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At least 307 records · Page 17

All sources NASA NTRS DOE OSTI

DOE OSTI2022

The Effect of Environment on Galaxy Spiral Arms, Bars, Concentration, and Quenching

For a sample of 4378 nearby spiral and S0 galaxies, Yu & Ho used Fourier analysis of Sloan Digital Sky Survey images to show that the strengths of the spiral arms and the pitch angles of the arms are inversely correlated with central concentration. In the current study, we search for trends in the Yu & Ho spiral arm parameters with environment and specific star formation rate (sSFR). When comparing galaxies with similar concentrations, we do not find a significant difference in the arm strengths or pitch angles of spiral galaxies in clusters compared to field galaxies. When differences in concentration are taken into account, we also find no significant difference in the parameter f3 for cluster spirals compared to field spirals, where f3 is the normalized m = 3 Fourier amplitude. When concentration is held fixed, both arm strength and pitch angle are correlated with sSFR, but f3 is not. These relations support the suggestion by Davis et al. of a "fundamental plane" of spiral structure involving pitch angle, bulge stellar mass, and gas surface density. We discuss these results in terms of theories of spiral arm production and quenching in galaxies. To aid comparison with earlier studies based on Galaxy Zoo, we explore how the Yu & Ho parameters relate to similar parameters measured by Galaxy Zoo (i.e., f3 versus the number of arms, pitch angle versus winding parameter, and concentration versus bulge class).

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1987

Adaptive control of dual-arm robots

Three strategies for adaptive control of cooperative dual-arm robots are described. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through the load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions, while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on-line implementation with high sampling rates.

Seraji, H.↗

NASA NTRS1990

CO(J = 2 - 1) study of molecular clouds in the southwest arm of M31

The first map of M31 in the CO(J = 2 - 1) transition, covering a 3 arcmin by 3 arcmin section of the SW arm-interarm region, is presented. The CO spectra in the arm region defined by H II regions are characterized by strong, narrow features which are interpreted here to be giant molecular clouds with masses of a few 100,000 solar masses. The interarm emission is interpreted as an ensemble of small clouds with masses of a few 10,000 solar masses. On the arm about 70 percent of the emission comes from large clouds, while off the arm essentially all of it comes from small clouds. The mass surface density on this section of M31 is about that of a comparable section of the Scutum arm of the Galaxy. The velocities of the giant clouds in the arm are shifted with respect to the rest of the molecular and atomic gas by about 15 km/s. This may be due to cloud response to passage through the spiral arm potential.

Kutner, Marc L.↗

NASA NTRS1992

Configuration control of seven-degree-of-freedom arms

A seven degree of freedom robot arm with a six degree of freedom end effector is controlled by a processor employing a 6 by 7 Jacobian matrix for defining location and orientation of the end effector in terms of the rotation angles of the joints, a 1 (or more) by 7 Jacobian matrix for defining 1 (or more) user specified kinematic functions constraining location or movement of selected portions of the arm in terms of the joint angles, the processor combining the two Jacobian matrices to produce an augmented 7 (or more) by 7 Jacobian matrix, the processor effecting control by computing in accordance with forward kinematics from the augmented 7 by 7 Jacobian matrix and from the seven joint angles of the arm a set of seven desired joint angles for transmittal to the joint servo loops of the arm. One of the kinematic functions constraints the orientation of the elbow plane of the arm. Another one of the kinematic functions minimizes a sum of gravitational torques on the joints. Still another kinematic function constrains the location of the arm to perform collision avoidance. Generically, one kinematic function minimizes a sum of selected mechanical parameters of at least some of the joints associated with weighting coefficients which may be changed during arm movement. The mechanical parameters may be velocity errors or gravity torques associated with individual joints.

