Robust Planning for the Earth Observing-1 (EO-1) Mission

Technical Challenges for MIT's LIDS Symposium Panel Discussion and Website

Climbing Rough Vertical Surfaces with Hierarchical Directional Adhesion

Understanding Commonly Encountered Inertial Instrument Specifications

Smart Divert: A New Entry, Descent, and Landing Architecture

Energy Innovation: Pragmatic Opportunities

Energy: Separating Facts from the Hype

Survey of Energy Challenges and Potential Solutions

Hazard Detection Methods for Lunar Landing

Next-Generation Inertial Stellar Compass

Model-Driven Lunar Habitat Avionics Design

Small Lunar Exploration and Delivery System Concept

Biomedical Engineering at Draper Laboratory:  In Vitro Physiological Models

Duda, K.R. et al.

Design and Analysis of Lunar Lander Manual Control Modes

Local Drug Delivery with a Self-Contained, Programmable, Microfluidic System

Nanohole Arrays of Mixed Designs and Nanowriting for Simultaneous, Multiple Protein Binding Studies with Ultra High Spatial Resolution

Performance Analyses of the Fast Padé Transform for Magnetic Resonance Spectroscopy Signals

Fast Temperature Sensing Using Changes in Extraordinary Optical Transmission Through an Array of Subwavelength Apertures

Automated Frozen Sample Aliquotting System

Nanohole Array Sensing Overview and Applications

Software Transactional Memory for Multicore Embedded Systems

Design and Characterization of Wirebonds for Use in High Shock Environments

Low-Permeability Microfluidic Components for a Miniaturized Wearable Drug Delivery System

Practical Implementation of Systemic Environmental Health and Safety (EHS) for Laboratories

Microfabricated Wedge-Shaped Adhesive Array Displaying Gecko-Like Dynamic Adhesion, Directionality, and Long Lifetime

Lunar Landing Trajectory Design for Onboard Hazard Detection and Avoidance

Ultra-Miniature Multichip Module Packaging for ISR Applications

Precision Positioning System–Autonomous GPS-Denied Navigation for the Dismounted Soldier

Development of a Microfluidics-Based Intracochlear Drug Delivery Device

Precision Positioning System - Autonomous GPS-Denied Navigation for the Dismounted Soldier

Automated Frozen Sample Aliquotting System

Proteomics Analysis of Perilymph and Cerebrospinal Fluid in Mouse

Flight Software Process Gap Analysis for Model-Based Development

Dynamic Behavior of Electronic Module Spring Clips, Retention Bar, and Backplane Connector: Modeling and Testing

Fabrication of Nanofluidic Sensor Chip with Sub-Wavelength Plasmonic Readout for Optical Tags

Optimal Orbital Rendezvous Maneuvering for Angles-Only Navigation

Robust Object Recognition Using a Cascade of Geometric Consistency Filters

Abramson, M.R.; Carr, F.R.; Carter, D.W.; Kahn, A.C.; Kolitz, S.E.; Markuzon, N.; Riek, J.C.

Robust Planning for the Earth Observing-1 (EO-1) Mission

Infotech at Aerospace Conference, Seattle, WA, 4/6/2009-4/9/2009. Sponsored by: AIAA (Draper Report no. P-4856)

Abstract: We have developed a robust optimization-based technique for EO-1 image scheduling that uses Air Force Weather Agency (AFWA) Stochastic Cloud Forecast Model (SCFM) forecasts of cloud cover as an explicit input. This paper presents the details of the technique and demonstrates, using simulated operations based on actual EO-1 sites, historical ephemeris, and archived SCFM data, that using the technique significantly increases steady-state value of the catalog of images.

Subjects: ROBUST PLANNING, SIMULATION, EARTH OBSERVING MISSION (EO-1)

Abramson, M.R.

Technical Challenges for MIT's LIDS Symposium Panel Discussion and Website

2009 Laboratory for Information and Decision Systems (LIDS) Symposium, 11/12/2009-11/14/2009. Sponsored by: MIT (Draper Report no. P-4949)

Abstract: Draper Laboratory is pleased to present a list of challenges that our customers are facing in a variety of topic areas covered under the information and decision system panel subject areas of this Symposium. For each challenge, we provide a description of our perception of some relevant aspects of the challenge. This is followed by a sketch of some of the potential opportunities achievable if progress can be made on these challenges. We would welcome any questions or further discussion on these topics.

Subjects: INFORMATION SYSTEMS, PANEL (COMMITTEE)

Asbeck, A.; Dastoor, S.; Parness, A.; Fullerton, L.; Esparza, N.; Soto, D.; Heyneman, B.; Cutkosky, M.

Climbing Rough Vertical Surfaces with Hierarchical Directional Adhesion

International Conference on Robotics and Automation, Kobe, Japan, 5/12/2009-5/17/2009. Sponsored by: IEEE (Draper Report no. P-4850)

Abstract: Prior research in biology and mechanics has shown the importance of hierarchy to the performance of dry adhesive systems on rough surfaces. The gecko utilizes several levels of hierarchy that operate on length scales from millimeters to hundreds of nanometers in order to maneuver on smooth and rough vertical surfaces ranging from glass to rock. The gecko's hierarchical system serves two main purposes: it permits conformation to the surface for a large effective area of contact, and it distributes the load evenly among contacting elements. We present a new two-tiered directional adhesive system that provides these capabilities for a gecko-inspired climbing robot. The distal features consist of wedge-shaped structures with a base width of 50 µm and a height of approximately 180 µm. The wedges are mounted atop angled cylindrical features, 380 µm in diameter by approximately 1 mm long. Together, the proximal and distal features bend preferentially in the direction of inclination when loaded with a tangential force, achieving a combination of directional adhesion and conformation to rough surfaces. Using this system, a four-legged robot that was previously restricted to climbing smooth surfaces is able to climb vertical surfaces such as a wood panels, painted metals, and plastics. On rougher surfaces, the two-tiered system improves adhesion by a factor of five compared to the wedge features alone. The hierarchical system also improved alignment and performance for large patch sizes.

