optics and fiber optics, resulting in order-of-magnitude enhancement in performance, enhanced functionality, and increased flexibility that make it ideal for long-distance or low-backscatter LiDAR applications. The related patent is now available to license. Please note that NASA does not manufacturer products itself for commercial sale.