Seraji, Homayoun↗

NASA NTRS1993

Lunar surface operations. Volume 3: Robotic arm for lunar surface vehicle

A robotic arm for a lunar surface vehicle that can help in handling cargo and equipment, and remove obstacles from the path of the vehicle is defined as a support to NASA's intention to establish a lunar based colony by the year 2010. Its mission would include, but not limited to the following: exploration, lunar sampling, replace and remove equipment, and setup equipment (e.g. microwave repeater stations). Performance objectives for the robotic arm include a reach of 3 m, accuracy of 1 cm, arm mass of 100 kg, and lifting capability of 50 kg. The end effectors must grip various sizes and shapes of cargo; push, pull, turn, lift, or lower various types of equipment; and clear a path on the lunar surface by shoveling, sweeping aside, or gripping the obstacle present in the desired path. The arm can safely complete a task within a reasonable amount of time; the actual time is dependent upon the task to be performed. The positioning of the arm includes a manual backup system such that the arm can be safely stored in case of failure. Remote viewing and proximity and positioning sensors are incorporated in the design of the arm. The following specific topic are addressed in this report: mission and requirements, system design and integration, mechanical structure, modified wrist, structure-to-end-effector interface, end-effectors, and system controls.

Shields, William↗

NASA NTRS1995

Configuration control of seven degree of freedom arms

A seven-degree-of-freedom robot arm with a six-degree-of-freedom end effector is controlled by a processor employing a 6-by-7 Jacobian matrix for defining location and orientation of the end effector in terms of the rotation angles of the joints, a 1 (or more)-by-7 Jacobian matrix for defining 1 (or more) user-specified kinematic functions constraining location or movement of selected portions of the arm in terms of the joint angles, the processor combining the two Jacobian matrices to produce an augmented 7 (or more)-by-7 Jacobian matrix, the processor effecting control by computing in accordance with forward kinematics from the augmented 7-by-7 Jacobian matrix and from the seven joint angles of the arm a set of seven desired joint angles for transmittal to the joint servo loops of the arms. One of the kinematic functions constrains the orientation of the elbow plane of the arm. Another one of the kinematic functions minimizing a sum of gravitational torques on the joints. Still another one of the kinematic functions constrains the location of the arm to perform collision avoidance. Generically, one of the kinematic functions minimizes a sum of selected mechanical parameters of at least some of the joints associated with weighting coefficients which may be changed during arm movement. The mechanical parameters may be velocity errors or position errors or gravity torques associated with individual joints.

Seraji, Homayoun↗

NASA NTRS1989

Method and apparatus for hybrid position/force control of multi-arm cooperating robots

Two or more robotic arms having end effectors rigidly attached to an object to be moved are disclosed. A hybrid position/force control system is provided for driving each of the robotic arms. The object to be moved is represented as having a total mass that consists of the actual mass of the object to be moved plus the mass of the moveable arms that are rigidly attached to the moveable object. The arms are driven in a positive way by the hybrid control system to assure that each arm shares in the position/force applied to the object. The burden of actuation is shared by each arm in a non-conflicting way as the arm independently control the position of, and force upon, a designated point on the object.

Hayati, Samad A.↗

NASA NTRS2016

The Asteroid Redirect Mission (ARM): Exploration of a Former Binary NEA?

The National Aeronautics and Space Administration (NASA) is developing the Asteroid Redirect Mission (ARM) as a capability demonstration for future human exploration, including use of high-power solar electric propulsion, which allows for the efficient movement of large masses through deep space. The ARM will also demonstrate the capability to conduct proximity operations with natural space objects and crewed operations beyond the security of quick Earth return. The Asteroid Redirect Robotic Mission (ARRM), currently in formulation, will visit a large near-Earth asteroid (NEA), collect a multi-ton boulder from its surface, conduct a demonstration of a slow push planetary defense technique, and redirect the multi-ton boulder into a stable orbit around the Moon. Once returned to cislunar space in the mid-2020s, astronauts aboard an Orion spacecraft will dock with the robotic vehicle to explore the boulder and return samples to Earth. The ARM is part of NASA's plan to advance technologies, capabilities, and spaceflight experience needed for a human mission to the Martian system in the 2030s. The ARM and subsequent availability of the asteroidal material in cis-lunar space, provide significant opportunities to advance our knowledge of small bodies in the synergistic areas of science, planetary defense, and in-situ resource utilization (ISRU). The current reference target for the ARM is NEA (341843) 2008 EV5, which may have been the primary body of a former binary system (Busch et al., 2011; Tardivel et al., 2016). The ARRM will perform several close proximity operations to investigate the NEA and map its surface. A detailed investigation of this object may allow a better understanding of binary NEA physical characteristics and the possible outcomes for their evolution. An overview of the ARM robotic and crewed segments, including mission operations, and a discussion of potential opportunities for participation with the ARM will be provided in this presentation.