Subjects: ADHESIVES, HIERARCHIES, ROBOTICS

Axelrad, P.; Donna, J.I.; Mitchell, M.L.

Enhancing GNSS Acquisition by Combining Signals from Multiple Channels and Satellites

2009 Institute of Navigation (ION) Global Navigation Satellite System (GNSS) Meeting, Savannah, GA, 9/22/2009-9/25/2009. Sponsored by:  ION (Draper Report no. P-4846)

Abstract:  The growth in the number of channels available from each GNSS satellite and the number of satellite transmitters affords the opportunity for enhancements to the acquisition process. Existing techniques improve the acquisition of weak signals through longer integration times and provision of satellite information from an aiding source. This paper describes the improvements to acquisition that can be gained by combining signals in terms of the theoretical reduction in C/No acquisition for given probability of false alarm and missed detection. Examples of this collective detection approach are shown for live and simulated satellites over a range of input C/No values. Combining satellites and channels from a single satellite can improve the acquisition sensitivity for a given signal integration time or reduce the amount of time to acquire signals at a given input power level.

Subjects: GLOBAL NAVIGATION SATELLITE SYSTEM (GNSS), ACQUISITIONS, SIGNAL DETECTION

Barbour, N.M.; Flueckiger, K.W.

Understanding Commonly Encountered Inertial Instrument Specifications

Missile Defense Agency Seminar, Washington, D.C., 12/30/2009. Sponsored by: MDA/DEP (Draper report no. P-4983)

Abstract: Purpose: Clarify terminology commonly used in industry and academia to characterize inertial instrument performance and error sources, enable the system engineer/designer to interpret vendor specifications associated with inertial measurement units (IMUs), enable users and suppliers of inertial technology to communicate effectively.

Subjects: INERTIAL INSTRUMENTS, SPECIFICATIONS, PERFORMANCE, ERRORS

Barton, G.H.; Grant, M.J.; Steinfeldt, B.A.; Braun, R.D.

Smart Divert: A New Entry, Descent, and Landing Architecture

47th Aerospace Sciences Meeting and Exhibit, Orlando, FL, 1/5/2009-1/8/2009. Sponsored by: AIAA (Draper Report no. P-4805)

Abstract: To date, Mars robotic landing site selection has been a compromise between scientific interest and safety. Due to the rather large landed footprint major axis lengths of the Viking, Pathfinder, Mars Exploration Rovers, and Phoenix missions, these landed ellipses have been placed in vast, relatively flat areas to ensure a high probability of landing success. Scientists are interested in exploring more geologically interesting areas that may contain landing hazards, including sloping terrain, craters, and rocks. Smart Divert is a new entry, descent, and landing architecture that could allow robotic missions to safely land in hazardous terrain without the requirement of hypersonic guidance. Smart Divert consists of a ballistic entry followed by supersonic parachute deployment. After parachute release, the vehicle diverts to one of many predefined, fuel-optimal safe zones. Smart Divert performance and entry design is discussed and is followed by a discussion of Smart Divert for random terrain. An initial assessment of optimal landing site arrangement is performed and an example of the usefulness of Smart Divert is performed for actual Mars terrain using Phoenix landing site rock count data.

Subjects: MARS EXPLORATION, ROBOTIC SPACE EXPLORATIONS, ENTRY, DESCENT, LANDING (EDL)

Bickford, J.A.

Energy Innovation: Pragmatic Opportunities

Tufts Energy Conference, Medford, MA, 3/28/2009, Sponsored by: Tufts University (Draper Report no. P-4865)

Abstract: This presentation focuses on perceived energy issues such as oil and gas, coal, biomass, renewable, hydrogen, and nuclear energy, with a focus on common problems of emissions, cost, and integration.

Subjects: ENERGY, PROBLEMS, INNOVATION RESEARCH

Bickford, J.A.

Energy: Separating Facts from the Hype

Stanford Entrepreneurs Forum, Boston, MA, 3/26/2009. Sponsored by: Stanford University (Draper Report no. P-4866)

Abstract: This presentation includes a problem overview:  security, economic, and climate impact; an overview of the Obama Energy Plan; a technical overview: energy areas and perceived issues; Draper's Energy Initiative: power plant efficiency; and opportunities for innovation.

Subjects: ENERGY, PROBLEMS

Bickford, J.A.

Survey of Energy Challenges and Potential Solutions

Society of Women Engineers, Cambridge, MA, 1/29/2009. Sponsored by: Charles Stark Draper Laboratory (Draper Report no. P-4826)

Abstract: An overview of energy challenges including the security, economic and environmental impacts of various forms of energy. Also includes the Obama Energy Plan, a technical overview, Draper's Energy Initiative, and opportunities for innovation in the field.

Subjects: ENERGY, INNOVATION RESEARCH, PROBLEM SOLVING

Borenstein, J.T.; Bettinger, C.J.

Engineered Nanotopographic Structures for Applications in Tissue Engineering and Regenerative Medicine

Life Science Systems and Applications Workshop (LISSA), Bethesda, MD, 4/9/2009. Sponsored by: IEEE-National Institutes of Health Biomedical Information Science and Technology Initiative (NIH BISTI) (Draper Report no. P-4840)

Abstract: Nanotopographic structures occur naturally within the extracellular matrix of many tissues, influencing a wide range of properties through mechanotransductive interactions. Synthetic cell-nanotopography interactions have been explored as a way of controlling cell behaviors, including orientation, adhesion, migration, proliferation, and cytoskeletal organization. Until recently, these processes have been explored using traditional cell culture substrates for laboratory investigations, including titanium, glass, ceramics, silicon, polystyrene, and PolyDiMethylSiloxane (PDMS), as well as on numerous disordered nanostructured materials such as collagen. Nanopatterned PDMS exhibits unique utility for in vitro studies including fundamental studies on cell-nanotopography interactions as well as structures that can serve as a template for tissue organization. Emerging research is exploring nanoscale mechanotransduction on biodegradable substrates suitable for implantation, thereby paving the way for the development of engineered tissues with tunable mechanical and functional properties. Here, recent developments in nanoscale modification of substrates for tissue engineering and regenerative medicine are described, with an emphasis on how these studies might ultimately lead to advanced approaches for patient care.

