Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “arms control”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 289 records · Page 16
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Berthing simulator for space station and orbiter

The development of a real-time man-in-the-loop berthing simulator is in progress at NASA Lyndon B. Johnson Space Center (JSC) to conduct a parametric study and to measure forces during contact conditions of the actual docking mechanisms for the Space Station Freedom and the orbiter. In berthing, the docking ports of the Space Station and the orbiter are brought together using the orbiter robotic arm to control the relative motion of the vehicles. The berthing simulator consists of a dynamics docking test system (DDTS), computer system, simulator software, and workstations. In the DDTS, the Space Station, and the orbiter docking mechanisms are mounted on a six-degree-of-freedom (6 DOF) table and a fixed platform above the table. Six load cells are used on the fixed platform to measure forces during contact conditions of the docking mechanisms. Two Encore Concept 32/9780 computers are used to simulate the orbiter robotic arm and to operate the berthing simulator. A systematic procedure for a real-time dynamic initialization is being developed to synchronize the Space Station docking port trajectory with the 6 DOF table movement. The berthing test can be conducted manually or automatically and can be extended for any two orbiting vehicles using a simulated robotic arm. The real-time operation of the berthing simulator is briefly described.

Veerasamy, Sam↗
NASA NTRS1984

Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

Barker, L. K.↗
NASA NTRS1986

Application of model reference adaptive control to a flexible remote manipulator arm

An exact modal state-space representation is derived in detail for a single-link, flexible remote manipulator with a noncollocated sensor and actuator. A direct model following adaptive controller is designed to control the torque at the pinned end of the arm so as to command the free end to track a prescribed sinusoidal motion. Conditions that must be satisfied in order for the controller to work are stated. Simulation results to date are discussed along with the potential of the model following adaptive control scheme in robotics and space environments.

Meldrum, D. R.↗
DOE OSTI2024

Applied radiation tags for warhead dismantlement transparency

Here, this study explores the feasibility of applying radiation tags as a Chain of Custody tool to confirm the dismantlement of individual warheads by investigating time dependent emissions from special nuclear material. Precedents of photon and neutron sources that have been used to irradiate warhead components are presented. Measurements of irradiated Highly Enriched Uranium (HEU) are used to benchmark simulations with the CINDER90 library for MCNP. Delayed gamma emissions are simulated as a function of time since irradiation of moderated HEU and Weapons Grade Plutonium with photon and neutron sources. Models of commercial 9 MV and 15 MV linacs were found to induce ~10 9 fissions/g and ~10 11 fissions/g, respectively, creating 3 to 4 orders of magnitude more delayed gammas than neutron sources, modeled at 10 10 n/s. However, a DT neutron source was found to induce sufficient fissions, ~10 7 fissions/g, to create quantifiable signatures relative to intrinsic emissions. Applied radiation tagging is determined to be technically feasible, but its operational context and practical implementation requires significant development.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2020

Evaluation of the Nanometrics Centaur Digitizer

Sandia National Laboratories has tested and evaluated a new digitizer, the Centaur, manufactured by Nanometrics, Inc. This digitizer is used to record sensor output for seismic and infrasound monitoring applications. The purpose of the digitizer evaluation was to measure the performance characteristics in such areas as power, sensitivity, self-noise, dynamic range, system noise, modified noise power ration, relative transfer function, analog bandwidth, harmonic distortion, common mode, cross talk, timing tag accuracy and timing drift. The Centaur provides six channels of 24 bit digitization, three of which may be transmitted utilizing CD1.1 protocol.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2020

Kinemetrics Q330M+ Digitizer Evaluation

Sandia National Laboratories has tested and evaluated a new digitizer, the Q330M+, manufactured by Quanterra, a division of Kinemetrics Inc. This digitizer is used to record sensor output for seismic and infrasound monitoring applications. The purpose of the digitizer evaluation was to measure the performance characteristics in such areas as sensitivity, input impedance, power consumption, self noise, dynamic range, system noise, relative transfer function, analog bandwidth, modified noise power ratio, harmonic distortion, common mode, cross talk, timing tag accuracy and timing drift. The Q330M+ provides six channels of 24 bit digitization, all of which may be transmitted utilizing CD1.1 protocol, at multiple sample rates.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2020