Abell, P. A.↗

DOE OSTI2020

Switchable rocker arm

A rocker arm includes an outer arm defining a lock pin bore which is centered about a lock pin bore axis and an inner arm which selectively pivots relative to the outer arm about a pivot axis which is parallel to the lock pin bore axis. The inner arm includes a protrusion which defines an inner arm stop surface which is planar. A lock pin is disposed within the lock pin bore, the lock pin having a lock pin slot extending there into and also having a lock pin stop surface which is planar. The lock pin is displaced within the lock pin bore between a coupled position in which the lock pin stop surface is aligned with the inner arm stop surface and a decoupled position in which the lock pin slot is aligned with the protrusion.

42 ENGINEERING↗

NASA NTRS2013

Accuracy Analysis and Validation of the Mars Science Laboratory (MSL) Robotic Arm

The Mars Science Laboratory (MSL) Curiosity Rover is currently exploring the surface of Mars with a suite of tools and instruments mounted to the end of a five degree-of-freedom robotic arm. To verify and meet a set of end-to-end system level accuracy requirements, a detailed positioning uncertainty model of the arm was developed and exercised over the arm operational workspace. Error sources at each link in the arm kinematic chain were estimated and their effects propagated to the tool frames.A rigorous test and measurement program was developed and implemented to collect data to characterize and calibrate the kinematic and stiffness parameters of the arm. Numerous absolute and relative accuracy and repeatability requirements were validated with a combination of analysis and test data extrapolated to the Mars gravity and thermal environment. Initial results of arm accuracy and repeatability on Mars demonstrate the effectiveness of the modeling and test program as the rover continues to explore the foothills of Mount Sharp.

rovers↗

DOE OSTI2014

Sci—Fri PM: Topics — 02: Evaluation of Dosimetric Variations in Partial Breast Seed Implant (PBSI) due to Patient Arm Position (Up vs. Down)

The planning for PBSI is done with the patient's ipsilateral arm raised, however, anatomical changes and variations are unavoidable as the patient resumes her daily activities, potentially resulting in significant deviations in implant geometry from the treatment plan. This study aims to quantify the impact of the ipsilateral arm position on the geometry and dosimetry of the implant at eight weeks, evaluated on post-plans using the MIM Symphony™ software (MIM Software, Cleveland, OH). The average dose metrics for the three patients treated at the TBCC thus far using rigid fusion and contour transfer for the arms up position were 76% for the CTV V100, 61% for the PTV V100, and 37% for the PTV V200; and for the arms down position 81% for the CTV V100, 64% for the PTV V100, and 42% for the PTV V200. Qualitative analysis of the post-implant CT for one of the three patients showed poor agreement between the seroma contour transferred from the pre-implant CT and the seroma visible on the post-implant CT. To obtain a clinically accurate plan for that patient, contour modifications were used, yielding improved dose metric averages for the arms-up position for all three patients of 87% for the CTV V100, 68% for the PTV V100, and 39% for the PTV V200. Overall, the data available shows that dosimetric parameters increase with the patient's arm down, both in terms of coverage and in terms of the hot spot, and accrual of more patients may confirm this in a larger population.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2015