Subjects: NANOTOPOGRAPHY, TISSUE ENGINEERING, REGENERATIVE MEDICINE

Brady, T.M.; Paschall II, S.C.; Zimpfer, D.J.; Robertson, E.; Epp, C.D.

Hazard Detection Methods for Lunar Landing

Aerospace Conference, Big Sky, MT, 3/7/2009-3/14/2009. Sponsored by: IEEE (Draper Report no. P-4765A)

Abstract: The methods and experiences from the Apollo Program are fundamental building blocks for the development of lunar landing strategies for the Constellation Program. Each of the six lunar landing Apollo missions landed under near-ideal lighting conditions.  The astronauts visually performed terrain relative navigation while looking out of windows, and were greatly aided by external communication and well-lit scenes. As the Lunar Module (LM) approached the landing site, the astronauts performed visual hazard detection and avoidance, also under near-ideal lighting conditions.  The astronauts were looking out of the windows, trying to the best of their ability to avoid rocks, slopes, and craters and find a safe landing location. NASA has expressed a desire for global lunar access for both crewed and robotic sortie lunar exploration missions. Early NASA architecture studies have identified the lunar poles as desirable locations for early lunar missions.  These polar missions have less than ideal lighting conditions and will significantly affect the way a crewed vehicle plans to land at such locales.  Consequently, a variety of hazard identification methods should be considered for use by the crew to ensure a high degree of safety. This paper discusses such identification methods applicable to the poorly-lit polar lunar environment, better ensuring global access for the soon to be designed Lunar Landing Vehicle (LLV).

Subjects: LUNAR LANDING, AUTONOMOUS PRECISION LANDING AND HAZARD DETECTION AND AVOIDANCE TECHNOLOGY (ALHAT), MOON MISSIONS

Brady, T.M.

Next-Generation Inertial Stellar Compass

Space Flight Mechanics Conference, Savannah, GA, 2/8/2009-2/12/2009. Sponsored by: AAS and AIAA (Draper Report no. P-4829)

Abstract: Draper Laboratory's Inertial Stellar Compass (ISC) is an attitude determination system with accuracy better than 0.1 degree at very low power and mass. The ISC has been successfully flight validated on the TACSAT-2 spacecraft and marks for the first time Draper Microelectromechanical System (MEMS) gyros have been operational in space. Since its initial development by Draper Laboratory in 2001, both MEMS technologies and Active Pixel Sensor (APS) technologies have advanced, making possible an order of magnitude improvement in attitude accuracy while keeping the power and mass metrics nearly the same as the original design. This paper describes the proposed system and development to realize the next-generation ISC.

Subjects: INERTIAL STELLAR COMPASS (ISC), ATTITUDE DETERMINATION, SPACE EXPLORATION, MICROELECTROMECHANICAL SYSTEMS (MEMS), GYROSCOPES

Claypool, I.R.

Model-Driven Lunar Habitat Avionics Design

Workshop on Lunar Surface Systems, Washington, D.C., 2/25/2009-2/27/2009. Sponsored by: U.S. Chamber of Commerce (USCC) (Draper Report no. P-4847)

Subjects: AVIONICS, LUNAR EXPLORATION, SYSTEM ARCHITECTURE

Cohanim, B.E.; Harrison, N.A.; Mosher, T.J.; Heron, J.; Davis, K.; Hoffman, J.; Cunio, P.M.; de Luis, J.; Joyce, M. 

Small Lunar Exploration and Delivery System Concept

Space 2009 Conference, Pasadena, CA, 9/14/2009-9/17/2009. Sponsored by: AIAA (Draper report no. P-4931)

Abstract: This paper describes an architectural concept for a Small Lunar Exploration and Delivery System to operate as a platform for emplacing payloads into lunar orbit and onto the lunar surface, while providing mobility for surface exploration, science, and infrastructure. The concept leverages emerging services that are capable of delivering payloads to Low Earth Orbit (LEO), while utilizing new and old technologies to build a platform for transfer to Low Lunar Orbit (LLO). Advances and miniaturization in avionics, navigation, power, and propulsion systems enable a unique opportunity to develop a system that is both capable of landing on the lunar surface and providing surface mobility with the same system.

Subjects: LUNAR EXPLORATION, PAYLOADS, DELIVERY

Cuiffi, J.D.

Biomedical Engineering at Draper Laboratory:  In Vitro Physiological Models

2009 Medicines for Malaria (MMV) Conference, Geneva, Switzerland, 9/3/2009-9/4/2009. Sponsored by: MMV (Draper Report no. P-4935)

Abstract:  A review of biological studies and drug discovery enabling technologies at The Charles Stark Draper Laboratory, Inc.

Subjects: BIOMEDICAL ENGINEERING, DRUG DISCOVER

Duda, K.R.; Johnson, M.C.; Fill, T.J.