Guralp Affinity Digitizer Evaluation

Sandia National Laboratories has tested and evaluated a new digitizer, the Affinity, manufactured by Guralp Systems. This digitizer is used to record sensor output for seismic and infrasound monitoring applications. The purpose of the digitizer evaluation was to measure the performance characteristics in such areas as sensitivity, power, self-noise, dynamic range, system noise, relative transfer function, modified noise power ratio, analog bandwidth, harmonic distortion, common mode, cross talk, timing tag accuracy and timing drift. The Affinity provides eight, rather the typical six, channels of 24 bit high sample rate digitization, all of which may be transmitted utilizing the CD1.1 protocol, at multiple sample rates.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2020

Prototype for Unclassified Algorithm

Continuing previous efforts to investigate and develop the Unclassified Radioisotope Algorithm, the goal of the FY19-FY20 effort was to develop a prototype detector system which uses the algorithm to confirm warhead attributes related to the presence of either weapons grade plutonium (WGPu) or highly enriched uranium (HEU). The final deliverable is a prototype attribute measurement system built with common, commercially available gamma radiation detector components, capable of confirming the presence of specific, complex radioactive sources of interest, without the collection and storage of gamma energy spectra. This is accomplished by processing each gamma pulse as it is received, applying weight values based on the energy and incrementing or decrementing scalar counters which can be compared with expected values to determine if the measured source is consistent with WGPu or HEU. This report documents the design of the prototype system as well as the development of the algorithm and performance testing results. While the previously conceptualized, simple algorithm resulted in a prohibitive amount of false positives, the goal for a simple attribute measurement system capable of verifying Ba-133 and Ra-226 (weapons grade plutonium and highly enriched uranium surrogate testing sources) at over 95% accuracy with sub 5% false positive rate was demonstrated.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
NASA NTRS1972

A proposed remote manipulator system: A concept

System is described with variable ratio, mixed mode, bilateral, master-slave control. Manipulator arms consist of shoulder and elbow with two degrees of freedom, a wrist with three degrees of freedom, and terminal grasping device. Feedback is provided by TV cameras attached near shoulder, grasping device, and at end of shuttle opposite arm.

Brodie, S.↗
NASA NTRS1982

Six degree of freedom manual controls study report

The feasibility of using degree of freedom manual controls in space in an on orbit environment was determined. Several six degree of freedom controls were tested in a laboratory environment, and replica controls were used to control robot arms. The selection of six degrees of freedom as a design goal was based on the fact that six degrees are sufficient to define the location and orientation of a rigid body in space.

Mckinnon, G. M.↗
NASA NTRS1983

The law applicable to the use of space for commercial activities

The general principles of space law that have an impact on commercial space activities are discussed. The Outer Space Treaty guaranteed the right of private enterprise in space, with jurisdiction over the participating parties residing in the country of origin. The liability for damages caused to a third party is also assigned to the country of origin. Government consent is necessary in the U.S. before a private firm is permitted to launch an object into space, with the relevant statute sections being part of the Arms Export Control Act; launches are legally treated as exports. FAA regulations define the safe area and flight conditions that must be satisfied for a private launch, although NASA, in the 1958 act which formed the agency, potentialy has the power to regulate space launch activities. The DoD must be notified of any launches in order to notify the U.S.S.R., filings must be made with the Bureau of Alcohol, Tobacco, and Firearms, and fees must be paid to the IRS. It is presently U.S. government policy to encourage and facilitate private sector development of commercial launch services.

Hosenball, S. N.↗
NASA NTRS1984

Spartan - Space at low-cost

Mission profiles and objectives of the Spartan Shuttle payload are described. Spartan was designed to provide extended observations normally carried out for only a few minutes using sounding rockets. The payload will be placed in co-orbit with the Orbiter by the RMS arm and controlled by a ground-based researcher or by an on-board program. Spartan features minimal battery power, batteries, and control systems and no redundancy. Thermal control is added because the flights last 100-1000 times as long as those on sounding rockets. Data are recorded by an on-board tape recorder and operations are controlled by an on-board microprocessor. Spartan 1 will carry a star-pointer and X-ray detectors for high energy astrophysics experiments. Spartan 2 will gather solar physics data in the form of temperatures of hydrogen gas and ions and electrons. Particle densities will also be monitored and a 43 cm solar telescope will produce UV and white light solar coronagraphs. UV spectroscopy of stars, clouds and galaxies will be performed by the Spartan 3 payload.