TU-AB-204-02: Advances in C-Arm CBCT for Cardiac Interventions

This symposium highlights advanced cone-beam CT (CBCT) technologies in four areas of emerging application in diagnostic imaging and image-guided interventions. Each area includes research that extends the spatial, temporal, and/or contrast resolution characteristics of CBCT beyond conventional limits through advances in scanner technology, acquisition protocols, and 3D image reconstruction techniques. Dr. G. Chen (University of Wisconsin) will present on the topic: Advances in C-arm CBCT for Brain Perfusion Imaging. Stroke is a leading cause of death and disability, and a fraction of people having an acute ischemic stroke are suitable candidates for endovascular therapy. Critical factors that affect both the likelihood of successful revascularization and good clinical outcome are: 1) the time between stroke onset and revascularization; and 2) the ability to distinguish patients who have a small volume of irreversibly injured brain (ischemic core) and a large volume of ischemic but salvageable brain (penumbra) from patients with a large ischemic core and little or no penumbra. Therefore, “time is brain” in the care of the stroke patients. C-arm CBCT systems widely available in angiography suites have the potential to generate non-contrast-enhanced CBCT images to exclude the presence of hemorrhage, time-resolved CBCT angiography to evaluate the site of occlusion and collaterals, and CBCT perfusion parametric images to assess the extent of the ischemic core and penumbra, thereby fulfilling the imaging requirements of a “one-stop-shop” in the angiography suite to reduce the time between onset and revascularization therapy. The challenges and opportunities to advance CBCT technology to fully enable the one-stop-shop C-arm CBCT platform for brain imaging will be discussed. Dr. R. Fahrig (Stanford University) will present on the topic: Advances in C-arm CBCT for Cardiac Interventions. With the goal of providing functional information during cardiac interventions, significant effort has been expended to improve the quantitative accuracy of C-arm CBCT reconstructions. The challenge is to improve image quality while providing very short turnaround between data acquisition and volume data visualization. Corrections for x-ray scatter, view aliasing and patient motion that require no more than 2 iterations keep processing time short while reducing artifact. Fast, multi-sweep acquisitions can be used to permit assessment of left ventricular function, and visualization of radiofrequency lesions created to treat arrhythmias. Workflows for each imaging goal have been developed and validated against gold standard clinical CT or histology. The challenges, opportunities, and limitations of the new functional C-arm CBCT imaging techniques will be discussed. Dr. W. Zbijewski (Johns Hopkins University) will present on the topic: Advances in CBCT for Orthopaedics and Bone Health Imaging. Cone-beam CT is particularly well suited for imaging of musculoskeletal extremities. Owing to the high spatial resolution of flat-panel detectors, CBCT can surpass conventional CT in imaging tasks involving bone visualization, quantitative analysis of subchondral trabecular structure, and visualization and monitoring of subtle fractures that are common in orthopedic radiology. A dedicated CBCT platform has been developed that offers flexibility in system design and provides not only a compact configuration with improved logistics for extremities imaging but also enables novel diagnostic capabilities such as imaging of weight-bearing lower extremities in a natural stance. The design, development and clinical performance of dedicated extremities CBCT systems will be presented. Advanced capabilities for quantitative volumetric assessment of joint space morphology, dual-energy image-based quantification of bone composition, and in-vivo analysis of bone microarchitecture will be discussed, along with emerging applications in the diagnosis of arthritis and osteoporosis and assessment of novel therapies. Finally, Dr. J. Boone (UC Davis) will present on the topic: Advances in CBCT for Breast Imaging. Breast CT has been studied as an imaging tool for diagnostic breast evaluation and for potential breast cancer screening. The breast CT application lends itself to CBCT because of the small dimensions of the breast, the tapered shape of the breast towards higher cone angle, and the fact that there are no bones in the breast. The performance of various generations of breast CT scanners developed in recent years will be discussed, focusing on advances in spatial resolution and image noise characteristics. The results will also demonstrate the results of clinical trials using both computer and human observers. Learning Objectives: Understand the challenges, key technological advances, and emerging opportunities of CBCT in: Brain perfusion imaging, including assessment of ischemic stroke Cardiac imaging for functional assessment in cardiac interventions Orthopedics imaging for evaluation of musculoskeletal trauma, arthritis, and osteoporosis Breast imaging for screening and diagnosis of breast cancer. Work presented in this symposium includes research support by: Siemens Healthcare (Dr. Chen); NIH and Siemens Healthcare (Dr. Fahrig); NIH and Carestream Health (Dr. Zbijewski); and NIH (Dr. Boone)