Design and Analysis of Lunar Lander Manual Control Modes

Aerospace Conference, Big Sky, MT, 3/7/2009-3/14/2009. Sponsored by: IEEE (Draper Report no. P-4795)

Abstract: All Apollo landings were performed by the crew, manually commanding the Lunar Module (LM) attitude and rate-of-descent (ROD). In future missions, the astronauts will again need manual control of the flight path and attitude. Crew interaction mechanisms have been proposed to redesignate a landing aimpoint during the approach phase. However, manual control modes, crew control capability, and resulting vehicle performance during terminal descent have not been thoroughly investigated. A rate-control attitude hold (RCAH) mode was ultimately used in the LM for lateral flight, and descent rate was controlled incrementally (P66), although other modes were considered and evaluated. These modes, as well as others proposed during Apollo, are reviewed and discussed in terms of their applicability to Altair. The Autonomous Landing and Hazard Avoidance Technology (ALHAT) guidance, navigation, and control (GNC) algorithms for autonomous precision lunar landing were modified to include two manual flight control modes: RCAH with incremental ROD (A66) and incremental lateral velocity control with incremental ROD (A68) using Altair LDAC1-Delta vehicle parameters. Crew interactions with the ALHAT GNC system are described throughout the mission phases from lunar orbit to touchdown, focusing on manual control of flight path and attitude during terminal descent. These ALHAT manual attitude control modes are described and vehicle performance is discussed in terms of its estimated impact on handling quality ratings.

Subjects: LUNAR LANDER, CONTROL, AUTONOMOUS PRECISION LANDING AND HAZARD DETECTION AND AVOIDANCE TECHNOLOGY (ALHAT)

Fiering, J.O.; Mescher, M.J.; Swan, E.E.; Holmboe, M.E.; Murphy, B.; Chen, Z.; Peppi, M.; Sewell, W.F.; McKenna, M.J.; Kujawa, S.G.; Borenstein, J.T.

Local Drug Delivery with a Self-Contained, Programmable, Microfluidic System

Biomedical Microdevices, Vol. 11, No. 3, 6/2009 (Draper Report no. P-4669)

Abstract: The development and optimization of many new drug therapies requires long-term local delivery with controlled but variable dosage using miniaturized systems. Current methods for chronic drug delivery have limited utility because they either cannot deliver drugs locally to a specific organ or tissue, do not permit changes in delivery rate in situ, or cannot be used in clinical trials in an untethered, wearable configuration. Here, we describe a small, self-contained system for liquid-phase drug delivery that enables chronic studies with programmable infusion rates. A commercial miniature pump is integrated with microfabricated components to enable ultralow flow rates and stroke volumes. Solutions are delivered in pulses as small as 370 nL, with pulses delivered at any interval of 1 min or longer. A unique feature of the system is the ability to infuse and immediately withdraw liquid, resulting in zero net volume transfer while compounds are exchanged by mixing. We present in vitro results demonstrating repeatability and precision of the system for nearly 3 months. Furthermore, we present in vivo results in an otology application, infusing into the cochlea of a guinea pig a glutamate receptor antagonist, which causes localized and reversible changes in auditory sensitivity.

Subjects: MICROFLUIDIC SYSTEMS, DRUG DELIVERY, DEVICES

Ji, J.; Yang, J.-C.; Larson, D.N.

Nanohole Arrays of Mixed Designs and Nanowriting for Simultaneous, Multiple Protein Binding Studies with Ultra High Spatial Resolution

Biosensors and Bioelectronics, Vol. 24, No. 9, 5/2009 (Draper Report no. P-4731)

Abstract: Here we demonstrate using nanowriting process and nanohole arrays of mixed designs to monitor multiple different protein binding events in real time based on the intensity of Extraordinary Optical Transmission of nanohole arrays. The developed nanowriting process enabled us to observe different binding events located only 16 µm apart, achieving ultra-high-spatial resolution. Taking advantage of the high spatial resolution of nanowriting and small footage of nanohole arrays, our technique shows extreme potential for high throughput. We also present a novel concept that incorporates nanohole arrays of different designs to improve confidence and accuracy of binding studies. Two types of nanohole arrays, designed to exhibit opposite responses to protein bindings, were fabricated on one transducer. Initial studies indicate that the mixed designs could help to screen out artifacts such as protein intrinsic signals, providing improved accuracy of binding interpretation. The signal response from the nanohole arrays is concentration dependent. We have also derived binding kinetic constants from the binding curves and the results are comparable with previous reports.

Subjects: NANO-PROCESSING, NANOHOLES, ARRAYS

Keshava, N.; Ramadan, S.

Performance Analyses of the Fast Padé Transform for Magnetic Resonance Spectroscopy Signals

International Symposium on Biomedical Engineering, Boston, MA, 6/28/2009-7/1/2009. Sponsored by: IEEE (Draper report no. P-4828)

Abstract: In this paper, we investigate the properties of the Fast Padé Transform (FPT), which has been proposed as an alternative to the Fourier Transform for the spectral analysis of MR spectroscopy spectra (MRS) that enables more efficient use of data for spectral processing. In particular, we examine how well the FPT is able to estimate resonance parameters of a free induction decay (FID) when the FID is corrupted with different levels of noise and truncated in the time-domain. Our analyses are performed with synthetic data and a brain phantom and also invoke Monte Carlo analyses.

Subjects: PERFORMANCE ANALYSIS, SPECTROSCOPY, SPECTRAL ANALYSIS

Kowalski, G.J.; Talakoub, A.; Ji, J.; O'Connell, J..; Larson, D.N.

Fast Temperature Sensing Using Changes in Extraordinary Optical Transmission Through an Array of Subwavelength Apertures

Optical Engineering, Vol. 48, No. 10. 10/2009 (Draper Report no. P-4692)

Abstract: A fast, very sensitive temperature sensor using changes in extraordinary optical transmission (EOT) through a nanohole array in a metallic film with a monochromatic light source is analyzed and experimentally demonstrated. The device is composed of a dielectric material in contact with a metallic film layer with an array of nanoholes, (25 arrays per chip were treated as a single sensor) on a glass substrate. While the current experiment used a small volume of water (the dielectric material) in a test cell to demonstrate the phenomena, there are many configurations that can be developed to implement this technology in a variety of applications. The fast response of the device is expected because it measures the average temperature of the dielectric constant of the water volume directly above the nanoholes whose thickness corresponds to the decay of the evanescent wave within the water, approximately 100 nm (the near field, ~λ/4). The density-specific heat-volume of the nanohole array sensing region 4.83(10^-13) J/(K nm³) is approximately (10⁸) times smaller than that of the thermistor (1.28(10^-5) J/(K nm³) used as a reference for the experimental demonstration and the proposed device is orders of magnitudes times faster than the thermistor. The increased speed and sensitivity of the nanohole array temperature sensor over the thermistor is observed in the reported data. The configuration of the presented temperature sensor was used for simplicity and to demonstrate that EOT effects can be used for temperature sensing. Any configuration based on the three layer system described above can be used for this purpose.

