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 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Demonstration and Concept of Operations for a Zero-Knowledge Protocol Passive Imaging Measurement for Arms Control

Here, we present an imaging system that employs zero-knowledge protocols to protect sensitive geometrical information, along with procedures to increase confidence in the result. The goal of this work is to enable the inclusion of warhead confirmation measurements in future arms control treaties. We present a demonstration of both true positive and true negative measurements that validate models and establish authenticating procedures toward meeting acceptance requirements for use in nuclear facilities. We use a two-dimensional time-encoded fast neutron imaging system with an anti-symmetric mask pattern; the fast neutron count values exceeding minimum or maximum thresholds indicate that two measured items are not identical. Laboratory measurements over twenty trials show that alarm rates for negative confirmation measurements are within uncertainties of model predictions. Positive confirmation measurements indicate that alarm rates are large enough to encourage treaty compliance.

Sweany, Melinda Dominique [Sandia National Laborat↗
NASA NTRS1983

The manned maneuvering unit flight controller arm

The Manned Maneuvering Unit (MMU) and its support equipment provide an extravehicular astronaut mobility, and the ability to work outside the confines of the Shuttle Orbiter payload bay. The MMU design requirements are based on the highly successful Skylab M-509 maneuvering unit. Design of the MMU was started as an R&D effort in April 1975 and Flight Hardware design was started in August 1979 to support a possible requirement for in-space inspection and repair of Orbiter thermal protection tiles. Subsequently, the qualification test and production activities were slowed, and the current projected earliest first flight is now STS-11 in January, 1984. The MMU propulsion subsystem provides complete redundancy with two identical "system". Each system contains a high pressure gaseous nitrogen tank, an isolation valve, a regulator, and twelve 1.7 lbf (7.5 N) thrusters. The thrusters are packaged to provide the crew member six-degree-of-freedom control in response to commands from translational and rotational hand controllers. This paper discusses the MMU control arm requirements, design, and developmental history.

Falkner, K. E.↗
NASA NTRS1982

Some piloting experiences with multifunction isometric side-arm controllers in a helicopter

The installation of two side-arm mounted, isometric controllers in the NAE Airborne Simulator, a modified, variable stability Bell 205 A is described, as is the development of various control systems for use with them. The results of two experiments are presented indicating both the feasibility and acceptability of such systems for a wide variety of tasks in a conventional single rotor helicopter, with a minimum of stability augmentation. Areas of future research are indicated.

Morgan, J. M.↗
NASA NTRS1983

Dynamic analysis for robot arm control

Explicit state equations provide detailed analytic insight into the dynamic behavior of a robot arm and facilitate the understanding of the control problem. The analytic strength of explicit state equations is exemplified for a given robot arm. In fact, for the quoted example, the explicit and exact state equations involve considerably less computation than the use of the known most efficient general-purpose computational algorithm for robot arm dynamics.

Bejczy, A. K.↗
NASA NTRS1989

Test and validation for robot arm control dynamics simulation

The Flight Telerobotic Servicer (FTS) program will require an ability to develop, in a cost effective manner, many simulation models for design, analysis, performance evaluation, and crew training. Computational speed and the degree of modeling fidelity associated with each simulation must be commensurate with problem objectives. To demonstrate evolving state-of-the-art general purpose multibody modeling capabilities, to validate these by laboratory testing, and to expose their modeling shortcomings, two focus problems at the opposite ends of the simulation spectrum are defined: (1) Coarse Acquisition Control Dynamics. Create a real time man-in-the-control-loop simulator. Provide animated graphical display of robot arm dynamics and tactile feedback sufficient for cueing the operator. Interface simulator software with human operated tactile feedback controller; i.e., the Kraft mini-master. (2) Fine, Precision Mode Control Dynamics. Create a high speed, high fidelity simulation model for the design, analysis, and performance evaluation of autonomous 7 degree-of-freedom (DOF) trajectory control algorithms. This model must contain detail dynamic models for all significant dynamics elements within the robot arm, such as joint drive mechanisms.

Yae, K. Harold↗
NASA NTRS1991

Effect of motor dynamics on nonlinear feedback robot arm control

A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometric control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance.

Tarn, Tzyh-Jong↗
NASA NTRS1988

Load balancing and closed chain multiple arm control

The authors give the general dynamical equations for several rigid link manipulators rigidly grasping a commonly held rigid object. It is shown that the number of arm-configuration degrees of freedom lost due to imposing the closed-loop kinematic constraints is the same as the number of degrees of freedom gained for controlling the internal forces of the closed-chain system. This number is equal to the dimension of the kernel of the Jacobian operator which transforms contact forces to the net forces acting on the held object, and it is shown that this kernel can be identified with the subspace of controllable internal forces of the closed-chain system. Control of these forces makes it possible to regulate the grasping forces imparted to the held object or to control the load taken by each arm. It is shown that the internal forces can be influenced without affecting the control of the configuration degrees of freedom. Control laws of the feedback linearization type are shown to be useful for controlling the location and attitude of a frame fixed with respect to the held object, while simultaneously controlling the internal forces of the closed-chain system. Force feedback can be used to linearize and control the system even when the held object has unknown mass properties. If saturation effects are ignored, an unconstrained quadratic optimization can be performed to distribute the load optimally among the joint actuators.