60 APPLIED LIFE SCIENCES↗

DOE OSTI2018

ARM Aerosol Measurement Science Group Strategic Planning Workshop 2017

The Aerosol Measurement Science Group (AMSG) was tasked with evaluating the status of the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Climate Research Facility’s existing aerosol instrumentation, measurement strategies, and data products in the context of ARM and Atmospheric System Research (ASR) science directions and the current and future needs of ARM data users. A workshop comprising the AMSG members and external experts in aerosol measurements was convened in February 2017 to delineate specific measurements and efforts in data product development that would align the ARM aerosol program investments well with the needs of the scientific community. Topics of discussion in the workshop included priority measurements and instrumentation to be deployed at the range of ARM sites, physical system configurations that impact the character of observables and quality of observations, calibration strategies, overarching deployment strategies for aerosol observing systems (AOS), and communication about and accessibility of data. This report provides an account of workshop discussions and prioritized recommendations for ARM supported activities that will bring measurements to quality and science-ready data products relevant to the ASR and larger science community.

47 OTHER INSTRUMENTATION↗

DOE OSTI2024

ARM Trajectories Data Set Value-Added Product Report

The U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility’s ARM Trajectories Data Set (ARMTRAJ) Value-Added Product (VAP) provides trajectory data sets initialized at ARM deployment coordinates and configured using ARM data sets. The six trajectory data sets support aerosol, cloud, planetary boundary layer, and related research (aerosol-cloud interactions, etc.), as well as studies using ARM Aerial Facility (AAF) and tethered balloon system (TBS) measurements. Trajectory calculations use the Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) model informed by the European Centre for Medium-Range Weather Forecasts (ECMWF) fifth-generation atmospheric reanalysis (ERA5) data set at its highest spatial resolution (~31 km). HYSPLIT also runs at multiple initial starting locations surrounding ARM deployments (in latitude/longitude and/or vertical coordinates), facilitating an ensemble for each sample in the data sets. The ensemble mean and variability reported in ARMTRAJ improve the fidelity and provide uncertainty estimates of trajectory coordinates, thermodynamic properties, and other output fields.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRSDate not supplied

Feasibility Study of a Robotic Science Arm on Future Martian Rotorcraft

Science arms are indispensable tools for planetary exploration, allowing vehicles to interact with and manipulate their surroundings in a manner similar to a human field geologist. A majority of the rovers and landers sent to Mars, beginning with Viking I and II in 1976, have made extensive use of these articulated, arm-like devices that allow for sample collection, surface preparation, instrument positioning, and the deployment of ground-contact sensors. Although proven useful, traditional rovers and landers are limited by the rough and difficult terrain of Mars. However, given the successful demonstration of flight on Mars by the Ingenuity helicopter, efforts are underway to outfit larger rotorcraft with science payloads to allow them to explore Mars’ surface and lower atmosphere with significantly more efficiency than land vehicles. Such vehicles could also be designed to work in tandem with landers or rovers. The Mars Science Helicopter (MSH) is a conceptual hexacopter design that is currently under early development by both NASA Ames and JPL. Equipping a vehicle like MSH with a science arm has the potential to further expand its scientific capabilities. This paper approaches the mission and design requirements to equip a science arm on MSH while highlighting the unique technical challenges for robotic arm and science instrument capability. Current plans for MSH development do not include the addition of a robotic arm to the vehicle. However, it is anticipated that future variants of the MSH design might well incorporate such adaptable surface interactive capabilities.