Subjects: NANOHOLES, OPTICAL TRANSMISSION, TEMPERATURE SENSORS, CALORIMETRY

Larson, D.N.; Bellio, S.L.; Slusarz, J.; Chun, V.; de Dios, J.; Ellis, H.J.

Automated Frozen Sample Aliquotting System

Laboratory Robotics Interest Group, Groton, CT, 4/7/2009. Sponsored by: Laboratory Robotics Interest Group (LRIG) (Draper report no. P-4880)

Abstract: Freezing samples is a ubiquitous method of preserving the fidelity of biological specimens during long-term storage.

Subjects: BIOMARKER, FREEZING, ALIQUOTS

Larson, D.N.

Nanohole Array Sensing Overview and Applications

2009 Design of Medical Devices (DMD) Conference, Minneapolis, MN, 4/14/2009-4/16/2009. Sponsored by: University of Minnesota (Draper Report no. P-4881)

Abstract: Sensing principle: extraordinary optical transmission; Instrumentation; and Applications:  Large-scale protein array, sepsis Dx, small molecule array, virology, calorimetry

Subjects: NANOHOLES, ARRAYS, APPLICATIONS

Mankin, J.; Kaeli, David; Ardini, John P.

Software Transactional Memory for Multicore Embedded Systems

Language, Compilers, and Tools for Embedded Systems (LCTES), Dublin, Ireland, 6/19/2009-6/20/2009. Sponsored by: ACM (Draper Report no. P-4844)

Abstract: Embedded systems, like general-purpose systems, can benefit from parallel execution on a multicore platform. Unfortunately, concurrency issues present in general-purpose programming also apply to embedded systems, protection from which is currently only offered with performance limiting coarse-grained locking or error-prone and difficult to implement fine-grained locking. Transactional memory offers relief from these mechanisms, but has mainly been investigated on general-purpose systems. In this paper, we present Embedded Software Transactional Memory (ESTM) as a novel solution to the concurrency problem in parallel embedded applications. We investigate common software transactional memory design decisions and discuss the best decisions for an embedded platform. We offer a full implementation of an embedded STM and test it against both coarse-grained and fine-grained locking mechanisms. We find that we can meet or beat the performance of fine grained locking over many contention ranges in applications that spend their execution time largely in critical sections. We attribute this performance benefit to the efficient use of L1 memory, a feature that is built into our STM model, but which cannot be directly utilized by traditional locking mechanisms.

Subjects: EMBEDDED COMPUTER SYSTEMS, PLATFORMS, CONCURRENCY

Marinis, T.F.; Soucy, J.W.

Design and Characterization of Wirebonds for Use in High Shock Environments

59th Electronic Components and Technology Conference (ECTC), San Diego, CA, 5/26/2009-5/29/2009. Sponsored by IEEE, Components, Packaging and Manufacturing Technology (CPMT) Society (Draper Report no. P-4849)

Abstract: MEMS inertial sensors, packaged in hermetic chip carriers, utilize free-standing wire bonds to connect to the package input/output pads. Considerable care is taken in the design of these wire bonds to balance impedances and minimize crosstalk between excitation and readout channels. Many applications of MEMS inertial sensors require that they survive or operate in high acceleration or vibration environments. Any displacement of the wire bonds in these environments could adversely affect sensor bias and scale factor, or in extreme cases, cause sensor failure. Newer generations of high-performance, navigation-grade, inertial sensors are considerably larger than their predecessors and nearly fill the internal cavity of the chip carrier. Consequently, wire bond geometries can be highly constrained within these packages. Validating the wire bond design in an inertial sensor package, which is subject to a high-g environment, requires extensive testing on appropriate rail gun and shock table equipment. These tests are costly and equipment availability may be limited. It is also difficult to assess the sensitivity to variations in bond geometry or various bond defects using only physical testing. We are developing parameterized finite-element models of wire bonds for use as tools to aid in design of sensor packages, and to guide the implementation of quality monitoring test and inspection requirements. Validation of the models is being done by subjecting well characterized wire bond configurations to air gun and drop table shock loads as well as conventional wire pull tests. We are also using a sensitive force gauge to measure the load required to displace a wire normal to the plane of its loop. Analytical expressions have also been developed for simple configurations, which serve as a check on both the finite-element model and the experimental measurements.

Subjects: MICROELECTROMECHANICAL SYSTEMS (MEMS), INERTIAL SENSORS, PACKAGING

Mescher, M.J.; Swan, E.E.; Fiering, J.O.; Holmboe, M.E.; Sewell, W.F.; Kujawa, S.G.; McKenna, M.J.; Borenstein, J.T.

Low-Permeability Microfluidic Components for a Miniaturized Wearable Drug Delivery System

Journal of Microelectromechanical Systems, Vol. 18, No. 3, 6/2009 (Draper Report no. P-4682)

Abstract: We describe low-permeability components of a microfluidic drug delivery system fabricated with versatile micromilling and lamination techniques. The fabrication process uses laminate sheets that are machined using XY milling tables commonly used in the printed circuit industry. This adaptable platform for polymer microfluidics readily accommodates integration with silicon-based sensors, printed circuit, and surface-mount technologies. We have used these methods to build components used in a wearable, liquid drug delivery system for in vivo studies. The design, fabrication, and performance of membrane-based fluidic capacitors and manual screw-valves provide detailed examples of the capability and limitations of the fabrication method. We demonstrate fluidic capacitances ranging from 0.015 to 0.15 microliter/kPa, screw valves with on/off flow ratios greater than 38 000, and a 45x reduction in the aqueous fluid loss rate to the ambient due to permeation through a silicone diaphragm layer.