Kreutz, Kenneth↗
NASA NTRS1997

Mars Surveyor '98 MVACS Robotic Arm Control System Design Concepts

This paper describes the control system design concepts for the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm which supports the scientific investigations to be conducted as part of the Mars Surveyor '98 Lander project. Novel solutions are presented to some of the unique problems encountered in this demanding space application with its tight constraints on mass, power, volume, and computing power.

control manipulator Mars robot trajectory 4-DOF↗
NASA NTRS1997

Mars Surveyor '98 Landers MVACS Robotic Arm Control System Design Concepts

This paper describes the control system design concepts for the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm which supports the scientific investigations to be conducted as part of the Mars Surveyor '98 Lander project. Solutions are presented to some of the problems encountered in this demanding space application with its tight constraints on mass, power, volume, and computing resources. Problems addressed include 4-DOF forward and inverse kinematics, trajectory planning to minimize potential impact damage, joint drive train protection, Lander tilt prevention, hardware fault monitoring, and collision avoidance.

Bonitz, Robert G.↗
DOE OSTI2020

A physical unclonable neutron sensor for nuclear arms control inspections

Abstract Classical sensor security relies on cryptographic algorithms executed on trusted hardware. This approach has significant shortcomings, however. Hardware can be manipulated, including below transistor level, and cryptographic keys are at risk of extraction attacks. A further weakness is that sensor media themselves are assumed to be trusted, and any authentication and encryption is done ex situ and a posteriori. Here we propose and demonstrate a different approach to sensor security that does not rely on classical cryptography and trusted electronics. We designed passive sensor media that inherently produce secure and trustworthy data, and whose honest and non-malicious nature can be easily established. As a proof-of-concept, we manufactured and characterized the properties of non-electronic, physical unclonable, optically complex media sensitive to neutrons for use in a high-security scenario: the inspection of a military facility to confirm the absence or presence of nuclear weapons and fissile materials.

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

Verification of Arms Control Treaties with Resonance Phenomena

Nuclear disarmament treaties remain insufficient to neutralize the existential threat of the nuclear weapons. Technologies are necessary for verifying the authenticity of the nuclear warheads undergoing dismantlement before counting them toward a treaty partner’s obligation. Here we present a review of concepts involving isotope-specific resonance processes, Nuclear Resonance Fluorescence (NRF) [1] and Neutron Resonance Transmission Analysis (NRTA) [2, 3], used to authenticate a warhead’s fissile components by comparing them to a previously authenticated template. All information is encrypted in the physical domain by the addition of an encrypting filter to the target, leading to measurements with an outcome similar to an equation with two unknowns. Using Monte Carlo simulations and experiments we show that the measurements readily detect hoaxing attempt, while no vital isotopic or geometric information about the weapon is released. These nuclear techniques can be used to dramatically increase the reach and trustworthiness of future nuclear disarmament treaties.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2022

A Call to Arms Control: Synergies between Nonproliferation Applications of Neutrino Detectors and Large-Scale Fundamental Neutrino Physics Experiments (A Snowmass White Paper)

The High Energy Physics community can benefit from a natural synergy in research activities into next-generation large-scale water and scintillator neutrino detectors, now being studied for remote reactor monitoring, discovery and exclusion applications in cooperative nonproliferation contexts. Since approximately 2010, US nonproliferation researchers, supported by the National Nuclear Security Administration (NNSA), have been studying a range of possible applications of relatively large (100 ton) to very large (hundreds of kiloton) water and scintillator neutrino detectors. In parallel, the fundamental physics community has been developing detectors at similar scales and with similar design features for a range of high-priority physics topics, primarily in fundamental neutrino physics. These topics include neutrino oscillation studies at beams and reactors, solar, and geological neutrino measurements, supernova studies, and others. Examples of ongoing synergistic work at U.S. national laboratories and universities include prototype gadolinium-doped water and water-based and opaque scintillator test-beds and demonstrators, extensive testing and industry partnerships related to large area fast position-sensitive photomultiplier tubes, and the development of concepts for a possible underground kiloton-scale water-based detector for reactor monitoring and technology demonstrations. Some opportunities for engagement between the two communities include bi-annual Applied Antineutrino Physics conferences, collaboration with U.S. National Laboratories engaging in this research, and occasional NNSA funding opportunities supporting a blend of nonproliferation and basic science R&D, directed at the U.S. academic community.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2023

R&D Outcomes of Surrogate Environmental Swipe Manufacturing Technique Method Development for Arms Control and Treaty Verification Applications

The analysis of environmental samples is a critical component of nuclear compliance verification and safeguards activities. While the associated particle analyses have benefitted from recent advances in the production of actinide-bearing particulates with uniform and well-characterized particle size, material phase, and isotopic ratios to serve as reference materials for calibration and interlaboratory comparisons, there is an outstanding need for surrogate environmental samples, which resemble field-collected samples, with the aforementioned reference particulates to support future nuclear compliance verification exercises and method development. This effort seeks to leverage the recent advances in tailored reference particle production to generate surrogate environmental swipe samples via parallel production techniques (direct and indirect) which are uniquely suited to the hydrothermal and aerosol-based synthesis routes developed at PNNL and SRNL, respectively. PNNL’s hydrothermal particle production method was used to generate surrogate reference particles for the indirect production of test swipes.

54 ENVIRONMENTAL SCIENCES↗