Robotic Science Arm↗

NASA NTRS2023

Results from InSight Robotic Arm Activities

The InSight lander carried an Instrument Deployment System (IDS) that included an Instrument Deployment Arm (IDA), scoop, five finger “claw” grapple, forearm-mounted Instrument Deployment Camera (IDC) requiring arm motion to image a target, and landermounted Instrument Context Camera (ICC), designed to image the workspace, and to place the instruments onto the surface. As originally proposed, the IDS included a previously built arm and flight spare black and white cameras and had no science objectives or requirements, or expectation to be used after instrument deployment (90 sols). During project development the detectors were upgraded to color, and it was recognized that the arm could be used to carry out a wide variety of activities that would enable both geology and physical properties investigations. During surface operations for two martian years, the IDA was used during major campaigns to image the surface around the lander, to deploy the instruments, to assist the mole in penetrating beneath the surface, to bury a portion of the seismometer tether, to clean dust from the solar arrays to increase power, and to conduct a surface geology investigation including soil mechanics and physical properties experiments. No other surface mission has engaged in such a sustained and varied campaign of arm and scoop activities directed at such a diverse suite of objectives. Images close to the surface and continuous meteorology measurements provided important constraints on the threshold friction wind speed needed to initiate aeolian saltation and surface creep. The IDA was used extensively for almost 22 months to assist the mole in penetrating into the subsurface. Soil was scraped into piles and dumped onto the seismometer tether six times in an attempt to bury the tether and ∼ 30% was entrained in the wind and dispersed downwind 1-2 m, darkening the surface. Seven solar array cleaning experiments were conducted by dumping scoops of soil from 35 cm above the lander deck during periods of high wind that dispersed the sand onto the panels that kicked dust off of the panels into suspension in the atmosphere, thereby increasing the power by ∼15% during this period. Final IDA activities included an indentation experiment that used the IDA scoop to push on the ground to measure the plastic deformation of the soil that complemented soil mechanics measurements from scoop interactions with the surface, and two experiments in which SEIS measured the tilt from the arm pressing on the ground to derive near surface elastic properties.

Mars↗

DOE OSTI2018

Telerobotic Control of Dexterous Dual-Arm Robots for D and D Operations - 18622

Robotic systems hold the potential to significantly reduce exposure of workers to hazardous environments such as in the deactivation and decommissioning (D and D) of nuclear facilities. Our goal is to enable an operator with minimal training to easily control a remote dual-arm robot to perform demolition tasks with hand tools. We propose a system that combines semi-autonomous coordination of the robot's arms with an intuitive operator interface based on virtual reality (VR) technology. A limb coordination system enables independent control of the robot arms, as well as coupled motion required to hold and manipulate rigid bodies such as reciprocating saws, angle grinders and crow bars. Using a VR head mounted display and stereo video from the robot for situational awareness and tracked VR hand controllers to command robot arm movement, an operator will be able to walk up to the control console, pick up the controllers, engage the manipulators, fly the grippers, grasp a tool with one or both robot arms and easily move them in unison to perform tasks. We present preliminary results using simulation and a physical dual-arm platform based on the Johns Hopkins University Applied Physics Laboratory's Modular Prosthetic Limb, an anthropomorphic device that provides hyper-dexterous human-like manipulation capabilities. Anticipated benefits of the robotic system for D and D operations include improved situational awareness, increased mission complexity, and reduced operator training time, workload, and task execution times. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2013

PARALLAXES FOR W49N AND G048.60+0.02: DISTANT STAR FORMING REGIONS IN THE PERSEUS SPIRAL ARM

We report trigonometric parallax measurements of 22 GHz H{sub 2}O masers in two massive star-forming regions from Very Long Baseline Array observations as part of the Bar and Spiral Structure Legacy Survey. The distances of 11.11{sup +0.79}{sub -0.69} kpc to W49N (G043.16+0.01) and 10.75{sup +0.61}{sub -0.55} kpc to G048.60+0.02 locate them in a distant section of the Perseus arm near the solar circle in the first Galactic quadrant. This allows us to locate accurately the inner portion of the Perseus arm for the first time. Combining the present results with sources measured in the outer portion of the arm in the second and third quadrants yields a global pitch angle of 9.°5 ± 1.°3 for the Perseus arm. We have found almost no H{sub 2}O maser sources in the Perseus arm for 50° <l < 80°, suggesting that this ≈6 kpc section of the arm has little massive star formation activity.

79 ASTRONOMY AND ASTROPHYSICS↗