Subjects: MICROFLUIDICS, DRUG DELIVERY, INNER EAR

Najjar, R.C.

Practical Implementation of Systemic Environmental Health and Safety (EHS) for Laboratories

27th Annual College and University Hazardous Waste Conference (CUHWC), Baton Rouge, LA, 8/16/2009-8/18/2009. Sponsored by: Louisiana State University (Draper Report no. P-4933)

Abstract: In 2000, the author read his first of many articles on behavior-based safety (BBS) by E. Scott Geller, a psychology professor at Virginia Tech. BBS is a system that helps employees identify and choose a safe behavior over an unsafe one. The systemic-EHS-for-laboratories plan that was devised and implemented did not just improve lab safety, but strove for the elimination of lab environmental problems and improved lab compliance with OSHA, EPA, state, life safety, and university/company standards as well.

Subjects: SAFETY, ENVIRONMENTAL HEALTH, STANDARDS

Parness, A.; Soto, D.; Esparza, N.; Gravish, N.; Wilkinson, M.; Autumn, K.; Cutkosky, M.

Microfabricated Wedge-Shaped Adhesive Array Displaying Gecko-Like Dynamic Adhesion, Directionality, and Long Lifetime

Journal of the Royal Society Interface, Vol. 6, No. 41, December 2009 (Draper report no. P-4851)

Abstract: Gecko adhesion has become a paradigmatic example of bio-inspired engineering, yet among the many gecko-like synthetic adhesives (GSAs), truly gecko-like performance remains elusive. Many GSAs have previously demonstrated one or two features of the gecko adhesive. We present a new wedge-shaped GSA that exhibits several gecko-like properties simultaneously: directional features, zero force at detachment, high ratio of detachment force to preload force, nonadhesive default state, and the ability to maintain performance while sliding, even after thousands of cycles. Individual wedges independently detach and reattach during sliding, resulting in high levels of shear and normal adhesion during drag. This behavior provides a noncatastrophic failure mechanism that is desirable for applications like climbing robots where sudden contact failure would result in serious falls. The effects of scaling patch sizes up to tens of square centimeters are also presented and discussed. 1 cm² patches had an adhesive pressure of 5.1 kPa while simultaneously supporting 17.0 kPa of shear. After 30,000 attachment/detachment cycles, a patch retained 67% of its initial adhesion and 76% of its initial shear without cleaning. 20 µm and 50 µm square-based wedges are manufactured in a molding process where molds are fabricated using a dual-side, dual-angle lithography process on quartz wafers with SU-8 photoresist as the mold material and PDMS as the cast material.

Subjects: ADHESION, SCALING, ROBOTICS

Paschall II, S.C.; Brady, T.M.; Fill, T.J.; Sostaric, R.

Lunar Landing Trajectory Design for Onboard Hazard Detection and Avoidance

32nd Guidance and Control Conference, Breckenridge, CO, 1/30/2009-2/4/2009. Sponsored by: AAS (Draper Report no. P-4793)

Abstract: The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project is developing the software and hardware technology needed to support a safe and precise landing for the next generation of lunar missions. ALHAT provides this capability through terrain-relative navigation measurements to enhance global-scale precision, an onboard hazard detection system to select safe landing locations, and an Autonomous Guidance, Navigation, and Control (AGNC) capability to process these measurements and safely direct the vehicle to a landing location. This paper focuses on the key trajectory design issues relevant to providing an onboard Hazard Detection and Avoidance (HDA) capability for the lander. Hazard detection can be accomplished by the crew visually scanning the terrain through a window, a sensor system imaging the terrain, or some combination of both. For ALHAT, this hazard detection activity is provided by a sensor system, which either augments the crew's perception or entirely replaces the crew in the case of a robotic landing. Detecting hazards influences the trajectory design by requiring the proper perspective, range to the landing site, and sufficient time to view the terrain. Following this, the trajectory design must provide additional time to process this information and make a decision about where to land safely. During the final part of the HDA process, the trajectory design must provide sufficient margin to enable a hazard avoidance maneuver. In order to demonstrate the effects of these constraints on the landing trajectory, a tradespace of trajectory designs was created for the initial ALHAT Design Analysis Cycle (ALDAC-1) and each case was evaluated with these HDA constraints active. The ALHAT analysis process, described in this paper, narrows down this tradespace and subsequently better defines the trajectory design needed to support onboard HDA. Future ALDACs will enhance this trajectory design by balancing these issues and others in an overall system design process.

Subjects: AUTONOMOUS PRECISION LANDING AND HAZARD DETECTION AND AVOIDANCE TECHNOLOGY (ALHAT), LUNAR LANDING, TRAJECTORIES

Racz, L.M.; Burns III, J.R.

Ultra-Miniature Multichip Module Packaging for ISR Applications

Special Operations Forces Industry Conference, Tampa, FL, 6/2/2009-6/4/2009. Sponsored by: Lockheed Martin (Draper Report no. P-4876)

Abstract: Over the last 15 years, Draper Laboratory has addressed the need for ultra-miniature heterogeneous systems, i.e., those including multiple materials and sensor modalities, with a deposited multichip module (MCM-D) process that is a hybrid of semiconductor microfabrication and circuit board fabrication processes. This process can address system needs that commercially-driven 3D silicon stacking cannot, such as when full wafers are not available or devices need to be included that are not designed for 3D. Draper' s MCM-D process is extremely reliable with a mature manufacturing process and is the basis of a new foundry facility that is being established by Draper in order to make the capability more widely available. However, there are a number of fundamental materials challenges that will limit the extent of miniaturization possible using MCM-D. We discuss these issues as well as our strategy for overcoming them, which includes the development of a new thermal expansion matched platform for ultra-miniature systems integration. Key elements of the new technology, in addition to thermal expansion matching, include feature sizes an order of magnitude smaller than those currently available, enhanced 3D stacking capability, and standardized design and process elements for economical design and improved design-to-production cycle time.