Source record↗
NASA NTRS1987

Measuring Contact Thermal Conductances at Low Temperatures

Instrument measures thermal conductance of pressed contacts in liquid helium. Makes measurements automatically as function of force on pairs of brass samples having various surface finishes. Developed as part of effort to determine heat-transfer characteristics of bolted joints on cryogenically cooled focal planes in infrared equipment. Cylindrical chamber hangs from cover plate in bath of liquid helium. Inside chamber rocker arm applies controlled force to samples. Upper sample made slightly wider than lower one so two samples remain in complete contact even under slight lateral misalignment.

Salerno, Louis J.↗
NASA NTRS1987

Space telerobotic systems: Applications and concepts

The definition of a variety of assembly, servicing, and maintenance missions has led to the generation of a number of space telerobot concepts. The remote operation of a space telerobot is seen as a means to increase astronaut productivity. Dexterous manipulator arms are controlled from the Space Shuttle Orbiter cabin or a Space Station module. Concepts for the telerobotic work system have been developed by the Lyndon B. Johnson Space Center through contracts with the Grumman Aerospace Corporation and Marin Marietta Corporation. These studies defined a concept for a telerobot with extravehicular activity (EVA) astronaut equivalent capability that would be controlled from the Space Shuttle. An evolutionary development of the system is proposed as a means of incorporating technology advances. Early flight testing is seen as needed to address the uncertainties of robotic manipulation in space. Space robotics can be expected to spin off technology to terrestrial robots, particularly in hazardous and unstructured applications.

Jenkins, L.↗
NASA NTRS1990

Implantable Electrode For Critical Locations

Implantable electrode holds itself in place until body tissue grows around it and retains it. Sheath covers electrode during implantation. Partially retracted after implantation and completely retracted after growth of tissue onto electrode. Intended to provide electrical stimuli to muscles having become inactive through accident or disease. Helps paraplegics and others to exercise voluntary control over arms and legs.

Collins, Earl R., Jr.↗
NASA NTRS1991

Laser Welding Of Contoured Thin-Wall Housings

Superalloy parts joined with less distortion. Carbon dioxide laser beam directed by optics in numerically controlled robot arm welds shell-type turbopump housings having complicated shapes. 5-kW laser, following single programmed three-dimensional pass, produces high-quality, full-penetration weld pass in age-hardenable nickel superalloy. Operator easily programs robot by using teaching pendant to track weld joint and keeps laser focused on workpiece while following contour of shell. Shells welded in rapid succession, with minimal change in setup for each.

Spiegel, Lyle B.↗
NASA NTRS1990

Telerobotic on-orbit remote fluid resupply system

The development of a telerobotic on-orbit fluid resupply demonstration system is described. A fluid transfer demonstration system was developed which functionally simulates operations required to remotely transfer fluids (liquids or gases) from a servicing spacecraft to a receiving spacecraft through the use of telerobotic manipulations. The fluid system is representative of systems used by current or planned spacecraft and propulsion stages requiring on-orbit remote resupply. The system was integrated with an existing MSFC remotely controlled manipulator arm to mate/demate couplings for demonstration and evaluation of a complete remotely operated fluid transfer system.

Source record↗
NASA NTRS1994

Frequency Analysis Of Data On Telerobotic Tasks

Data on forces and torques measured in experiments with remote manipulators processed into spectral signatures via special frequency-analysis procedure. Spectral signatures complement other measures used to evaluate performances of telerobotic systems and human operators. Contributes to verification of some assumptions made in designing manipulator arms and control subsystems and used as feedback by operators engaged in realtime monitoring of telerobotic tasks. Also provides useful indications of flows of power between manipulators and their environments.

Fiorini, Paolo↗