Subjects: MULTICHIP MODULE-DEPOSITED (MCM-D), PACKAGING, INTELLIGENCE, SURVEILLANCE, AND RECONNAISSANCE (ISR)

Sewell, W.F.; Borenstein, J.T.; Chen, Z.; Fiering, J.O.; Handzel, O.; Holmboe, M.E. ; Kim, E.S.; Kujawa, S.G.; McKenna, M.J.; Mescher, M.J.; Murphy, B.; Leary-Swan, E.E.; Peppi, M.; Tao, S.L.

Development of a Microfluidics-Based Intracochlear Drug Delivery Device

Audiology & Neuro-Otology, Vol. 14, No. 6, 11/2009 (Draper Report no. P-4877)

Abstract: Background: Direct delivery of drugs and other agents into the inner ear will be important for many emerging therapies, including treatment of degenerative disorders and guiding regeneration. Methods: We have taken a microfluidics/Microelectromechanical Systen (MEMS) technology approach to develop a fully implantable, reciprocating inner ear drug delivery system capable of timed, sequenced delivery of agents directly into perilymph of the cochlea. Iterations of the device are tested in guinea pigs to determine the flow characteristics required for safe, effective delivery. For these tests, we have used the glutamate receptor blocker, DNQX, which alters auditory nerve responses but not cochlear distortion product otoacoustic emissions. Results: We have demonstrated safe and effective delivery of agents into the scala tympani. Equilibration of drug in the basal turn occurs rapidly (within tens of minutes) and is dependent on reciprocating flow parameters. Conclusion: We have described a prototype system for the direct delivery of drugs to the inner ear that has the potential to be a fully implantable means for safe and effective treatment of hearing loss and other diseases.

Subjects: MICROFLUIDICS, INNER EAR, DRUG DELIVER

Scudiere, J.D.; Sherman, P.G.; Kourepenis, A.S.; Matranga, M.J.; McConley, M.W.; Thorvaldsen, T.P.

Precision Positioning System–Autonomous GPS-Denied Navigation for the Dismounted Soldier

Aerospace Control and Guidance Systems Committee Meeting, Seattle, WA, 2/26/2009. Sponsored by: Society of Automotive Engineers (SAE) (Draper Report no. P-4852)

Abstract: Produce a robust and precise navigation solution to support Situational Awareness and Tactical Planning for small units of operation.

Subjects: NAVIGATION SYSTEMS, SITUATIONAL AWARENESS (SA), TACTICAL GUIDANCE

Sherman, P.G.; Kourepenis, A.S.; Matranga, M.J.; McConley, M.W.; Scudiere, J.D.; Thorvaldsen, T.P.; Girolamo, H.; Sokolowski, S.

Precision Positioning System - Autonomous GPS-Denied Navigation for the Dismounted Soldier

4th Precision Indoor Personnel Location and Tracking for Emergency Responders Annual Technology Workshop, Worcester, MA, 8/4/2008-8/6/2008. Sponsored by: Worcester Polytechnic Institute (WPI) (Draper Report no. P-4738)

Abstract: Produce a robust and precise navigation solution to support situational awareness and tactical planning for small units of operation.

Subjects: POSITIONING SYSTEMS, AUTONOMOUS NAVIGATION, GLOBAL POSITIONING SYSTEM (GPS)

Slusarz, J.; Larson, D.N.; Bellio, S.L.; Ellis, H.J.; Chun, V.; de Dios, J.

Automated Frozen Sample Aliquotting System

Laboratory Automation Conference, Palm Springs, CA, 1/26/2009-1/28/2009 (Draper Report no. P-4821)

Abstract: Extract an aliquot from a frozen biological sample without thawing it and automate the process.

Subjects: AUTOMATION, EXTRACTION, ALIQUOTS

Swan, E.E.; Peppi, M.; Chen, Z.; Green, K.M.; Evans, J.E.; McKenna, M.J.; Mescher, M.J.; Kujawa, S.G.; Sewell, W.F.

Proteomics Analysis of Perilymph and Cerebrospinal Fluid in Mouse

Laryngoscope, Vol. 119, No. 5, 5/2009 (Draper Report no. P-4823)

Abstract: Proteins in perilymph may alter the delivery profile of implantable intracochlear drug delivery systems through biofouling. Knowledge of protein composition will help anticipate interactions with delivered agents.

Subjects: PROTEINS, INNER EAR, DRUG DELIVERY

Trevino, L.C.

Flight Software Process Gap Analysis for Model-Based Development

International Conference on Space Mission Challenges, Pasadena, CA, 7/19/2009-7/23/2009. Sponsored by: IEEE.  (Draper Report no. P-4878)

Abstract: The objective is to improve the utility of model-based development (MBD) methods by centralizing software assurance expertise from Draper's proven legacy of developing flight software for guidance, navigation, and control (GN&C) systems for spacecraft. With the growth trends leading to complex software and its development and management and with key flight software projects aiming to use the (aviation-certified) ARINC 653 real-time operating system and partitioning-based systems for improved fault tolerance, NASA will need methods for furthering methods for developing reliable, trustworthy software needed for human-rated space vehicles during all phases of software development. Current advanced technologies being developed for software assurance have not progressed commensurately with project demands and safety-critical criteria (as determined by recent NASA trade and complexity studies and literature searches). Many capabilities have been developed by other research organizations and industry, which include static and dynamic software analysis tools, coding standards compliance checkers, for example. For current aims to utilize MBD techniques (e.g., UML and Simulink-Matlab in some cases), software assurance is further challenging, particularly given the growing complexity of software architectures. In addition to traditional spacecraft capabilities, such as GN&C or control and data handling (C&DH), new capabilities are under development: integrated vehicle health management, autonomous vehicle-centered operations, automated mission operations, and further out, mixed human-robotic teams to accomplish mission objectives. It will be challenging but critical to NASA's exploration objectives to ensure that these capabilities are reliable and can be developed and maintained affordably.

Subjects: FLIGHT SOFTWARE, MODEL-BASED DEVELOPMENT, GUIDANCE NAVIGATION AND CONTROL (GN&C), SPACECRAFT

Vandevoordt, K.P.; Feng, M.Y.

Dynamic Behavior of Electronic Module Spring Clips, Retention Bar, and Backplane Connector: Modeling and Testing

International Mechanical Engineering Congress and Exposition, Lake Buena Vista, FL, 11/13/2009-11/19/2009. Sponsored by: ASME (Draper report no. P-4815)

Abstract: Electronic modules for a guidance system are mounted in a rack with spring clips resisting motion normal to the printed wiring board (PWB) and an aluminum bar with an elastomer pad keeping the module connected to a backplane. The elastomer pad also resists motion normal to the board. The proper boundary conditions for the spring clips, retention bar, and connector are needed in a finite-element model (FEM) in order to evaluate the shock and vibration transmitted to the module’s electrical components. The FEM of the module was assembled, and an actual module was tested under random vibration and a 1-g sine sweep. The printed wiring board elastic modulus was artificially set higher in the FEM than a measured value to account for the stiffening effect of board components, which were omitted from the model. By also choosing the proper boundary conditions to represent the spring clips, retention bars, and backplane connection, the FEM was able to match the first and second mode frequencies from the hardware test results.

Subjects: MODULES, GUIDANCE SYSTEMS, FINITE-ELEMENT MODELS (FEM)

Varsanik, J.S.; Teynor, W.A.; LeBlanc, J.; Clark, H.A.; Bernstein, J.J.; Krogmeier, J.; Yang, T.; Crozier, K.

Fabrication of Nanofluidic Sensor Chip with Sub-Wavelength Plasmonic Readout for Optical Tags

3rd International Congress of NanoBio and NanoMedicine, San Francisco, CA, 6/22/2009-6/24/2009. Sponsored by: International Association of Nanotechnology (Draper Report no. P-4854)

Abstract: This work covers the fabrication of a novel micro/nanofluidic sensor chip. Using a 0.1-µm wide plasmonic resonator driven by the evanescent field of an optical waveguide, we are capable of detecting optical fluorescent tags in a sub-wavelength region.  The chip consists of a microfluidic channel, a diffused optical waveguide, and a plasmonic resonator on the waveguide within the fluidic channel. The plasmonic resonator extracts evanescent light from the waveguide and the resulting confined and enhanced optical fields are used for sensing applications. The current research is aimed at improving the resolution limits of an existing technique known as direct linear analysis (DLA) developed at U.S. Genomics. In DLA, intercalating dyes that tag a specific 8-base-pair sequence are introduced to a DNA sample. Tagged DNA is stretched into a linear configuration and passed through an interrogation zone. The resulting fluorescent signal is read out, and the spacing between these tags produces a characteristic "fingerprint" of the sample. By reducing the excitation volume in the channel, the plasmonic readout will increase the signal-to-noise ratio. Tag resolution is improved by a factor of 5 compared to free-space Gaussian optics, allowing more sequence data to be extracted from DNA samples.

Subjects: FABRICATION, MICROFLUIDIC CHIP, SENSORS

Woffinden, D.C.; Geller, D.K.

Optimal Orbital Rendezvous Maneuvering for Angles-Only Navigation

32nd Guidance and Control Conference, Breckenridge, CO, 1/30/2009-2/4/2009. Sponsored by: AAS (Draper Report no. P-4810)

Abstract: Angles-only navigation has great potential for orbital rendezvous, satellite formation flight, and other relative motion applications, but is often discarded because of its inherent and misunderstood limitation in determining range. In most practical applications, maneuvers are needed to help resolve the relative position between two or more orbiting vehicles. Unfortunately, any arbitrary maneuver will not suffice. Maneuvers that strategically alter the natural line-of-sight (LOS) measurement profile are required with different trajectories producing varying degrees of observability. Using a previously derived closed-form observability criteria, the concept of having levels or degrees of observability is formally defined as a function of the measurement error. With this analytical expression, a mathematical foundation is formed to derive optimal maneuvers that maximize the observability of the relative state. Although the results are valid for any linear dynamic system where azimuth and elevation measurements are used to estimate the relative position and velocity, a detailed orbital rendezvous example are provided to illustrate the fundamental concepts in deriving optimal maneuvers for angles-only navigation.

Subjects: NAVIGATION, ORBITAL RENDEZVOUS, RELATIVE MOTION

Xu, Y.; Madison, R.W.

Robust Object Recognition Using a Cascade of Geometric Consistency Filters

2009 Applied Imagery Pattern Recognition Workshop, Washington, D.C. 10/14/2009-10/16/2009. Sponsored by: IEEE (Draper Report no. P-4955)

Abstract: Bag-of-words is a popular and successful approach to performing object recognition. Its performance is limited by not considering relative geometry information. This limitation is particularly stark when there is significant image noise. We propose a “bag-of-phrases” model that extends bag-of-words by enforcing geometric consistency through application of a “geometric grammar” in a filter cascade. Experimental results on a computer-generated dataset show increased robustness to clutter and noise as demonstrated by more than two orders of magnitude reduction in false positives compared with bag-of-words.

Subjects: OBJECT RECOGNITION SYSTEM, GEOMETRY